first commit

src/costmap_math.cpp

@@ -0,0 +1,90 @@
+/*
+ * Copyright (c) 2013, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <costmap_2d/costmap_math.h>
+#include <geometry_msgs/Point.h>
+
+double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1)
+{
+  double A = pX - x0;
+  double B = pY - y0;
+  double C = x1 - x0;
+  double D = y1 - y0;
+
+  double dot = A * C + B * D;
+  double len_sq = C * C + D * D;
+  double param = dot / len_sq;
+
+  double xx, yy;
+
+  if (param < 0)
+  {
+    xx = x0;
+    yy = y0;
+  }
+  else if (param > 1)
+  {
+    xx = x1;
+    yy = y1;
+  }
+  else
+  {
+    xx = x0 + param * C;
+    yy = y0 + param * D;
+  }
+
+  return distance(pX, pY, xx, yy);
+}
+
+bool intersects(std::vector<geometry_msgs::Point>& polygon, float testx, float testy)
+{
+  bool c = false;
+  int i, j, nvert = polygon.size();
+  for (i = 0, j = nvert - 1; i < nvert; j = i++)
+  {
+    float yi = polygon[i].y, yj = polygon[j].y, xi = polygon[i].x, xj = polygon[j].x;
+
+    if (((yi > testy) != (yj > testy)) && (testx < (xj - xi) * (testy - yi) / (yj - yi) + xi))
+      c = !c;
+  }
+  return c;
+}
+
+bool intersects_helper(std::vector<geometry_msgs::Point>& polygon1, std::vector<geometry_msgs::Point>& polygon2)
+{
+  for (unsigned int i = 0; i < polygon1.size(); i++)
+    if (intersects(polygon2, polygon1[i].x, polygon1[i].y))
+      return true;
+  return false;
+}
+
+bool intersects(std::vector<geometry_msgs::Point>& polygon1, std::vector<geometry_msgs::Point>& polygon2)
+{
+  return intersects_helper(polygon1, polygon2) || intersects_helper(polygon2, polygon1);
+}