costmap_math.hpp

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#ifndef NAV2_COSTMAP_2D__COSTMAP_MATH_HPP_
#define NAV2_COSTMAP_2D__COSTMAP_MATH_HPP_
 
#include <math.h>
#include <algorithm>
#include <vector>
 
#include "geometry_msgs/msg/point.hpp"
 
inline double sign(double x)
{
  return x < 0.0 ? -1.0 : 1.0;
}
 
inline double sign0(double x)
{
  return x < 0.0 ? -1.0 : (x > 0.0 ? 1.0 : 0.0);
}
 
inline double distance(double x0, double y0, double x1, double y1)
{
  return hypot(x1 - x0, y1 - y0);
}
 
double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1);
 
#endif  // NAV2_COSTMAP_2D__COSTMAP_MATH_HPP_