24#ifndef _UTILS_MATH_TRIANGLE_H_
25#define _UTILS_MATH_TRIANGLE_H_
36triangle_area(
const Eigen::Vector2f &p0,
const Eigen::Vector2f &p1,
const Eigen::Vector2f &p2)
39 * (-p1[1] * p2[0] + p0[1] * (-p1[0] + p2[0]) + p0[0] * (p1[1] - p2[1]) + p1[0] * p2[1]);
53 const Eigen::Vector2f &p1,
54 const Eigen::Vector2f &p2,
55 const Eigen::Vector2f &p)
60 1. / area_2 * (p0[1] * p2[0] - p0[0] * p2[1] + (p2[1] - p0[1]) * p[0] + (p0[0] - p2[0]) * p[1]);
65 1. / area_2 * (p0[0] * p1[1] - p0[1] * p1[0] + (p0[1] - p1[1]) * p[0] + (p1[0] - p0[0]) * p[1]);
Fawkes library namespace.
double triangle_area(const Eigen::Vector2f &p0, const Eigen::Vector2f &p1, const Eigen::Vector2f &p2)
Calculate triangle area.
bool triangle_contains(const Eigen::Vector2f &p0, const Eigen::Vector2f &p1, const Eigen::Vector2f &p2, const Eigen::Vector2f &p)
Check if a triangle contains a point.