Template Function autoware_utils_geometry::calc_interpolated_pose

Function Documentation

template<class Pose1, class Pose2>
geometry_msgs::msg::Pose autoware_utils_geometry::calc_interpolated_pose(const Pose1 &src_pose, const Pose2 &dst_pose, const double ratio, const bool set_orientation_from_position_direction = true)

Calculate a pose by linear interpolation. Note that if dist(src_pose, dst_pose)<=0.01 the orientation of the output pose is same as the orientation of the dst_pose.

Parameters:

  • src – source point

  • dst – destination point

  • ratio – interpolation ratio, which should be [0.0, 1.0]

  • set_orientation_from_position_direction – set position by spherical interpolation if false

Returns:

interpolated point