90 lines
3.0 KiB
C++
Executable File
90 lines
3.0 KiB
C++
Executable File
/*
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* Copyright (c) 2013, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <robot_costmap_2d/costmap_math.h>
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double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1)
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{
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double A = pX - x0;
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double B = pY - y0;
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double C = x1 - x0;
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double D = y1 - y0;
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double dot = A * C + B * D;
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double len_sq = C * C + D * D;
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double param = dot / len_sq;
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double xx, yy;
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if (param < 0)
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{
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xx = x0;
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yy = y0;
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}
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else if (param > 1)
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{
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xx = x1;
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yy = y1;
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}
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else
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{
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xx = x0 + param * C;
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yy = y0 + param * D;
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}
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return distance(pX, pY, xx, yy);
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}
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bool intersects(std::vector<robot_geometry_msgs::Point>& polygon, float testx, float testy)
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{
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bool c = false;
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int i, j, nvert = polygon.size();
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for (i = 0, j = nvert - 1; i < nvert; j = i++)
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{
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float yi = polygon[i].y, yj = polygon[j].y, xi = polygon[i].x, xj = polygon[j].x;
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if (((yi > testy) != (yj > testy)) && (testx < (xj - xi) * (testy - yi) / (yj - yi) + xi))
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c = !c;
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}
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return c;
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}
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bool intersects_helper(std::vector<robot_geometry_msgs::Point>& polygon1, std::vector<robot_geometry_msgs::Point>& polygon2)
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{
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for (unsigned int i = 0; i < polygon1.size(); i++)
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if (intersects(polygon2, polygon1[i].x, polygon1[i].y))
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return true;
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return false;
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}
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bool intersects(std::vector<robot_geometry_msgs::Point>& polygon1, std::vector<robot_geometry_msgs::Point>& polygon2)
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{
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return intersects_helper(polygon1, polygon2) || intersects_helper(polygon2, polygon1);
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}
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