nav_2d_utils: path_ops.cpp File Reference

#include <nav_2d_utils/path_ops.h>
#include <nav_2d_utils/geometry_help.h>
#include <cmath>
#include <vector>

Include dependency graph for path_ops.cpp:

Namespaces
	nav_2d_utils
	A set of utility functions for Bounds objects interacting with other messages/types.

Typedefs
using	nav_2d_utils::PoseList = std::vector< geometry_msgs::Pose2D >

Functions
void	nav_2d_utils::addPose (nav_2d_msgs::Path2D &path, double x, double y, double theta=0.0)
	Convenience function to add a pose to a path in one line. More...

nav_2d_msgs::Path2D	nav_2d_utils::adjustPlanResolution (const nav_2d_msgs::Path2D &global_plan_in, double resolution)
	Increase plan resolution to match that of the costmap by adding points linearly between points. More...

nav_2d_msgs::Path2D	nav_2d_utils::compressPlan (const nav_2d_msgs::Path2D &input_path, double epsilon=0.1)
	Decrease the length of the plan by eliminating colinear points. More...

PoseList	nav_2d_utils::compressPlan (const PoseList &input, unsigned int start_index, unsigned int end_index, double epsilon)
	Helper function for other version of compressPlan. More...

double	nav_2d_utils::getPlanLength (const nav_2d_msgs::Path2D &plan, const unsigned int start_index=0)
	Calculate the length of the plan, starting from the given index. More...

double	nav_2d_utils::getPlanLength (const nav_2d_msgs::Path2D &plan, const geometry_msgs::Pose2D &query_pose)
	Calculate the length of the plan from the pose on the plan closest to the given pose. More...

double	nav_2d_utils::poseDistance (const geometry_msgs::Pose2D &pose0, const geometry_msgs::Pose2D &pose1)
	Calculate the linear distance between two poses. More...

Namespaces