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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... | |
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).
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).
std::runtime_error | If the two points are closer than an epsilon (1e-10) |
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