what is the oriented_footprint,why we need it? [closed]

asked 2017-09-22 01:27:02 -0500

i don't know what is the parameter oriented_footprint,because according to my understanding,I just need a footprint like this [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]] if I want to calculate the inscribe_radius and circumscribed_radius_

Dis I misunderstand? I don't know why we need the current pose of the robot when we calculate the inscribe_radius

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Closed for the following reason question is not relevant or outdated by pengjiawei
close date 2018-01-09 21:51:46.300427