Function hateb_local_planner::distance_polygon_to_polygon_2d

Defined in File distance_calculations.h

Function Documentation

inline double hateb_local_planner::distance_polygon_to_polygon_2d(const Point2dContainer &vertices1, const Point2dContainer &vertices2)

Helper function to calculate the smallest distance between two closed polygons.

Parameters:

vertices1 – Vertices describing the first closed polygon (the first vertex is not repeated at the end)
vertices2 – Vertices describing the second closed polygon (the first vertex is not repeated at the end)

Returns:

smallest distance between point and polygon