trajectory_utils.h

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#ifndef DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H
#define DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H

#include <dwb_msgs/Trajectory2D.h>

namespace dwb_local_planner
{

const geometry_msgs::Pose2D& getClosestPose(const dwb_msgs::Trajectory2D& trajectory, const double time_offset);

geometry_msgs::Pose2D projectPose(const dwb_msgs::Trajectory2D& trajectory, const double time_offset);

}  // namespace dwb_local_planner

#endif  // DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H