38 #ifndef FOOTPRINT_HELPER_H_ 39 #define FOOTPRINT_HELPER_H_ 44 #include <geometry_msgs/Point.h> 46 #include <base_local_planner/Position2DInt.h> 65 std::vector<geometry_msgs::Point> footprint_spec,
77 void getLineCells(
int x0,
int x1,
int y0,
int y1, std::vector<base_local_planner::Position2DInt>& pts);
83 void getFillCells(std::vector<base_local_planner::Position2DInt>& footprint);