libalmath
1.14.5
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00001 /* 00002 * Copyright (c) 2012 Aldebaran Robotics. All rights reserved. 00003 * Use of this source code is governed by a BSD-style license that can be 00004 * found in the COPYING file. 00005 */ 00006 00007 00008 #pragma once 00009 #ifndef _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_ 00010 #define _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_ 00011 00012 #include <almath/types/alpose2d.h> 00013 #include <vector> 00014 00015 namespace AL 00016 { 00017 namespace Math 00018 { 00030 const bool avoidFootCollision( 00031 const std::vector<Pose2D>& pLFootBoundingBox, 00032 const std::vector<Pose2D>& pRFootBoundingBox, 00033 const bool& pIsLeftSupport, 00034 Pose2D& pMove); 00035 00036 00047 const bool clipFootWithEllipse( 00048 const float& pMaxFootX, 00049 const float& pMaxFootY, 00050 Pose2D& pMove); 00051 00052 } // namespace Math 00053 } // namespace AL 00054 00055 #endif // _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_ 00056