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Hiep update

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HiepLM
2025-12-30 09:06:20 +07:00
parent 377ebe3d6f
commit 6d55c6c4be
8 changed files with 153 additions and 161 deletions
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10
include/custom_planner/conversion.h
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@@ -3,14 +3,14 @@
#include "custom_planner/Curve_common.h"
#include <Eigen/Geometry>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Quaternion.h>
#include <robot_geometry_msgs/Point.h>
#include <robot_geometry_msgs/Quaternion.h>
inline Eigen::Vector3d EigenVecter3dFromPointMsg(const geometry_msgs::Point& msg) {
inline Eigen::Vector3d EigenVecter3dFromPointMsg(const robot_geometry_msgs::Point& msg) {
return Eigen::Vector3d(msg.x, msg.y, msg.z);
}
inline EigenTrajectoryPoint::Vector EigenTrajectoryVectorFromVector(const std::vector<geometry_msgs::PoseStamped> &plan)
inline EigenTrajectoryPoint::Vector EigenTrajectoryVectorFromVector(const std::vector<robot_geometry_msgs::PoseStamped> &plan)
{
EigenTrajectoryPoint::Vector eigen_trajectory_point_vec;
EigenTrajectoryPoint eigen_trajectory_point;
@@ -25,7 +25,7 @@ inline EigenTrajectoryPoint::Vector EigenTrajectoryVectorFromVector(const std::v
return eigen_trajectory_point_vec;
}
inline EigenTrajectoryPoint::Vector EigenTrajectoryVectorFromVector(const std::vector<geometry_msgs::Point> &discreate_point_vec)
inline EigenTrajectoryPoint::Vector EigenTrajectoryVectorFromVector(const std::vector<robot_geometry_msgs::Point> &discreate_point_vec)
{
EigenTrajectoryPoint::Vector eigen_trajectory_point_vec;
EigenTrajectoryPoint eigen_trajectory_point;