libalmath  1.14
 All Classes Namespaces Functions Variables Typedefs Groups Pages
avoidfootcollision.h
1 /*
2  * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
3  * Use of this source code is governed by a BSD-style license that can be
4  * found in the COPYING file.
5  */
6 
7 
8 #pragma once
9 #ifndef _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_
10 #define _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_
11 
12 #include <almath/types/alpose2d.h>
13 #include <vector>
14 
15 namespace AL
16 {
17  namespace Math
18  {
30  const bool avoidFootCollision(
31  const std::vector<Pose2D>& pLFootBoundingBox,
32  const std::vector<Pose2D>& pRFootBoundingBox,
33  const bool& pIsLeftSupport,
34  Pose2D& pMove);
35 
36 
47  const bool clipFootWithEllipse(
48  const float& pMaxFootX,
49  const float& pMaxFootY,
50  Pose2D& pMove);
51 
52  } // namespace Math
53 } // namespace AL
54 
55 #endif // _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_
56