transform_global_plan.h
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1 
18 #ifndef FTC_LOCAL_PLANNER_TRANSFORM_GLOBAL_PLAN_H_
19 #define FTC_LOCAL_PLANNER_TRANSFORM_GLOBAL_PLAN_H_
20 #include <ros/ros.h>
21 #include <tf/transform_listener.h>
22 #include <tf/transform_datatypes.h>
23 #include <nav_msgs/Odometry.h>
24 #include <nav_msgs/Path.h>
25 #include <geometry_msgs/PoseStamped.h>
26 #include <geometry_msgs/Twist.h>
27 #include <geometry_msgs/Point.h>
28 #include <tf/transform_listener.h>
29 
30 #include <string>
31 #include <cmath>
32 
33 #include <angles/angles.h>
34 #include <costmap_2d/costmap_2d.h>
35 namespace ftc_local_planner
36 {
45  bool getXPose(const tf::TransformListener& tf,
46  const std::vector<geometry_msgs::PoseStamped>& global_plan,
47  const std::string& global_frame,
48  tf::Stamped<tf::Pose> &goal_pose, int plan_point);
49 };
50 #endif
bool getXPose(const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const std::string &global_frame, tf::Stamped< tf::Pose > &goal_pose, int plan_point)
Returns X pose in plan.


asr_ftc_local_planner
Author(s): Marek Felix
autogenerated on Mon Jun 17 2019 19:56:22