DuongTD/costmap_2d
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HiepLM update

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HiepLM
2025-12-30 09:08:14 +07:00
parent 71adf1390f
commit 2c3d7d586d
23 changed files with 117 additions and 117 deletions
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6
src/costmap_math.cpp
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@@ -61,7 +61,7 @@ double distanceToLine(double pX, double pY, double x0, double y0, double x1, dou
return distance(pX, pY, xx, yy);
}
bool intersects(std::vector<geometry_msgs::Point>& polygon, float testx, float testy)
bool intersects(std::vector<robot_geometry_msgs::Point>& polygon, float testx, float testy)
{
bool c = false;
int i, j, nvert = polygon.size();
@@ -75,7 +75,7 @@ bool intersects(std::vector<geometry_msgs::Point>& polygon, float testx, float t
return c;
}
bool intersects_helper(std::vector<geometry_msgs::Point>& polygon1, std::vector<geometry_msgs::Point>& polygon2)
bool intersects_helper(std::vector<robot_geometry_msgs::Point>& polygon1, std::vector<robot_geometry_msgs::Point>& polygon2)
{
for (unsigned int i = 0; i < polygon1.size(); i++)
if (intersects(polygon2, polygon1[i].x, polygon1[i].y))
@@ -83,7 +83,7 @@ bool intersects_helper(std::vector<geometry_msgs::Point>& polygon1, std::vector<
return false;
}
bool intersects(std::vector<geometry_msgs::Point>& polygon1, std::vector<geometry_msgs::Point>& polygon2)
bool intersects(std::vector<robot_geometry_msgs::Point>& polygon1, std::vector<robot_geometry_msgs::Point>& polygon2)
{
return intersects_helper(polygon1, polygon2) || intersects_helper(polygon2, polygon1);
}