footprint.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2018, Locus Robotics
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00034 
00035 #include <nav_2d_utils/footprint.h>
00036 #include <nav_2d_utils/polygons.h>
00037 #include <string>
00038 
00039 namespace nav_2d_utils
00040 {
00041 nav_2d_msgs::Polygon2D footprintFromParams(ros::NodeHandle& nh, bool write)
00042 {
00043   std::string full_param_name;
00044   nav_2d_msgs::Polygon2D footprint;
00045 
00046   if (nh.searchParam("footprint", full_param_name))
00047   {
00048     footprint = polygonFromParams(nh, full_param_name, false);
00049     if (write)
00050     {
00051       nh.setParam("footprint", polygonToXMLRPC(footprint));
00052     }
00053   }
00054   else if (nh.searchParam("robot_radius", full_param_name))
00055   {
00056     double robot_radius = 0.0;
00057     nh.getParam(full_param_name, robot_radius);
00058     footprint = polygonFromRadius(robot_radius);
00059     if (write)
00060     {
00061       nh.setParam("robot_radius", robot_radius);
00062     }
00063   }
00064   return footprint;
00065 }
00066 
00067 }  // namespace nav_2d_utils


nav_2d_utils
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autogenerated on Wed Jun 26 2019 20:09:36