alignment_util.cpp

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#include <dwb_critics/alignment_util.h>

namespace dwb_critics
{
geometry_msgs::Pose2D getForwardPose(const geometry_msgs::Pose2D& pose, double distance)
{
  geometry_msgs::Pose2D forward_pose;
  forward_pose.x = pose.x + distance * cos(pose.theta);
  forward_pose.y = pose.y + distance * sin(pose.theta);
  forward_pose.theta = pose.theta;
  return forward_pose;
}
}  // namespace dwb_critics