Function dwb_core::getClosestPose

• Defined in File trajectory_utils.hpp

Function Documentation

const geometry_msgs::msg::Pose2D &dwb_core::getClosestPose(const dwb_msgs::msg::Trajectory2D &trajectory, const double time_offset)

Helper function to find a pose in the trajectory with a particular time time_offset.

Linearly searches through the poses. Once the poses time_offset is greater than the desired time_offset, the search ends, since the poses have increasing time_offsets.

Parameters:

• trajectory – The trajectory to search

• time_offset – The desired time_offset

Returns:

reference to the pose that is closest to the particular time offset