namespace unstructured More...

Classes
class	DebugDrawing

Typedefs
typedef boost::geometry::model::d2::point_xy< double >	Point

typedef boost::geometry::model::linestring< Point >	Line

typedef boost::geometry::model::polygon< Point, false >	Polygon

typedef boost::geometry::model::multi_point< Point >	MultiPoint

Functions
Point	toPoint (ad::physics::Distance2D const &distance)
	create a Point from a Distance2D More...

Point	toPoint (ad::physics::Distance const &distanceX, ad::physics::Distance const &distanceY)
	create a Point from two Distance components More...

ad::physics::Distance2D	toDistance (Point const &point)
	convert a Point to a Distance2D More...

void	toPolygon (world::UnstructuredTrajectorySet const &trajectorySet, Polygon &polygon)
	convert a trajectory set to a polygon More...

void	toTrajectorySet (Polygon const &polygon, world::UnstructuredTrajectorySet &trajectorySet)
	convert a polygon to a trajectory set More...

bool	isInsideHeadingRange (ad::physics::Angle const &angle, state::HeadingRange const &range)
	check if an angle is within a range More...

bool	getHeadingOverlap (state::HeadingRange const &a, state::HeadingRange const &b, std::vector< state::HeadingRange > &overlapRanges)
	get the overlap between two angle ranges More...

bool	getHeadingOverlap (state::HeadingRange const &headingRange, std::vector< state::HeadingRange > &overlapRanges)
	get the overlap between an angle range and a heading range More...

Point	rotateAroundPoint (Point const &origin, Point const &relativePoint, ad::physics::Angle const &angle)
	rotate a point around another point More...

Point	getPointOnCircle (Point const &origin, ad::physics::Distance const &radius, ad::physics::Angle const &angle)
	calculate a point on a circle More...

Point	getCircleOrigin (Point const &point, ad::physics::Distance const &radius, ad::physics::Angle const &angle)
	calculate the circle origin More...

template<typename T >
void	calculateCircleArc (Point origin, ad::physics::Distance const &radius, ad::physics::Angle const &from, ad::physics::Angle const &delta, ad::physics::Angle const &stepWidth, T &geometry)
	calculate points on a circle arc More...

bool	collides (world::UnstructuredTrajectorySet const &trajectorySet1, world::UnstructuredTrajectorySet const &trajectorySet2)
	check if two trajectory sets collide More...

bool	combinePolygon (Polygon const &a, Polygon const &b, Polygon &result)
	Combine two polygons. More...

Detailed Description

namespace unstructured

Function Documentation

◆ calculateCircleArc()

template<typename T >

void ad::rss::unstructured::calculateCircleArc	(	Point	origin,
		ad::physics::Distance const &	radius,
		ad::physics::Angle const &	from,
		ad::physics::Angle const &	delta,
		ad::physics::Angle const &	stepWidth,
		T &	geometry
	)

calculate points on a circle arc

Parameters

[in]	origin	absolute origin
[in]	radius	radius of circle
[in]	from	starting angle
[in]	delta	angle of the arc
[out]	geometry	geometry the calculated points are added to

◆ collides()

bool ad::rss::unstructured::collides	(	world::UnstructuredTrajectorySet const &	trajectorySet1,
		world::UnstructuredTrajectorySet const &	trajectorySet2
	)

check if two trajectory sets collide

Parameters

[in]	trajectorySet1	first trajectory set
[in]	trajectorySet2	second trajectory set

Returns: true if trajectory sets collide, otherwise false

◆ combinePolygon()

bool ad::rss::unstructured::combinePolygon	(	Polygon const &	a,
		Polygon const &	b,
		Polygon &	result
	)

Combine two polygons.

