Function mppi::utils::posePointAngle(const geometry_msgs::msg::Pose&, double, double, bool)

• Defined in File utils.hpp

Function Documentation

inline float mppi::utils::posePointAngle(const geometry_msgs::msg::Pose &pose, double point_x, double point_y, bool forward_preference)

evaluate angle from pose (have angle) to point (no angle)

Parameters:

• pose – pose

• point_x – Point to find angle relative to X axis

• point_y – Point to find angle relative to Y axis

• forward_preference – If reversing direction is valid

Returns:

Angle between two points