alignment_util.cpp

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#include "dwb_critics/alignment_util.hpp"
#include <cmath>
 
using std::cos;
using std::sin;
 
namespace dwb_critics
{
geometry_msgs::msg::Pose2D getForwardPose(const geometry_msgs::msg::Pose2D & pose, double distance)
{
  geometry_msgs::msg::Pose2D forward_pose;
  forward_pose.x = pose.x + distance * cos(pose.theta);
  forward_pose.y = pose.y + distance * sin(pose.theta);
  forward_pose.theta = pose.theta;
  return forward_pose;
}
}  // namespace dwb_critics