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avoidfootcollision.h File Reference
`#include <almath/api.h>`
`#include <almath/types/alpose2d.h>`
`#include <almath/types/alposition2d.h>`
`#include <vector>`

Go to the source code of this file.

## Namespaces
| AL
| AL::Math

## Macros
#define | _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_

## Functions
ALMATH_API const bool | AL::Math::avoidFootCollision (const std::vector< Position2D > &pLFootBoundingBox, const std::vector< Position2D > &pRFootBoundingBox, const bool &pIsLeftSupport, Pose2D &pMove)
| Compute the best position(orientation) of the foot to avoid collision. More...
ALMATH_API const bool | AL::Math::clipFootWithEllipse (const float &pMaxFootX, const float &pMaxFootY, Pose2D &pMove)
| Clip foot move with ellipsoid function More...
ALMATH_API const bool | AL::Math::areTwoBoxesInCollision (const std::vector< Position2D > &pBoxA, const std::vector< Position2D > &pBoxB)
ALMATH_API void | AL::Math::computeBox (const std::vector< Position2D > &pInitBox, const Pose2D &pMove, std::vector< Position2D > &pMovedBox)
ALMATH_API const void | AL::Math::dichotomie (const std::vector< Position2D > &pFixedBox, const std::vector< Position2D > &pMovingBox, Pose2D &pMove)
ALMATH_API bool | AL::Math::intersectionSegment2D (const Position2D &pA1, const Position2D &pA2, const Position2D &pB1, const Position2D &pB2, Position2D &pC)

## Macro Definition Documentation

#define _LIBALMATH_ALMATH_TOOLS_AVOIDFOOTCOLLISION_H_

Definition at line 10 of file avoidfootcollision.h.