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

Classes

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)
 

Typedef Documentation

using robot_utils::geometry::Position2d = typedef Eigen::Vector2d
using robot_utils::geometry::Vector3d = typedef Eigen::Vector3d

Enumeration Type Documentation

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 
)
double robot_utils::geometry::det ( const Position2d v1,
const Position2d v2 
)
inline
bool robot_utils::geometry::getLineCoefficientsFromVertices ( const Position2d v1,
const Position2d v2,
std::vector< double > &  coefficients,
const VertexOrder  order = VertexOrder::CounterClockWise 
)
bool robot_utils::geometry::less ( const Position2d p1,
const Position2d p2,
const Position2d center 
)
inline