geometry_utils.hpp File Reference

#include <cmath>
#include <vector>
#include "geometry_msgs/msg/pose.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "nav_msgs/msg/path.hpp"

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Namespaces
namespace	easynav
	Provides a mapping for often used cost values.

Functions
double	calculate_path_length (const nav_msgs::msg::Path &path, size_t start_index=0)
	Calculate the length of the provided path, starting at the provided index.
double	euclidean_distance (const geometry_msgs::msg::Point &pos1, const geometry_msgs::msg::Point &pos2, const bool is_3d=false)
	Get the euclidean distance between 2 geometry_msgs::Points.
double	euclidean_distance (const geometry_msgs::msg::Pose &pos1, const geometry_msgs::msg::Pose &pos2, const bool is_3d=false)
	Get the L2 distance between 2 geometry_msgs::Poses.
double	euclidean_distance (const geometry_msgs::msg::PoseStamped &pos1, const geometry_msgs::msg::PoseStamped &pos2, const bool is_3d=false)
	Get the L2 distance between 2 geometry_msgs::PoseStamped.
template<typename Iter, typename Getter>
Iter	first_after_integrated_distance (Iter begin, Iter end, Getter getCompareVal)
	Find first element in iterator that is greater integrated distance than comparevalue.
template<typename Iter, typename Getter>
Iter	min_by (Iter begin, Iter end, Getter getCompareVal)
	Find element in iterator with the minimum calculated value.
geometry_msgs::msg::Quaternion	orientationAroundZAxis (double angle)
	Get a geometry_msgs Quaternion from a yaw angle.