Function nav2_smac_planner::transformFootprintToEdges

Defined in File utils.hpp

Function Documentation

inline std::vector<geometry_msgs::msg::Point> nav2_smac_planner::transformFootprintToEdges(const geometry_msgs::msg::Pose &pose, const std::vector<geometry_msgs::msg::Point> &footprint)

transform footprint into edges

Parameters:

robot – [in] position , orientation and footprint
robot – [out] footprint edges