Method GetFootprint

roborts_costmap/src/costmap_interface.cpp:373–380

}

void CostmapInterface::GetFootprint(std::vector<Eigen::Vector3f> &footprint) {
  std::vector<geometry_msgs::Point> ros_footprint = GetRobotFootprint();
  Eigen::Vector3f point;
  for (auto it: ros_footprint) {
    point << it.x, it.y, it.z;
    footprint.push_back(point);
  }
}

void CostmapInterface::GetOrientedFootprint(std::vector<Eigen::Vector3f> &footprint) {
  std::vector<geometry_msgs::Point> oriented_footprint;