move_base_z_client_tools.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
 
namespace cl_move_base_z
{
 
geometry_msgs::PoseStamped makePureSpinningSubPlan(const geometry_msgs::PoseStamped &start, double dstRads, std::vector<geometry_msgs::PoseStamped> &plan, double puresSpinningRadStep = 1000);
 
geometry_msgs::PoseStamped makePureStraightSubPlan(const geometry_msgs::PoseStamped &startOrientedPose,
                                                   const geometry_msgs::Point &goal,
                                                   double length,
                                                   std::vector<geometry_msgs::PoseStamped> &plan);
 
} // namespace cl_move_base_z