line2d.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00005  *  Copyright (c) 2015, JSK Lab
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00035 
00036 #include "jsk_footstep_planner/line2d.h"
00037 
00038 namespace jsk_footstep_planner
00039 {
00040   Line2D::Line2D(const Eigen::Vector3f& p, const Eigen::Vector3f& q):
00041     u_(p[0], p[1]), v_(q[0], q[1])
00042   {
00043   }
00044 
00045   bool Line2D::isCrossing(Line2D& other)
00046   {
00047     const float d = ((v_[0] - u_[0]) * (other.v_[1] - other.u_[1])
00048                      - (v_[1] - u_[1]) * (other.v_[0] - other.u_[0]));
00049     if (d == 0) {               // parallel
00050       return false;
00051     }
00052     const float u = ((other.u_[0] - u_[0])*(other.v_[1] - other.u_[1])
00053                      - (other.u_[1] - u_[1])*(other.v_[0] - other.u_[0]))/d;
00054     const float v = ((other.u_[0] - u_[0])*(v_[1] - u_[1])
00055                      - (other.u_[1] - u_[1])*(v_[0] - u_[0]))/d;
00056     if (u < 0.0 || u > 1.0) {
00057       return false;
00058     }
00059     if (v < 0.0 || v > 1.0) {
00060       return false;
00061     }
00062     return true;
00063   }
00064 }
00065 


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Jul 19 2017 02:54:29