15 #ifndef GEOMETRY__INTERSECTION__COLLISION_HPP_
16 #define GEOMETRY__INTERSECTION__COLLISION_HPP_
20 #include <geometry_msgs/msg/pose.hpp>
21 #include <traffic_simulator_msgs/msg/bounding_box.hpp>
29 const geometry_msgs::msg::Pose & pose0,
const traffic_simulator_msgs::msg::BoundingBox & bbox0,
30 const geometry_msgs::msg::Pose & pose1,
const traffic_simulator_msgs::msg::BoundingBox & bbox1);
32 const std::vector<geometry_msgs::msg::Point> & polygon,
const geometry_msgs::msg::Point & point);
bool checkCollision2D(const geometry_msgs::msg::Pose &pose0, const traffic_simulator_msgs::msg::BoundingBox &bbox0, const geometry_msgs::msg::Pose &pose1, const traffic_simulator_msgs::msg::BoundingBox &bbox1)
Definition: collision.cpp:32
bool contains(const std::vector< geometry_msgs::msg::Point > &polygon, const geometry_msgs::msg::Point &point)
Definition: collision.cpp:52
Definition: bounding_box.hpp:32