utils.hpp

// Copyright (c) 2023 Alberto J. Tudela Roldán
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_GRACEFUL_CONTROLLER__UTILS_HPP_
#define NAV2_GRACEFUL_CONTROLLER__UTILS_HPP_
 
#include "geometry_msgs/msg/point_stamped.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "visualization_msgs/msg/marker.hpp"
 
namespace nav2_graceful_controller
{
geometry_msgs::msg::PointStamped createMotionTargetMsg(
  const geometry_msgs::msg::PoseStamped & motion_target);
 
visualization_msgs::msg::Marker createSlowdownMarker(
  const geometry_msgs::msg::PoseStamped & motion_target, const double & slowdown_radius);
 
}  // namespace nav2_graceful_controller
 
#endif  // NAV2_GRACEFUL_CONTROLLER__UTILS_HPP_