footprint.hpp

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 * Author: Eitan Marder-Eppstein
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#ifndef NAV2_COSTMAP_2D__FOOTPRINT_HPP_
#define NAV2_COSTMAP_2D__FOOTPRINT_HPP_
 
#include <string>
#include <vector>
#include <utility>
 
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/polygon.hpp"
#include "geometry_msgs/msg/polygon_stamped.hpp"
#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/point32.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
 
namespace nav2_costmap_2d
{
 
std::pair<double, double> calculateMinAndMaxDistances(
  const std::vector<geometry_msgs::msg::Point> & footprint);
 
geometry_msgs::msg::Point toPoint(const geometry_msgs::msg::Point32 & pt);
 
geometry_msgs::msg::Point32 toPoint32(const geometry_msgs::msg::Point & pt);
 
geometry_msgs::msg::Polygon toPolygon(const std::vector<geometry_msgs::msg::Point> & pts);
 
std::vector<geometry_msgs::msg::Point> toPointVector(
  const geometry_msgs::msg::Polygon & polygon);
 
void transformFootprint(
  double x, double y, double theta,
  const std::vector<geometry_msgs::msg::Point> & footprint_spec,
  std::vector<geometry_msgs::msg::Point> & oriented_footprint);
 
void transformFootprint(
  double x, double y, double theta,
  const std::vector<geometry_msgs::msg::Point> & footprint_spec,
  geometry_msgs::msg::PolygonStamped & oriented_footprint);
 
void padFootprint(std::vector<geometry_msgs::msg::Point> & footprint, double padding);
 
std::vector<geometry_msgs::msg::Point> makeFootprintFromRadius(double radius);
 
bool makeFootprintFromString(
  const std::string & footprint_string,
  std::vector<geometry_msgs::msg::Point> & footprint);
 
}  // end namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__FOOTPRINT_HPP_