Function off_highway_uss::interpolate_segment

Defined in File interpolate_line.hpp

Function Documentation

std::vector<geometry_msgs::msg::Point> off_highway_uss::interpolate_segment(const geometry_msgs::msg::Point &first, const geometry_msgs::msg::Point &second, double sample_distance)

Generate equidistant points on segment between two points.

Parameters:

first – Start of segment
second – End of segment
sample_distance – Distance between consecutive samples of segment

Returns:

Equidistant points on segment between given points if sample distance > 0, else first and second.