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00018 #ifndef FTC_LOCAL_PLANNER_TRANSFORM_GLOBAL_PLAN_H_
00019 #define FTC_LOCAL_PLANNER_TRANSFORM_GLOBAL_PLAN_H_
00020 #include <ros/ros.h>
00021 #include <tf/transform_listener.h>
00022 #include <tf/transform_datatypes.h>
00023 #include <nav_msgs/Odometry.h>
00024 #include <nav_msgs/Path.h>
00025 #include <geometry_msgs/PoseStamped.h>
00026 #include <geometry_msgs/Twist.h>
00027 #include <geometry_msgs/Point.h>
00028 #include <tf/transform_listener.h>
00029
00030 #include <string>
00031 #include <cmath>
00032
00033 #include <angles/angles.h>
00034 #include <costmap_2d/costmap_2d.h>
00035 namespace ftc_local_planner
00036 {
00045 bool getXPose(const tf::TransformListener& tf,
00046 const std::vector<geometry_msgs::PoseStamped>& global_plan,
00047 const std::string& global_frame,
00048 tf::Stamped<tf::Pose> &goal_pose, int plan_point);
00049 };
00050 #endif