trajectory_utils.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2018, Locus Robotics
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the copyright holder nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  */
34 
35 #ifndef DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H
36 #define DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H
37 
38 #include <dwb_msgs/Trajectory2D.h>
39 
40 namespace dwb_local_planner
41 {
42 
52 const geometry_msgs::Pose2D& getClosestPose(const dwb_msgs::Trajectory2D& trajectory, const double time_offset);
53 
61 geometry_msgs::Pose2D projectPose(const dwb_msgs::Trajectory2D& trajectory, const double time_offset);
62 
63 } // namespace dwb_local_planner
64 
65 #endif // DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H
const geometry_msgs::Pose2D & getClosestPose(const dwb_msgs::Trajectory2D &trajectory, const double time_offset)
Helper function to find a pose in the trajectory with a particular time time_offset.
geometry_msgs::Pose2D projectPose(const dwb_msgs::Trajectory2D &trajectory, const double time_offset)
Helper function to create a pose with an exact time_offset by linearly interpolating between existing...


dwb_local_planner
Author(s): David V. Lu!!
autogenerated on Sun Jan 10 2021 04:08:34