helper.cpp File Reference

#include <footstep_planner/helper.h>

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Namespaces
namespace	footstep_planner
Functions
bool	footstep_planner::collision_check (double x, double y, double theta, double height, double width, int accuracy, const gridmap_2d::GridMap2D &distance_map)
	Checks if a footstep (represented by its center and orientation) collides with an obstacle. The check is done by recursively testing if either the circumcircle of the foot, the inner circle of the foot or the area in between has an appropriate distance to the nearest obstacle.