Function hateb_local_planner::distance_segment_to_segment_2d

• Defined in File distance_calculations.h

Function Documentation

inline double hateb_local_planner::distance_segment_to_segment_2d(const Eigen::Ref<const Eigen::Vector2d> &line1_start, const Eigen::Ref<const Eigen::Vector2d> &line1_end, const Eigen::Ref<const Eigen::Vector2d> &line2_start, const Eigen::Ref<const Eigen::Vector2d> &line2_end)

Helper function to calculate the smallest distance between two line segments.

Parameters:

• line1_start – 2D point representing the start of the first line segment

• line1_end – 2D point representing the end of the first line segment

• line2_start – 2D point representing the start of the second line segment

• line2_end – 2D point representing the end of the second line segment

Returns:

smallest distance between both segments