Function dwb_critics::getOrientedFootprint

• Defined in File obstacle_footprint.hpp

Function Documentation

Footprint dwb_critics::getOrientedFootprint(const geometry_msgs::msg::Pose2D &pose, const Footprint &footprint_spec)

Transform the footprint spec to be centered at the given pose.

Parameters:

• pose – Robot pose

• footprint_spec – List of points that make up the footprint spec, centered at 0,0

Returns:

oriented footprint