geometry_help.h
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34 
35 #ifndef NAV_2D_UTILS_GEOMETRY_HELP_H
36 #define NAV_2D_UTILS_GEOMETRY_HELP_H
37 
38 #include <cmath>
39 
40 namespace nav_2d_utils
41 {
52 inline double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1)
53 {
54  double A = pX - x0;
55  double B = pY - y0;
56  double C = x1 - x0;
57  double D = y1 - y0;
58 
59  double dot = A * C + B * D;
60  double len_sq = C * C + D * D;
61  double param = dot / len_sq;
62 
63  double xx, yy;
64 
65  if (param < 0)
66  {
67  xx = x0;
68  yy = y0;
69  }
70  else if (param > 1)
71  {
72  xx = x1;
73  yy = y1;
74  }
75  else
76  {
77  xx = x0 + param * C;
78  yy = y0 + param * D;
79  }
80 
81  return hypot(pX - xx, pY - yy);
82 }
83 } // namespace nav_2d_utils
84 
85 #endif // NAV_2D_UTILS_GEOMETRY_HELP_H
double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1)
Distance from point (pX, pY) to closest point on line from (x0, y0) to (x1, y1)
Definition: geometry_help.h:52
bool param(const std::string &param_name, T &param_val, const T &default_val)
TFSIMD_FORCE_INLINE tfScalar dot(const Quaternion &q1, const Quaternion &q2)


nav_2d_utils
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autogenerated on Wed Jun 26 2019 20:06:11