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nav_plan_geometry_utils.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
8  +---------------------------------------------------------------------------+ */
9
10 #pragma once
11
14
15 namespace mrpt
16 {
17  namespace nav
18  {
19  /** @addtogroup nav_geom_grp Motion planning geometry utility functions (`#include <mrpt/nav/nav_plan_geometry_utils.h>`)
20  * \ingroup mrpt_nav_grp
21  * @{ */
22
23  /** Computes the collision-free distance for a linear segment path between two points, for a circular robot, and a point obstacle (ox,oy).
24  * \return true if a collision exists, and the distance along the segment will be in out_col_dist; false otherwise.
25  * \exception std::runtime_error If the two points are closer than an epsilon (1e-10)
26  */
27  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 );
28
29  /** 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),
30  * a circular robot and a point obstacle (ox,oy).
31  * \return true if a collision exists, and the distance along the path will be in out_col_dist; false otherwise.
32  */
33  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);
34
35  /** @} */
36  }
37 }
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)
Computes the collision-free distance for a forward path (+X) circular arc path segment from pose (0...
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 linear segment path between two points, for a circular robot, and a point obstacle (ox,oy).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Lightweight 2D point.

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