Function autoware_utils_geometry::gjk::intersects

• Defined in File gjk_2d.hpp

Function Documentation

bool autoware_utils_geometry::gjk::intersects(const Polygon2d &convex_polygon1, const Polygon2d &convex_polygon2)

Check if 2 convex polygons intersect using the GJK algorithm.

much faster than boost::geometry::overlaps() but limited to convex polygons