local_planner/src/nodes/box.cpp
// update bounding box limit coordinates around a new UAV pose
update bounding box limit coordinates around a new UAV pose
update bounding box limit coordinates around a new UAV pose
void Box::setLimitsGroundBox(geometry_msgs::Point pos, Box size,
                             double min_dist) {
  xmin_ = pos.x - size.xmin_;
  ymin_ = pos.y - size.ymin_;
  zmin_ = pos.z - min_dist - size.zmin_;
  xmax_ = pos.x + size.xmax_;
  ymax_ = pos.y + size.ymax_;
  zmax_ = pos.z;
}
void Box :: setLimitsGroundBox ( geometry_msgs :: Point pos , Box size , double min_dist ) { xmin_ = pos . x - size . xmin_ ; ymin_ = pos . y - size . ymin_ ; zmin_ = pos . z - min_dist - size . zmin_ ; xmax_ = pos . x + size . xmax_ ; ymax_ = pos . y + size . ymax_ ; zmax_ = pos . z ; }
update bounding box limit coordinates around a new UAV pose
update bounding box limit coordinates around a new UAV pose