transform_global_plan.h

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#ifndef FTC_LOCAL_PLANNER_TRANSFORM_GLOBAL_PLAN_H_
#define FTC_LOCAL_PLANNER_TRANSFORM_GLOBAL_PLAN_H_
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <tf/transform_listener.h>

#include <string>
#include <cmath>

#include <angles/angles.h>
#include <costmap_2d/costmap_2d.h>
namespace ftc_local_planner
{
    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);
};
#endif