trajectory_utils.h
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34 
35 #ifndef DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H
36 #define DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H
37 
38 #include <dwb_msgs/Trajectory2D.h>
39 
40 namespace dwb_local_planner
41 {
42 
52 const geometry_msgs::Pose2D& getClosestPose(const dwb_msgs::Trajectory2D& trajectory, const double time_offset);
53 
61 geometry_msgs::Pose2D projectPose(const dwb_msgs::Trajectory2D& trajectory, const double time_offset);
62 
63 } // namespace dwb_local_planner
64 
65 #endif // DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H
dwb_local_planner::getClosestPose
const geometry_msgs::Pose2D & getClosestPose(const dwb_msgs::Trajectory2D &trajectory, const double time_offset)
Helper function to find a pose in the trajectory with a particular time time_offset.
Definition: trajectory_utils.cpp:40
dwb_local_planner::projectPose
geometry_msgs::Pose2D projectPose(const dwb_msgs::Trajectory2D &trajectory, const double time_offset)
Helper function to create a pose with an exact time_offset by linearly interpolating between existing...
Definition: trajectory_utils.cpp:66
dwb_local_planner
Definition: backwards_compatibility.h:40

dwb_local_planner
Author(s): David V. Lu!!
autogenerated on Sun Jul 3 2022 02:47:54