path_util.h

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#ifndef SWRI_ROUTE_UTIL_PATH_UTIL_H_
#define SWRI_ROUTE_UTIL_PATH_UTIL_H_

#include <marti_nav_msgs/Path.h>
#include <swri_transform_util/transform.h>

namespace swri_route_util
{
// Transform a path.  The path will be transformed in place using
// the supplied transform. The
// frame_id of the transformed route will be set to the required
// target_frame argument, because forgetting to up the frame_id has
// caused difficult bugs several times.
void transform(marti_nav_msgs::Path &path,
               const swri_transform_util::Transform &transform,
               const std::string &target_frame);

// Fill in the orientation of the path points using an estimate from
// the path geometry.  This function
// assumes the route is in a cartesian (e.g. not WGS84) frame.
void fillOrientations(marti_nav_msgs::Path &path);


// Stores a position along a path
struct PathPosition
{
  size_t index;
  double distance;
};

// Finds the nearest point on a path to a given position starting
// from the first point in the path
bool findLocalNearestDistanceForward(
    const marti_nav_msgs::Path& path,
    const double x, const double y,
    PathPosition& nearest_position,
    double& nearest_separation);

// Gets a transform representing a position along a route
// Automatically normalizes the path positions
void getPathPose(const marti_nav_msgs::Path& path,
                 const PathPosition position,
                 tf::Transform& tf,
                 const bool allow_extrapolation = false);

// Gets a vector3 representing a position along a route
// Automatically normalizes the path positions
void getPathPosition(const marti_nav_msgs::Path& path,
                 const PathPosition position,
                 tf::Vector3& tf);
}
#endif  // SWRI_ROUTE_UTIL_UTIL_H_