placo 0.8.5__tar.gz → 0.8.7__tar.gz

{placo-0.8.5 → placo-0.8.7}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.8.5
+Version: 0.8.7
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.9
 License-Expression: MIT

{placo-0.8.5 → placo-0.8.7}/pyproject.toml

@@ -23,7 +23,7 @@ description = "PlaCo: Rhoban Planning and Control"
 license = "MIT"
 name = "placo"
 requires-python = ">= 3.9"
-version = "0.8.5"
+version = "0.8.7"
 
 [project.urls]
 changelog = "https://github.com/rhoban/placo/blob/main/CHANGELOG.md"

placo-0.8.7/src/placo/tools/segment.cpp

@@ -0,0 +1,91 @@
+#include <iostream>
+#include "placo/tools/segment.h"
+
+namespace placo::tools
+{
+Segment::Segment()
+{
+}
+
+Segment::Segment(const Eigen::Vector2d& start, const Eigen::Vector2d& end) : start(start), end(end)
+{
+}
+
+double Segment::norm()
+{
+  return (end - start).norm();
+}
+
+bool Segment::is_parallel(const Segment& s, double epsilon)
+{
+  Eigen::Vector2d v1 = end - start;
+  Eigen::Vector2d v2 = s.end - s.start;
+  return fabs(v1.x() * v2.y() - v1.y() * v2.x()) / (v1.norm() * v2.norm()) < epsilon;
+}
+
+bool Segment::is_point_aligned(const Eigen::Vector2d& point, double epsilon)
+{
+  if (fabs((start - point).norm()) < epsilon)
+  {
+    return true;
+  }
+  return is_parallel(Segment(start, point), epsilon);
+}
+
+bool Segment::is_segment_aligned(const Segment& s, double epsilon)
+{
+  return is_point_aligned(s.start, epsilon) && is_point_aligned(s.end, epsilon);
+}
+
+bool Segment::is_point_in_segment(const Eigen::Vector2d& point, double epsilon)
+{
+  Eigen::Vector2d v1 = end - start;
+  Eigen::Vector2d v2 = point - start;
+  return is_segment_aligned(Segment(start, point), epsilon) && v1.dot(v2) >= 0 && v1.dot(v2) <= v1.dot(v1);
+}
+
+bool Segment::intersects(Segment& s)
+{
+  if (is_parallel(s))
+  {
+    throw std::runtime_error("Can't compute intersection of parallels");
+  }
+  return line_pass_through(s) && s.line_pass_through(*this);
+}
+
+std::pair<double, double> Segment::get_lambdas(const Segment& s)
+{
+  if (is_parallel(s))
+  {
+    throw std::runtime_error("Can't compute intersection of parallels");
+  }
+
+  Eigen::Vector2d v1 = end - start;
+  Eigen::Vector2d v2 = s.end - s.start;
+  Eigen::Vector2d p1 = start;
+  Eigen::Vector2d p2 = s.start;
+  double det = v1.x() * v2.y() - v1.y() * v2.x();
+  double l1 = (v2.y() * (p2.x() - p1.x()) + v2.x() * (p1.y() - p2.y())) / det;
+  double l2 = (v1.y() * (p2.x() - p1.x()) + v1.x() * (p1.y() - p2.y())) / det;
+  return std::make_pair(l1, l2);
+}
+
+bool Segment::line_pass_through(const Segment& s)
+{
+  auto lambdas = get_lambdas(s);
+  return lambdas.first >= 0 && lambdas.first <= 1;
+}
+
+bool Segment::half_line_pass_through(const Segment& s)
+{
+  auto lambdas = get_lambdas(s);
+  return lambdas.first >= 0 && lambdas.first <= 1 && lambdas.second >= 0;
+}
+
+Eigen::Vector2d Segment::lines_intersection(const Segment& s)
+{
+  auto lambdas = get_lambdas(s);
+  Eigen::Vector2d v = end - start;
+  return start + lambdas.first * v;
+}
+}  // namespace placo::tools

placo-0.8.5/src/placo/tools/segment.cpp

@@ -1,92 +0,0 @@
-#include <iostream>
-#include "placo/tools/segment.h"
-
-namespace placo::tools
-{
-Segment::Segment()
-{
-}
-
-Segment::Segment(const Eigen::Vector2d& start, const Eigen::Vector2d& end)
-    : start(start), end(end)
-{
-}
-
-double Segment::norm()
-{
-    return (end - start).norm();
-}
-
-bool Segment::is_parallel(const Segment& s, double epsilon)
-{
-    Eigen::Vector2d v1 = end - start;
-    Eigen::Vector2d v2 = s.end - s.start;
-    return abs(v1.x() * v2.y() - v1.y() * v2.x()) / (v1.norm() * v2.norm()) < epsilon;
-}
-
-bool Segment::is_point_aligned(const Eigen::Vector2d& point, double epsilon)
-{
-    if (abs((start - point).norm()) < epsilon)
-    {
-        return true;
-    }
-    return is_parallel(Segment(start, point), epsilon);
-}
-
-bool Segment::is_segment_aligned(const Segment& s, double epsilon)
-{
-    return is_point_aligned(s.start, epsilon) && is_point_aligned(s.end, epsilon);
-}
-
-bool Segment::is_point_in_segment(const Eigen::Vector2d& point, double epsilon)
-{
-    Eigen::Vector2d v1 = end - start;
-    Eigen::Vector2d v2 = point - start;
-    return is_segment_aligned(Segment(start, point), epsilon) && v1.dot(v2) >= 0 && v1.dot(v2) <= v1.dot(v1);
-}
-
-bool Segment::intersects(Segment& s)
-{
-    if (is_parallel(s))
-    {
-        throw std::runtime_error("Can't compute intersection of parallels");
-    }
-    return line_pass_through(s) && s.line_pass_through(*this);
-}
-
-std::pair<double, double> Segment::get_lambdas(const Segment& s)
-{
-    if (is_parallel(s))
-    {
-        throw std::runtime_error("Can't compute intersection of parallels");
-    }
-
-    Eigen::Vector2d v1 = end - start;
-    Eigen::Vector2d v2 = s.end - s.start;
-    Eigen::Vector2d p1 = start;
-    Eigen::Vector2d p2 = s.start;
-    double det = v1.x() * v2.y() - v1.y() * v2.x();
-    double l1 = (v2.y() * (p2.x() - p1.x()) + v2.x() * (p1.y() - p2.y())) / det;
-    double l2 = (v1.y() * (p2.x() - p1.x()) + v1.x() * (p1.y() - p2.y())) / det;
-    return std::make_pair(l1, l2);
-}
-
-bool Segment::line_pass_through(const Segment& s)
-{
-    auto lambdas = get_lambdas(s);
-    return lambdas.first >= 0 && lambdas.first <= 1;
-}
-
-bool Segment::half_line_pass_through(const Segment& s)
-{
-    auto lambdas = get_lambdas(s);
-    return lambdas.first >= 0 && lambdas.first <= 1 && lambdas.second >= 0;
-}
-
-Eigen::Vector2d Segment::lines_intersection(const Segment& s)
-{
-    auto lambdas = get_lambdas(s);
-    Eigen::Vector2d v = end - start;
-    return start + lambdas.first * v;
-}
-}  // namespace placo::tools