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include
nav_2d_utils
geometry_help.h
Go to the documentation of this file.
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2018, Locus Robotics
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef NAV_2D_UTILS_GEOMETRY_HELP_H
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#define NAV_2D_UTILS_GEOMETRY_HELP_H
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#include <cmath>
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namespace
nav_2d_utils
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{
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inline
double
distanceToLine
(
double
pX,
double
pY,
double
x0,
double
y0,
double
x1,
double
y1)
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{
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double
A = pX - x0;
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double
B = pY - y0;
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double
C = x1 - x0;
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double
D = y1 - y0;
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double
dot
= A * C + B * D;
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double
len_sq = C * C + D * D;
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double
param
= dot / len_sq;
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double
xx, yy;
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if
(param < 0)
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{
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xx = x0;
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yy = y0;
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}
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else
if
(param > 1)
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{
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xx = x1;
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yy = y1;
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}
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else
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{
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xx = x0 + param * C;
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yy = y0 + param * D;
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}
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return
hypot(pX - xx, pY - yy);
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}
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}
// namespace nav_2d_utils
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#endif // NAV_2D_UTILS_GEOMETRY_HELP_H
nav_2d_utils::distanceToLine
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
param
bool param(const std::string ¶m_name, T ¶m_val, const T &default_val)
nav_2d_utils
Definition:
conversions.h:54
dot
TFSIMD_FORCE_INLINE tfScalar dot(const Quaternion &q1, const Quaternion &q2)
nav_2d_utils
Author(s):
autogenerated on Wed Jun 26 2019 20:06:11