optimal

test/fake_ports.h

@@ -375,6 +375,17 @@ public:
     measured_velocity_ = velocity;
   }
 
+  void getLocalPlan(robot_nav_2d_msgs::Path2D& plan) override
+  {
+    plan = local_plan_;
+  }
+
+  /// @brief Đặt quỹ đạo cục bộ mà fake sẽ trả về.
+  void setLocalPlan(const robot_nav_2d_msgs::Path2D& plan)
+  {
+    local_plan_ = plan;
+  }
+
   bool setTwistLinear(const robot_geometry_msgs::Vector3& linear) override
   {
     if (linear.x < 0.0)
@@ -472,6 +483,7 @@ public:
   }
 
 private:
+  robot_nav_2d_msgs::Path2D local_plan_;
   robot_geometry_msgs::Twist measured_velocity_;
   double limit_forward_ = 0.0;   ///< [m/s]
   double limit_backward_ = 0.0;  ///< [m/s], âm