uc_util: iteris_lane_util.H Source File

00001 // copyright (C) 2007 University of Louisiana at Lafayette
00002 // Authors: Christopher Mire
00003 
00004 #ifndef CAJUN_ITERIS_LANE_UTIL_H
00005 #define CAJUN_ITERIS_LANE_UTIL_H
00006 
00007 #include <vector>
00008 
00009 namespace cajun
00010 {
00011         #define DEFAULT_ITERIS_RADIUS 1000
00012 
00013         struct point_t { double x, y; };
00014         bool circle_circle_intersection (double x0, double y0, double r0,
00015                                          double x1, double y1, double r1,
00016                                          double &xi, double &yi,
00017                                          double &xi_prime, double &yi_prime);
00018         void circle_start_end_angles (double center_x_, double center_y_,
00019                                       double x0_, double y0_, double x1_,
00020                                       double y1_, double &start_ang_,
00021                                       double &end_ang_);
00022         bool get_circle_arc_points (double center_x, double center_y,
00023                                     double curvature_, double distance_,
00024                                     double start_ang_, double end_ang_,
00025                                     std::vector <point_t> &arc_points_);
00026 };
00027 #endif