Function nav2_collision_monitor::projectState

Function Documentation

void nav2_collision_monitor::projectState(const double &dt, Pose &pose, Velocity &velocity)

Linearly projects pose towards to velocity direction on dt time interval. Turns the velocity on twist angle for dt time interval.

  • dt – Time step (in seconds). Should be relatively small to consider all movements to be linear.

  • posePose to be projected

  • velocityVelocity at which the pose to be moved. It is also being rotated on according twist angle.