libalmath  1.14.5
almath/tools/avoidfootcollision.h
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 
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