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