LocalGuidance A library that generates velocity references to follow a path.
robot_utils::geometry Namespace Reference

class  Line

class  Polygon

class  Tetragon

class  Triangle

Typedefs

using Position2d = Eigen::Vector2d

using Vector3d = Eigen::Vector3d

Enumerations

enum  VertexOrder : unsigned int { VertexOrder::ClockWise = 0, VertexOrder::CounterClockWise, VertexOrder::Undefined }

Functions

bool getLineCoefficientsFromVertices (const Position2d &v1, const Position2d &v2, std::vector< double > &coefficients, const VertexOrder order=VertexOrder::CounterClockWise)

double computeInRadiusOfTriangle (const Position2d &vA, const Position2d &vB, const Position2d &vC)

bool less (const Position2d &p1, const Position2d &p2, const Position2d &center)

double det (const Position2d &v1, const Position2d &v2)

◆ Position2d

 using robot_utils::geometry::Position2d = typedef Eigen::Vector2d

◆ Vector3d

 using robot_utils::geometry::Vector3d = typedef Eigen::Vector3d

◆ VertexOrder

 enum robot_utils::geometry::VertexOrder : unsigned int
strong
Enumerator
ClockWise
CounterClockWise
Undefined

Function Documentation

 double robot_utils::geometry::computeInRadiusOfTriangle ( const Position2d & vA, const Position2d & vB, const Position2d & vC )

◆ det()

 double robot_utils::geometry::det ( const Position2d & v1, const Position2d & v2 )
inline

◆ getLineCoefficientsFromVertices()

 bool robot_utils::geometry::getLineCoefficientsFromVertices ( const Position2d & v1, const Position2d & v2, std::vector< double > & coefficients, const VertexOrder order = `VertexOrder::CounterClockWise` )

◆ less()

 bool robot_utils::geometry::less ( const Position2d & p1, const Position2d & p2, const Position2d & center )
inline