footprint.h

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#ifndef COSTMAP_2D_FOOTPRINT_H
#define COSTMAP_2D_FOOTPRINT_H

#include <ros/ros.h>
#include <geometry_msgs/Polygon.h>
#include <geometry_msgs/PolygonStamped.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Point32.h>

namespace costmap_2d
{

void calculateMinAndMaxDistances(const std::vector<geometry_msgs::Point>& footprint,
                                 double& min_dist, double& max_dist);

geometry_msgs::Point              toPoint(geometry_msgs::Point32 pt);

geometry_msgs::Point32            toPoint32(geometry_msgs::Point   pt);

geometry_msgs::Polygon            toPolygon(std::vector<geometry_msgs::Point> pts);

std::vector<geometry_msgs::Point> toPointVector(geometry_msgs::Polygon polygon);

void transformFootprint(double x, double y, double theta, const std::vector<geometry_msgs::Point>& footprint_spec,
                        std::vector<geometry_msgs::Point>& oriented_footprint);

void transformFootprint(double x, double y, double theta, const std::vector<geometry_msgs::Point>& footprint_spec,
                        geometry_msgs::PolygonStamped & oriented_footprint);

void padFootprint(std::vector<geometry_msgs::Point>& footprint, double padding);

std::vector<geometry_msgs::Point> makeFootprintFromRadius(double radius);

bool makeFootprintFromString(const std::string& footprint_string, std::vector<geometry_msgs::Point>& footprint);

std::vector<geometry_msgs::Point> makeFootprintFromParams(ros::NodeHandle& nh);

std::vector<geometry_msgs::Point> makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc,
                                const std::string& full_param_name);

void writeFootprintToParam(ros::NodeHandle& nh, const std::vector<geometry_msgs::Point>& footprint);

}  // end namespace costmap_2d

#endif  // COSTMAP_2D_FOOTPRINT_H