alignment_util.cpp
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34 
36 
37 namespace dwb_critics
38 {
39 geometry_msgs::Pose2D getForwardPose(const geometry_msgs::Pose2D& pose, double distance)
40 {
41  geometry_msgs::Pose2D forward_pose;
42  forward_pose.x = pose.x + distance * cos(pose.theta);
43  forward_pose.y = pose.y + distance * sin(pose.theta);
44  forward_pose.theta = pose.theta;
45  return forward_pose;
46 }
47 } // namespace dwb_critics
geometry_msgs::Pose2D getForwardPose(const geometry_msgs::Pose2D &pose, double distance)
Projects the given pose forward the specified distance in the x direction.


dwb_critics
Author(s): David V. Lu!!
autogenerated on Sun Jan 10 2021 04:08:44