Program Listing for File nav2z_client_tools.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <vector>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <rclcpp/rclcpp.hpp>
namespace cl_nav2z
{
geometry_msgs::msg::PoseStamped makePureSpinningSubPlan(
const geometry_msgs::msg::PoseStamped & start, double dstRads,
std::vector<geometry_msgs::msg::PoseStamped> & plan, double radstep = 0.005);
geometry_msgs::msg::PoseStamped makePureStraightSubPlan(
const geometry_msgs::msg::PoseStamped & startOrientedPose, const geometry_msgs::msg::Point & goal,
double length, std::vector<geometry_msgs::msg::PoseStamped> & plan);
} // namespace cl_nav2z