Function swri_route_util::projectOntoRouteWindow

Defined in File util.h

Function Documentation

bool swri_route_util::projectOntoRouteWindow(marti_nav_msgs::msg::RoutePosition &position, const Route &route, const tf2::Vector3 &point, const marti_nav_msgs::msg::RoutePosition &window_start, const marti_nav_msgs::msg::RoutePosition &window_end)