Hiep update

include/robot_costmap_2d/costmap_math.h

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+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, 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 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.
+ *
+ * Author: Eitan Marder-Eppstein
+ *         David V. Lu!!
+ *********************************************************************/
+#ifndef ROBOT_COSTMAP_2D_COSTMAP_MATH_H_
+#define ROBOT_COSTMAP_2D_COSTMAP_MATH_H_
+
+#include <math.h>
+#include <algorithm>
+#include <vector>
+#include <robot_geometry_msgs/Point.h>
+
+/** @brief Return -1 if x < 0, +1 otherwise. */
+inline double sign(double x)
+{
+  return x < 0.0 ? -1.0 : 1.0;
+}
+
+/** @brief Same as sign(x) but returns 0 if x is 0. */
+inline double sign0(double x)
+{
+  return x < 0.0 ? -1.0 : (x > 0.0 ? 1.0 : 0.0);
+}
+
+inline double distance(double x0, double y0, double x1, double y1)
+{
+  return hypot(x1 - x0, y1 - y0);
+}
+
+double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1);
+
+bool intersects(std::vector<robot_geometry_msgs::Point>& polygon, float testx, float testy);
+
+bool intersects(std::vector<robot_geometry_msgs::Point>& polygon1, std::vector<robot_geometry_msgs::Point>& polygon2);
+
+#endif  // ROBOT_COSTMAP_2D_COSTMAP_MATH_H_