Function nav2_smac_planner::getWorldCoords

• Defined in File utils.hpp

Function Documentation

inline geometry_msgs::msg::Pose nav2_smac_planner::getWorldCoords(const float &mx, const float &my, const nav2_costmap_2d::Costmap2D *costmap)

Create an Eigen Vector2D of world poses from continuous map coords.

Parameters:

• mx – float of map X coordinate

• my – float of map Y coordinate

• costmap – Costmap pointer

Returns:

Eigen::Vector2d eigen vector of the generated path