Function dwb_core::projectPose

• Defined in File trajectory_utils.hpp

Function Documentation

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

Helper function to create a pose with an exact time_offset by linearly interpolating between existing poses.

Note

If the given time offset is outside the bounds of the trajectory, the return pose will be either the first or last pose.

Parameters:

• trajectory – The trajectory with pose and time offset information

• time_offset – The desired time_offset

Returns:

New Pose2D with interpolated values