MathHelper¶
python_motion_planning.utils.helper.math_helper.MathHelper
¶
closestPointOnLine(a, b, p=(0.0, 0.0))
staticmethod
¶
Find the closest intersection point (foot of a perpendicular) between point p and the line ab.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
a
|
tuple
|
point a of the line |
required |
b
|
tuple
|
point b of the line |
required |
p
|
tuple
|
point p to find the closest intersection point |
(0.0, 0.0)
|
References
[1] method 2 of https://www.youtube.com/watch?v=TPDgB6136ZE