path_ops.h

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#ifndef NAV_2D_UTILS_PATH_OPS_H
#define NAV_2D_UTILS_PATH_OPS_H

#include <nav_2d_msgs/Path2D.h>

namespace nav_2d_utils
{
double poseDistance(const geometry_msgs::Pose2D& pose0, const geometry_msgs::Pose2D& pose1);

double getPlanLength(const nav_2d_msgs::Path2D& plan, const unsigned int start_index = 0);

double getPlanLength(const nav_2d_msgs::Path2D& plan, const geometry_msgs::Pose2D& query_pose);

nav_2d_msgs::Path2D adjustPlanResolution(const nav_2d_msgs::Path2D& global_plan_in, double resolution);

nav_2d_msgs::Path2D compressPlan(const nav_2d_msgs::Path2D& input_path, double epsilon = 0.1);

void addPose(nav_2d_msgs::Path2D& path, double x, double y, double theta = 0.0);

}  // namespace nav_2d_utils

#endif  // NAV_2D_UTILS_PATH_OPS_H