Main MRPT website > C++ reference for MRPT 1.9.9
Motion planning geometry utility functions

## Detailed Description

(`#include <mrpt/nav/nav_plan_geometry_utils.h>`)

Collaboration diagram for Motion planning geometry utility functions:

## 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...

## ◆ collision_free_dist_arc_circ_robot()

 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).

Returns
true if a collision exists, and the distance along the path will be in out_col_dist; false otherwise.

Definition at line 77 of file nav_plan_geometry_utils.cpp.

## ◆ collision_free_dist_segment_circ_robot()

 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).

Returns
true if a collision exists, and the distance along the segment will be in out_col_dist; false otherwise.
Exceptions
 std::runtime_error If the two points are closer than an epsilon (1e-10)

Definition at line 19 of file nav_plan_geometry_utils.cpp.

Referenced by TEST().

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