Function mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker *, const geometry_msgs::msg::Pose&, const models::Path&)

• Defined in File utils.hpp

Function Documentation

inline bool mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker *goal_checker, const geometry_msgs::msg::Pose &robot, const models::Path &path)

Check if the robot pose is within the Goal Checker’s tolerances to goal.

Parameters:

• global_checker – Pointer to the goal checker

• robot – Pose of robot

• path – Path to retreive goal pose from

Returns:

bool If robot is within goal checker tolerances to the goal