Function mppi::utils::withinPositionGoalTolerance(float, const geometry_msgs::msg::Pose&, const models::Path&)

• Defined in File utils.hpp

Function Documentation

inline bool mppi::utils::withinPositionGoalTolerance(float pose_tolerance, const geometry_msgs::msg::Pose &robot, const models::Path &path)

Check if the robot pose is within tolerance to the goal.

Parameters:

• pose_tolerance – Pose tolerance to use

• robot – Pose of robot

• path – Path to retreive goal pose from

Returns:

bool If robot is within tolerance to the goal