controller_utils.hpp

// Copyright (c) 2020 Shrijit Singh
// Copyright (c) 2020 Samsung Research America
//
// 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_UTIL__CONTROLLER_UTILS_HPP_
#define NAV2_UTIL__CONTROLLER_UTILS_HPP_
 
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/point.hpp"
#include "nav_msgs/msg/path.hpp"
 
namespace nav2_util
{
geometry_msgs::msg::Point circleSegmentIntersection(
  const geometry_msgs::msg::Point & p1,
  const geometry_msgs::msg::Point & p2,
  double r);
 
geometry_msgs::msg::Point linearInterpolation(
  const geometry_msgs::msg::Point & p1,
  const geometry_msgs::msg::Point & p2,
  const double target_dist);
 
geometry_msgs::msg::PoseStamped getLookAheadPoint(
  double &, const nav_msgs::msg::Path &,
  const bool interpolate_after_goal = false);
 
}  // namespace nav2_util
 
#endif  // NAV2_UTIL__CONTROLLER_UTILS_HPP_