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helper.cpp File Reference
#include <footstep_planner/helper.h>
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namespace  footstep_planner


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.
bool footstep_planner::pointWithinPolygon (int x, int y, const std::vector< std::pair< int, int > > &edges)
 Crossing number method to determine whether a point lies within a polygon or not.
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Author(s): Johannes Garimort, Armin Hornung
autogenerated on Tue Oct 15 2013 10:06:52