almath/tools/avoidfootcollision.h

/*
 * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
 * Use of this source code is governed by a BSD-style license that can be
 * found in the COPYING file.
 */


#pragma once
#ifndef _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_
#define _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_

#include <almath/types/alpose2d.h>
#include <vector>

namespace AL
{
  namespace Math
  {
    const bool avoidFootCollision(
        const std::vector<Pose2D>&  pLFootBoundingBox,
        const std::vector<Pose2D>&  pRFootBoundingBox,
        const bool&                 pIsLeftSupport,
        Pose2D&                     pMove);


    const bool clipFootWithEllipse(
        const float&    pMaxFootX,
        const float&    pMaxFootY,
        Pose2D&         pMove);

  } // namespace Math
} // namespace AL

#endif  // _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_