orientation_tools.hpp

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#ifndef GRACEFUL_CONTROLLER_ROS_ORIENTATION_TOOLS_HPP
#define GRACEFUL_CONTROLLER_ROS_ORIENTATION_TOOLS_HPP
 
#include <vector>
#include <geometry_msgs/PoseStamped.h>
 
namespace graceful_controller
{
 
std::vector<geometry_msgs::PoseStamped>
addOrientations(const std::vector<geometry_msgs::PoseStamped>& path);
 
std::vector<geometry_msgs::PoseStamped>
applyOrientationFilter(const std::vector<geometry_msgs::PoseStamped>& path,
                       double yaw_tolerance,
                       double gap_tolerance);
 
}  // namespace graceful_controller
 
#endif  // GRACEFUL_CONTROLLER_ROS_ORIENTATION_TOOLS_HPP