Function mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker *, const geometry_msgs::msg::Pose&, const geometry_msgs::msg::Pose&)
Defined in File utils.hpp
Function Documentation
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inline bool mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker *goal_checker, const geometry_msgs::msg::Pose &robot, const geometry_msgs::msg::Pose &goal)
Check if the robot pose is within the Goal Checker’s tolerances to goal.
- Parameters:
global_checker – Pointer to the goal checker
robot – Pose of robot
goal – Goal pose
- Returns:
bool If robot is within goal checker tolerances to the goal