costmap_math.cpp
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29 
31 
32 double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1)
33 {
34  double A = pX - x0;
35  double B = pY - y0;
36  double C = x1 - x0;
37  double D = y1 - y0;
38 
39  double dot = A * C + B * D;
40  double len_sq = C * C + D * D;
41  double param = dot / len_sq;
42 
43  double xx, yy;
44 
45  if (param < 0)
46  {
47  xx = x0;
48  yy = y0;
49  }
50  else if (param > 1)
51  {
52  xx = x1;
53  yy = y1;
54  }
55  else
56  {
57  xx = x0 + param * C;
58  yy = y0 + param * D;
59  }
60 
61  return distance(pX, pY, xx, yy);
62 }
63 
64 bool intersects(std::vector<geometry_msgs::Point>& polygon, float testx, float testy)
65 {
66  bool c = false;
67  int i, j, nvert = polygon.size();
68  for (i = 0, j = nvert - 1; i < nvert; j = i++)
69  {
70  float yi = polygon[i].y, yj = polygon[j].y, xi = polygon[i].x, xj = polygon[j].x;
71 
72  if (((yi > testy) != (yj > testy)) && (testx < (xj - xi) * (testy - yi) / (yj - yi) + xi))
73  c = !c;
74  }
75  return c;
76 }
77 
78 bool intersects_helper(std::vector<geometry_msgs::Point>& polygon1, std::vector<geometry_msgs::Point>& polygon2)
79 {
80  for (unsigned int i = 0; i < polygon1.size(); i++)
81  if (intersects(polygon2, polygon1[i].x, polygon1[i].y))
82  return true;
83  return false;
84 }
85 
86 bool intersects(std::vector<geometry_msgs::Point>& polygon1, std::vector<geometry_msgs::Point>& polygon2)
87 {
88  return intersects_helper(polygon1, polygon2) || intersects_helper(polygon2, polygon1);
89 }
distanceToLine
double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1)
Definition: costmap_math.cpp:32
dot
TFSIMD_FORCE_INLINE tfScalar dot(const Quaternion &q1, const Quaternion &q2)
intersects
bool intersects(std::vector< geometry_msgs::Point > &polygon, float testx, float testy)
Definition: costmap_math.cpp:64
distance
double distance(double x0, double y0, double x1, double y1)
Definition: costmap_math.h:58
costmap_math.h
param
T param(const std::string &param_name, const T &default_val)
intersects_helper
bool intersects_helper(std::vector< geometry_msgs::Point > &polygon1, std::vector< geometry_msgs::Point > &polygon2)
Definition: costmap_math.cpp:78


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Mon Mar 6 2023 03:50:17