geometry_help.h
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00001 /*
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00034 
00035 #ifndef NAV_2D_UTILS_GEOMETRY_HELP_H
00036 #define NAV_2D_UTILS_GEOMETRY_HELP_H
00037 
00038 #include <cmath>
00039 
00040 namespace nav_2d_utils
00041 {
00052 inline double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1)
00053 {
00054   double A = pX - x0;
00055   double B = pY - y0;
00056   double C = x1 - x0;
00057   double D = y1 - y0;
00058 
00059   double dot = A * C + B * D;
00060   double len_sq = C * C + D * D;
00061   double param = dot / len_sq;
00062 
00063   double xx, yy;
00064 
00065   if (param < 0)
00066   {
00067     xx = x0;
00068     yy = y0;
00069   }
00070   else if (param > 1)
00071   {
00072     xx = x1;
00073     yy = y1;
00074   }
00075   else
00076   {
00077     xx = x0 + param * C;
00078     yy = y0 + param * D;
00079   }
00080 
00081   return hypot(pX - xx, pY - yy);
00082 }
00083 }  // namespace nav_2d_utils
00084 
00085 #endif  // NAV_2D_UTILS_GEOMETRY_HELP_H


nav_2d_utils
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autogenerated on Wed Jun 26 2019 20:09:36