costmap_math.cpp

/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */
 
#include <nav2_costmap_2d/costmap_math.hpp>
 
#include <vector>
 
double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1)
{
  double A = pX - x0;
  double B = pY - y0;
  double C = x1 - x0;
  double D = y1 - y0;
 
  double dot = A * C + B * D;
  double len_sq = C * C + D * D;
  double param = dot / len_sq;
 
  double xx, yy;
 
  if (param < 0) {
    xx = x0;
    yy = y0;
  } else if (param > 1) {
    xx = x1;
    yy = y1;
  } else {
    xx = x0 + param * C;
    yy = y0 + param * D;
  }
 
  return distance(pX, pY, xx, yy);
}