Method BuildPath

controllers/src/test_path_generator.cpp:35–46

}

nav_msgs::msg::Path TestPathGenerator::BuildPath()
{
  nav_msgs::msg::Path path;
  t_ = 0.0;
  std::generate_n(std::back_inserter(path.poses), point_count_, [this] {return GetNextPoint();});
  t_delta_ = -t_delta_;
  t_ += t_delta_;
  std::generate_n(
    std::back_inserter(path.poses), point_count_ - 1,
    [this] {return GetNextPoint();});
  return path;
}

geometry_msgs::msg::PoseStamped TestPathGenerator::GetNextPoint()
{