trajectory_utils.hpp

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#ifndef DWB_CORE__TRAJECTORY_UTILS_HPP_
#define DWB_CORE__TRAJECTORY_UTILS_HPP_
 
#include "rclcpp/rclcpp.hpp"
#include "dwb_msgs/msg/trajectory2_d.hpp"
 
namespace dwb_core
{
 
const geometry_msgs::msg::Pose2D & getClosestPose(
  const dwb_msgs::msg::Trajectory2D & trajectory,
  const double time_offset);
 
geometry_msgs::msg::Pose2D projectPose(
  const dwb_msgs::msg::Trajectory2D & trajectory,
  const double time_offset);
 
}  // namespace dwb_core
 
#endif  // DWB_CORE__TRAJECTORY_UTILS_HPP_