Function nav2_collision_monitor::transformPoints

Defined in File kinematics.hpp

Function Documentation

void nav2_collision_monitor::transformPoints(const Pose &pose, std::vector<Point> &points)

Do a transformation of points’ coordinates from the frame coinciding with the (0,0) origin to the non-existing in ROS frame, which origin is equal to pose.

Parameters:

pose – Origin of the new frame
points – Array of points whose coordinates will be transformed