Function mppi::utils::withinPositionGoalTolerance(float, const geometry_msgs::msg::Pose&, const geometry_msgs::msg::Pose&)

Function Documentation

inline bool mppi::utils::withinPositionGoalTolerance(float pose_tolerance, const geometry_msgs::msg::Pose &robot, const geometry_msgs::msg::Pose &goal)

Check if the robot pose is within tolerance to the goal.

Parameters:
  • pose_tolerance – Pose tolerance to use

  • robot – Pose of robot

  • goal – Goal pose

Returns:

bool If robot is within tolerance to the goal