Method CheckIfCollisionUsingLine

src/Plan/traj_planner/src/map_adapter.cpp:117–129

}

ErrorType TrajPlannerAdapter::CheckIfCollisionUsingLine(const Eigen::Vector2d p1, 
                                           const Eigen::Vector2d p2, bool* res, double checkl){
  if (!is_valid_) return kWrongStatus;    
  for(double dl = 0.0; dl < (p2-p1).norm(); dl+=checkl){
    Eigen::Vector2d pos = (p2-p1)*dl/(p2-p1).norm()+p1;
    map_->CheckCollisionUsingGlobalPosition(pos,res);  
    if(*res){
      return kSuccess;
    }
  }
  map_->CheckCollisionUsingGlobalPosition(p2,res);
  return kSuccess;
}
ErrorType TrajPlannerAdapter::GetMovingObsTraj(
      std::vector<std::vector<common::State>>* sur_trajs){
  if (!is_valid_) return kWrongStatus;