Function nav2_route::utils::findClosestPoint

Defined in File utils.hpp

Function Documentation

inline Coordinates nav2_route::utils::findClosestPoint(const geometry_msgs::msg::PoseStamped &pose, const Coordinates &start, const Coordinates &end)

Finds the closest point on the line segment made up of start-end to pose.

Parameters:

pose – Pose to find point closest on the line with respect to
start – Start of line segment
end – End of line segment

Returns:

Coordinates of point on the line closest to the pose