orientation_filter.h
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37 #ifndef GLOBAL_PLANNER_ORIENTATION_FILTER_H
38 #define GLOBAL_PLANNER_ORIENTATION_FILTER_H
39 #include <nav_msgs/Path.h>
40 
41 namespace global_planner {
42 
44 
46  public:
48 
49 
50  virtual void processPath(const geometry_msgs::PoseStamped& start,
51  std::vector<geometry_msgs::PoseStamped>& path);
52 
53  void setAngleBasedOnPositionDerivative(std::vector<geometry_msgs::PoseStamped>& path, int index);
54  void interpolate(std::vector<geometry_msgs::PoseStamped>& path,
55  int start_index, int end_index);
56 
57  void setMode(OrientationMode new_mode){ omode_ = new_mode; }
58  void setMode(int new_mode){ setMode((OrientationMode) new_mode); }
59 
60  void setWindowSize(size_t window_size){ window_size_ = window_size; }
61  protected:
64 };
65 
66 } //end namespace global_planner
67 #endif
virtual void processPath(const geometry_msgs::PoseStamped &start, std::vector< geometry_msgs::PoseStamped > &path)
void interpolate(std::vector< geometry_msgs::PoseStamped > &path, int start_index, int end_index)
void setAngleBasedOnPositionDerivative(std::vector< geometry_msgs::PoseStamped > &path, int index)
void setMode(OrientationMode new_mode)
void setWindowSize(size_t window_size)


global_planner
Author(s): David Lu!!
autogenerated on Thu Mar 12 2020 04:10:23