plan_util.h File Reference

#include <marti_nav_msgs/Plan.h>
#include <marti_nav_msgs/PlanPosition.h>
#include <swri_transform_util/transform.h>

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Namespaces
	swri_route_util

Functions
void	swri_route_util::fillOrientations (marti_nav_msgs::Plan &path)
bool	swri_route_util::findLocalNearestDistanceForward (const marti_nav_msgs::Plan &path, const double x, const double y, marti_nav_msgs::PlanPosition &nearest_position, double &nearest_separation)
void	swri_route_util::getPathPose (const marti_nav_msgs::Plan &path, const marti_nav_msgs::PlanPosition position, tf::Transform &tf, const bool allow_extrapolation=false)
void	swri_route_util::getPlanPosition (const marti_nav_msgs::Plan &path, const marti_nav_msgs::PlanPosition position, tf::Vector3 &tf, bool extrapolate=false)
tf::Vector3	swri_route_util::getPointPosition (const marti_nav_msgs::PlanPoint &pt)
void	swri_route_util::interpolatePlanPosition (const marti_nav_msgs::Plan &path, const marti_nav_msgs::PlanPosition position, marti_nav_msgs::PlanPoint &pt, bool extrapolate=false)
void	swri_route_util::normalizePlanPosition (marti_nav_msgs::PlanPosition &position, const marti_nav_msgs::Plan &path)
bool	swri_route_util::planDistance (double &distance, const marti_nav_msgs::PlanPosition &start, const marti_nav_msgs::PlanPosition &end, const marti_nav_msgs::Plan &route)
bool	swri_route_util::projectOntoPlan (marti_nav_msgs::PlanPosition &position, const marti_nav_msgs::Plan &route, const tf::Vector3 &point, bool extrapolate_before_start, bool extrapolate_past_end)
bool	swri_route_util::projectOntoPlanWindow (marti_nav_msgs::PlanPosition &position, const marti_nav_msgs::Plan &route, const tf::Vector3 &point, const marti_nav_msgs::PlanPosition &window_start, const marti_nav_msgs::PlanPosition &window_end)
void	swri_route_util::projectToXY (marti_nav_msgs::Plan &route)
void	swri_route_util::transform (marti_nav_msgs::Plan &path, const swri_transform_util::Transform &transform, const std::string &target_frame)