collision_detection.cpp File Reference

#include "carma_wm/collision_detection.hpp"

Include dependency graph for collision_detection.cpp:

Go to the source code of this file.

Namespaces
namespace	carma_wm
namespace	carma_wm::collision_detection

Functions
std::vector< carma_perception_msgs::msg::RoadwayObstacle >	carma_wm::collision_detection::WorldCollisionDetection (const carma_perception_msgs::msg::RoadwayObstacleList &rwol, const carma_planning_msgs::msg::TrajectoryPlan &tp, const geometry_msgs::msg::Vector3 &size, const geometry_msgs::msg::Twist &velocity)
	Main collision detection function to be called when needed to check for collision detection of the vehicle with the current trajectory plan and the current world objects. More...
collision_detection::MovingObject	carma_wm::collision_detection::ConvertRoadwayObstacleToMovingObject (const carma_perception_msgs::msg::RoadwayObstacle &rwo)
	Convert RodwayObstable object to the collision_detection::MovingObject. More...
collision_detection::MovingObject	carma_wm::collision_detection::ConvertVehicleToMovingObject (const carma_planning_msgs::msg::TrajectoryPlan &tp, const geometry_msgs::msg::Vector3 &size, const geometry_msgs::msg::Twist &veloctiy)
	Creates collision_detection::MovingObject for the host vehicle using the veloctiy, size, TrajectoryPlan. More...
bool	carma_wm::collision_detection::DetectCollision (collision_detection::MovingObject const &ob_1, collision_detection::MovingObject const &ob_2, __uint64_t target_time)
	.function is used in WorldCollisionDetection to detection collision between two Moving Object More...
bool	carma_wm::collision_detection::CheckPolygonIntersection (collision_detection::MovingObject const &ob_1, collision_detection::MovingObject const &ob_2)
	.check Intersection between polygons More...
collision_detection::MovingObject	carma_wm::collision_detection::PredictObjectPosition (collision_detection::MovingObject const &op, __uint64_t target_time)
	.function is to create a monving object with a polygon that represents area that object is going to allocated until a given time by creating a convex hull around the future polygons More...
template<class P >
P	carma_wm::collision_detection::ObjectToBoostPolygon (const geometry_msgs::msg::Pose &pose, const geometry_msgs::msg::Vector3 &size)
	function to create a polygon representing and object More...