.. _exhale_function_utils_8hpp_1acc2ebd6f4058ce218b7e2112c06105a3:

Template Function nav2_constrained_smoother::tangentDir
=======================================================

- Defined in :ref:`file_include_nav2_constrained_smoother_utils.hpp`


Function Documentation
----------------------


.. doxygenfunction:: nav2_constrained_smoother::tangentDir(Eigen::Matrix<T, 2, 1>, Eigen::Matrix<T, 2, 1>, Eigen::Matrix<T, 2, 1>, bool)
   :project: nav2_constrained_smoother Doxygen Project