kinematics.hpp

// Copyright (c) 2022 Samsung R&D Institute Russia
//
// 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_COLLISION_MONITOR__KINEMATICS_HPP_
#define NAV2_COLLISION_MONITOR__KINEMATICS_HPP_
 
#include <vector>
 
#include "nav2_collision_monitor/types.hpp"
 
namespace nav2_collision_monitor
{
 
void transformPoints(const Pose & pose, std::vector<Point> & points);
 
void projectState(const double & dt, Pose & pose, Velocity & velocity);
 
}  // namespace nav2_collision_monitor
 
#endif  // NAV2_COLLISION_MONITOR__KINEMATICS_HPP_