autoware::tracking_test_framework::Circle Class Reference

This is the class which represents the pedestrians as circles in 2D and defines the function intersect_with_line which gives the intersection points of circle with a line. More...

#include <shapes.hpp>

Inheritance diagram for autoware::tracking_test_framework::Circle:

Collaboration diagram for autoware::tracking_test_framework::Circle:

Public Member Functions
	Circle (const Eigen::Vector2f &center, const autoware::common::types::float32_t radius)
	constructor More...
EigenStlVector< Eigen::Vector2f >	intersect_with_line (const Line &line, const autoware::common::types::bool8_t closest_point_only) const override
	Method to get intersection points of circle and the line. More...
Public Member Functions inherited from autoware::tracking_test_framework::Shape
virtual	~Shape ()=default
	Virtual destructor. More...

Detailed Description

This is the class which represents the pedestrians as circles in 2D and defines the function intersect_with_line which gives the intersection points of circle with a line.

Constructor & Destructor Documentation

Circle()

autoware::tracking_test_framework::Circle::Circle	(	const Eigen::Vector2f &	center,
		const autoware::common::types::float32_t	radius
	)

constructor

Member Function Documentation

intersect_with_line()

EigenStlVector< Eigen::Vector2f > autoware::tracking_test_framework::Circle::intersect_with_line ( const Line &  line, const autoware::common::types::bool8_t  closest_point_only  ) const

overridevirtual

Method to get intersection points of circle and the line.

Parameters

[in]	line	the Line object
[in]	closest_point_only	the boolean to determine if closest intersection to be returned or all

Returns

returns the intersection points

Given a line in the form of \((𝑝=𝑝_0+𝑡⋅𝑑)\) , where \((𝑝)\) is a point on a line, \((𝑝_0)\) is the 2D starting point of the line, \((𝑡)\) is a scale parameter and \( (𝑑)\) is the normalized direction vector and a circle in the form of \((𝑥−𝑥_c)^2+(𝑦−𝑦_c) ^2 = 𝑟^2\) , where \((𝑥,𝑦)\) are coordinates of a point on a circle, \((𝑥_c,𝑦_c)\) are the coordinates of the center of the circle and \((𝑟)\) is the radius of this circle, we can form a single equation from which we look for such values of \((𝑡)\) that the resulting point lies both on the point and on the circle.

Sort the intersections with closest being the first

If invalid distance return empty vector

Implements autoware::tracking_test_framework::Shape.

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The documentation for this class was generated from the following files:

• shapes.hpp
• shapes.cpp