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nav_plan_geometry_utils.h File Reference
#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/nav/link_pragmas.h>
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Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::nav
 

Functions

bool NAV_IMPEXP mrpt::nav::collision_free_dist_segment_circ_robot (const mrpt::math::TPoint2D &p_start, const mrpt::math::TPoint2D &p_end, const double robot_radius, const mrpt::math::TPoint2D &obstacle, double &out_col_dist)
 Computes the collision-free distance for a linear segment path between two points, for a circular robot, and a point obstacle (ox,oy). More...
 
bool NAV_IMPEXP mrpt::nav::collision_free_dist_arc_circ_robot (const double arc_radius, const double robot_radius, const mrpt::math::TPoint2D &obstacle, double &out_col_dist)
 Computes the collision-free distance for a forward path (+X) circular arc path segment from pose (0,0,0) and radius of curvature R (>0 -> +Y, <0 -> -Y), a circular robot and a point obstacle (ox,oy). More...
 



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