collision_detection.hpp File Reference

#include <carma_perception_msgs/msg/roadway_obstacle_list.hpp>
#include <carma_perception_msgs/msg/roadway_obstacle.hpp>
#include <carma_v2x_msgs/msg/vehicle_size.hpp>
#include <carma_planning_msgs/msg/trajectory_plan.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <boost/geometry.hpp>
#include <boost/geometry/geometries/point_xy.hpp>
#include <boost/foreach.hpp>
#include <vector>
#include <boost/assign/std/vector.hpp>
#include <iostream>
#include <fstream>
#include <carma_wm/Geometry.hpp>
#include <tf2/LinearMath/Transform.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <rclcpp/rclcpp.hpp>

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Classes
struct	carma_wm::collision_detection::MovingObject

Namespaces
namespace	carma_wm
namespace	carma_wm::collision_detection

Typedefs
typedef boost::geometry::model::point< double, 2, boost::geometry::cs::cartesian >	carma_wm::collision_detection::point_t
typedef boost::geometry::model::polygon< point_t >	carma_wm::collision_detection::polygon_t

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...
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...
bool	carma_wm::collision_detection::CheckPolygonIntersection (collision_detection::MovingObject const &ob_1, collision_detection::MovingObject const &ob_2)
	.check Intersection between polygons 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...
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...