utils.hpp

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#pragma once
 
#include <chrono>
#include <functional>
#include <memory>
#include <string>
 
#include "common_lib/structures/pose.hpp"
#include "common_lib/structures/position.hpp"
#include "control/include/config/parameters.hpp"
#include "custom_interfaces/msg/path_point_array.hpp"
#include "custom_interfaces/msg/pose.hpp"
#include "utils/utils.hpp"
#include "rclcpp/rclcpp.hpp"
 
std::tuple<common_lib::structures::Position, int, double> get_closest_point(
  const std::vector<custom_interfaces::msg::PathPoint> &pathpoint_array, const common_lib::structures::Position& position) ;
 
std::tuple<common_lib::structures::Position, double, bool> get_lookahead_point(
    const std::vector<custom_interfaces::msg::PathPoint> &pathpoint_array,
    int closest_point_id, double lookahead_distance, common_lib::structures::Position rear_axis_position, double last_to_first_max_dist) ;
 
common_lib::structures::Position rear_axis_position(
    const common_lib::structures::Position& cg, double orientation, double dist_cg_2_rear_axis);