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author | Alex Auvolat <alex.auvolat@ens.fr> | 2015-02-01 16:50:09 +0100 |
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committer | Alex Auvolat <alex.auvolat@ens.fr> | 2015-02-01 16:50:09 +0100 |
commit | 74dba84f9197a3b65b194d8a3dc53bf086d9f072 (patch) | |
tree | b0956f6e166b6cef9c717403a7564418c32afe19 /geom.hpp | |
parent | d6cef8b0585dcadd7a4c6c5811e127fce8436ec3 (diff) | |
download | Robotique-Projet-74dba84f9197a3b65b194d8a3dc53bf086d9f072.tar.gz Robotique-Projet-74dba84f9197a3b65b194d8a3dc53bf086d9f072.zip |
Basic interface : can add obstacles ; set begin/end position, ...
Diffstat (limited to 'geom.hpp')
-rw-r--r-- | geom.hpp | 6 |
1 files changed, 5 insertions, 1 deletions
@@ -27,7 +27,7 @@ struct vec { double angle() const { if (is_nil()) return 0; double xx = x / norm(); - double a = acos(x); + double a = acos(xx); return (y >= 0 ? a : -a + 2*M_PI); } @@ -144,6 +144,10 @@ struct circle { vec at_angle(double theta) const { return c + vec(r * cos(theta), r * sin(theta)); } + + bool intersects(vec p) const { + return (c - p).norm() <= r; + } }; struct circarc { |