alignment_util.cpp

/*
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#include "dwb_critics/alignment_util.hpp"
#include <cmath>
#include "tf2/utils.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
using std::cos;
using std::sin;
 
namespace dwb_critics
{
geometry_msgs::msg::Pose getForwardPose(const geometry_msgs::msg::Pose & pose, double distance)
{
  geometry_msgs::msg::Pose forward_pose;
  double theta = tf2::getYaw(pose.orientation);
  forward_pose.position.x = pose.position.x + distance * cos(theta);
  forward_pose.position.y = pose.position.y + distance * sin(theta);
  forward_pose.position.z = pose.position.z;
  forward_pose.orientation = pose.orientation;
  return forward_pose;
}
 
}  // namespace dwb_critics