Parameters

[in]	a	polygon a
[in]	b	polygon b
[out]	result	resulting polygon

Returns: false if a failure occurred during calculations, true otherwise

◆ getCircleOrigin()

Point ad::rss::unstructured::getCircleOrigin	(	Point const &	point,
		ad::physics::Distance const &	radius,
		ad::physics::Angle const &	angle
	)

calculate the circle origin

Parameters

[in]	point	point on circle
[in]	radius	radius of circle
[in]	angle	circle angle for point

Returns: circle origin

◆ getHeadingOverlap() [1/2]

bool ad::rss::unstructured::getHeadingOverlap	(	state::HeadingRange const &	a,
		state::HeadingRange const &	b,
		std::vector< state::HeadingRange > &	overlapRanges
	)

get the overlap between two angle ranges

Parameters

[in]	a	first heading range
[in]	b	second heading range
[out]	overlapRange	overlapping heading ranges

Returns: true if overlap exists, otherwise false

◆ getHeadingOverlap() [2/2]

bool ad::rss::unstructured::getHeadingOverlap	(	state::HeadingRange const &	headingRange,
		std::vector< state::HeadingRange > &	overlapRanges
	)

get the overlap between an angle range and a heading range

Parameters

[in]	headingRange	angle range
[in,out]	overlapRanges	overlapping heading ranges

Returns: true if overlap exists, otherwise false

◆ getPointOnCircle()

Point ad::rss::unstructured::getPointOnCircle	(	Point const &	origin,
		ad::physics::Distance const &	radius,
		ad::physics::Angle const &	angle
	)

calculate a point on a circle

Parameters

[in]	origin	absolute origin
[in]	radius	radius of circle
[in]	angle	angle to rotate the point

Returns: resulting point

◆ isInsideHeadingRange()

bool ad::rss::unstructured::isInsideHeadingRange	(	ad::physics::Angle const &	angle,
		state::HeadingRange const &	range
	)

check if an angle is within a range

Parameters

[in]	angle	angle to check
[in]	range	heading range

Returns: true if inside angle range, otherwise false

◆ rotateAroundPoint()

Point ad::rss::unstructured::rotateAroundPoint	(	Point const &	origin,
		Point const &	relativePoint,
		ad::physics::Angle const &	angle
	)

rotate a point around another point

Parameters

[in]	origin	absolute origin
[in]	relativePoint	point to rotate, relative to origin
[in]	angle	angle to rotate the point

Returns: rotated point

◆ toDistance()

ad::physics::Distance2D ad::rss::unstructured::toDistance ( Point const & point )

inline

convert a Point to a Distance2D

Parameters

[in] point point to convert

Returns: distance

◆ toPoint() [1/2]

Point ad::rss::unstructured::toPoint	(	ad::physics::Distance const &	distanceX,
		ad::physics::Distance const &	distanceY
	)

inline

create a Point from two Distance components

Parameters

[in]	distanceX	x component of distance
[in]	distanceY	y component of distance

Returns: point

◆ toPoint() [2/2]

Point ad::rss::unstructured::toPoint ( ad::physics::Distance2D const & distance )

inline

create a Point from a Distance2D

Parameters

[in] distance distance to convert

Returns: point

◆ toPolygon()

void ad::rss::unstructured::toPolygon	(	world::UnstructuredTrajectorySet const &	trajectorySet,
		Polygon &	polygon
	)

convert a trajectory set to a polygon

Parameters

[in]	trajectorySet	trajectory set to convert
[out]	polygon	converted polygon

◆ toTrajectorySet()

void ad::rss::unstructured::toTrajectorySet	(	Polygon const &	polygon,
		world::UnstructuredTrajectorySet &	trajectorySet
	)

convert a polygon to a trajectory set

Parameters

[in]	polygon	polygon to convert
[out]	trajectorySet	converted trajectory set

Classes

Typedefs

Functions

Detailed Description

Function Documentation

◆ calculateCircleArc()

◆ collides()

◆ combinePolygon()

◆ getCircleOrigin()

◆ getHeadingOverlap() [1/2]

◆ getHeadingOverlap() [2/2]

◆ getPointOnCircle()

◆ isInsideHeadingRange()

◆ rotateAroundPoint()

◆ toDistance()

◆ toPoint() [1/2]

◆ toPoint() [2/2]

◆ toPolygon()

◆ toTrajectorySet()