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almath
tools
avoidfootcollision.h
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/*
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* Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the COPYING file.
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*/
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#pragma once
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#ifndef _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_
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#define _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_
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#include <almath/types/alpose2d.h>
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#include <vector>
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namespace
AL
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{
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namespace
Math
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{
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const
bool
avoidFootCollision
(
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const
std::vector<Pose2D>& pLFootBoundingBox,
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const
std::vector<Pose2D>& pRFootBoundingBox,
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const
bool
& pIsLeftSupport,
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Pose2D& pMove);
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const
bool
clipFootWithEllipse
(
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const
float
& pMaxFootX,
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const
float
& pMaxFootY,
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Pose2D& pMove);
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}
// namespace Math
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}
// namespace AL
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#endif // _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_
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Copyright Aldebaran Robotics