nav_plan_geometry_utils.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/nav/link_pragmas.h>

namespace mrpt
{
        namespace nav
        {
                /** @addtogroup  nav_geom_grp Motion planning geometry utility functions (`#include <mrpt/nav/nav_plan_geometry_utils.h>`)
                *  \ingroup mrpt_nav_grp
                * @{ */

                /** Computes the collision-free distance for a linear segment path between two points, for a circular robot, and a point obstacle (ox,oy). 
                  * \return true if a collision exists, and the distance along the segment will be in out_col_dist; false otherwise.
                  * \exception std::runtime_error If the two points are closer than an epsilon (1e-10)
                  */
                bool NAV_IMPEXP 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 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).
                * \return true if a collision exists, and the distance along the path will be in out_col_dist; false otherwise.
                */
                bool NAV_IMPEXP collision_free_dist_arc_circ_robot(const double arc_radius, const double robot_radius, const mrpt::math::TPoint2D &obstacle, double &out_col_dist);

          /** @} */
        }
}