Function mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker *, const geometry_msgs::msg::Pose&, const geometry_msgs::msg::Pose&)

Function Documentation

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