nav_plan_geometry_utils.h File Reference

#include <mrpt/math/TPoint2D.h>

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Namespaces
	mrpt::nav

Functions
bool	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	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...