| 78 | } |
| 79 | |
| 80 | bool Intersect(std::vector<geometry_msgs::Point> &polygon, float testx, float testy) { |
| 81 | bool c = false; |
| 82 | int i, j, nvert = polygon.size(); |
| 83 | for (i = 0, j = nvert - 1; i < nvert; j = i++) { |
| 84 | float yi = polygon[i].y, yj = polygon[j].y, xi = polygon[i].x, xj = polygon[j].x; |
| 85 | |
| 86 | if (((yi > testy) != (yj > testy)) && (testx < (xj - xi) * (testy - yi) / (yj - yi) + xi)) |
| 87 | c = !c; |
| 88 | } |
| 89 | return c; |
| 90 | } |
| 91 | |
| 92 | bool intersects_helper(std::vector<geometry_msgs::Point> &polygon1, std::vector<geometry_msgs::Point> &polygon2) { |
| 93 | for (unsigned int i = 0; i < polygon1.size(); i++) |
no test coverage detected