Program Listing for File trajectory_utils.hpp
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#ifndef DWB_CORE__TRAJECTORY_UTILS_HPP_
#define DWB_CORE__TRAJECTORY_UTILS_HPP_
#include "rclcpp/rclcpp.hpp"
#include "dwb_msgs/msg/trajectory2_d.hpp"
namespace dwb_core
{
const geometry_msgs::msg::Pose2D & getClosestPose(
const dwb_msgs::msg::Trajectory2D & trajectory,
const double time_offset);
geometry_msgs::msg::Pose2D projectPose(
const dwb_msgs::msg::Trajectory2D & trajectory,
const double time_offset);
} // namespace dwb_core
#endif // DWB_CORE__TRAJECTORY_UTILS_HPP_