.. _file_include_nav2_mppi_controller_tools_utils.hpp:

File utils.hpp
==============

|exhale_lsh| :ref:`Parent directory <dir_include_nav2_mppi_controller_tools>` (``include/nav2_mppi_controller/tools``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS


.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/nav2_mppi_controller/tools/utils.hpp``)
-------------------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_nav2_mppi_controller_tools_utils.hpp.rst





Includes
--------


- ``algorithm``

- ``angles/angles.h``

- ``builtin_interfaces/msg/time.hpp``

- ``chrono``

- ``geometry_msgs/msg/twist_stamped.hpp``

- ``limits``

- ``memory``

- ``nav2_core/goal_checker.hpp``

- ``nav2_mppi_controller/critic_data.hpp`` (:ref:`file_include_nav2_mppi_controller_critic_data.hpp`)

- ``nav2_mppi_controller/models/control_sequence.hpp`` (:ref:`file_include_nav2_mppi_controller_models_control_sequence.hpp`)

- ``nav2_mppi_controller/models/optimizer_settings.hpp`` (:ref:`file_include_nav2_mppi_controller_models_optimizer_settings.hpp`)

- ``nav2_mppi_controller/models/path.hpp`` (:ref:`file_include_nav2_mppi_controller_models_path.hpp`)

- ``nav2_util/node_utils.hpp``

- ``nav_msgs/msg/path.hpp``

- ``rclcpp/rclcpp.hpp``

- ``rclcpp_lifecycle/lifecycle_node.hpp``

- ``string``

- ``tf2/utils.h``

- ``tf2_geometry_msgs/tf2_geometry_msgs.hpp``

- ``vector``

- ``visualization_msgs/msg/marker_array.hpp``

- ``xtensor/xarray.hpp``

- ``xtensor/xmath.hpp``

- ``xtensor/xnorm.hpp``

- ``xtensor/xview.hpp``



Included By
-----------


- :ref:`file_include_nav2_mppi_controller_controller.hpp`

- :ref:`file_include_nav2_mppi_controller_critic_manager.hpp`

- :ref:`file_include_nav2_mppi_controller_critics_constraint_critic.hpp`

- :ref:`file_include_nav2_mppi_controller_critics_cost_critic.hpp`

- :ref:`file_include_nav2_mppi_controller_critics_goal_angle_critic.hpp`

- :ref:`file_include_nav2_mppi_controller_critics_goal_critic.hpp`

- :ref:`file_include_nav2_mppi_controller_critics_obstacles_critic.hpp`

- :ref:`file_include_nav2_mppi_controller_critics_path_align_critic.hpp`

- :ref:`file_include_nav2_mppi_controller_critics_path_align_legacy_critic.hpp`

- :ref:`file_include_nav2_mppi_controller_critics_path_angle_critic.hpp`

- :ref:`file_include_nav2_mppi_controller_critics_path_follow_critic.hpp`

- :ref:`file_include_nav2_mppi_controller_critics_prefer_forward_critic.hpp`

- :ref:`file_include_nav2_mppi_controller_critics_twirling_critic.hpp`

- :ref:`file_include_nav2_mppi_controller_critics_velocity_deadband_critic.hpp`

- :ref:`file_include_nav2_mppi_controller_optimizer.hpp`

- :ref:`file_include_nav2_mppi_controller_tools_trajectory_visualizer.hpp`




Namespaces
----------


- :ref:`namespace_mppi`

- :ref:`namespace_mppi__utils`


Functions
---------


- :ref:`exhale_function_utils_8hpp_1a4058fc099bd8cbbaf1e625a755e7983f`

- :ref:`exhale_function_utils_8hpp_1aa037f7559564d3b9826c4be3294ceb6a`

- :ref:`exhale_function_utils_8hpp_1aa3c656ac3212634bcac25481802bb342`

- :ref:`exhale_function_utils_8hpp_1a2478d7e3be65d5a4e507b59af78957f5`

- :ref:`exhale_function_utils_8hpp_1a45f35561ee1cac8fbff6bc6c1f129cc7`

- :ref:`exhale_function_utils_8hpp_1aba7bb156f2f9ccab9fcd8804af5480c0`

- :ref:`exhale_function_utils_8hpp_1a9f9088a62049af0fee0f7d6f3e6b7eff`

- :ref:`exhale_function_utils_8hpp_1a5a7ae5a59c4c86fd69403647d64939d5`

- :ref:`exhale_function_utils_8hpp_1a4bc5c900aee3c65ddf8c33c04016df41`

- :ref:`exhale_function_utils_8hpp_1a630bd2e44026e9b984a8e693a28ec94a`

- :ref:`exhale_function_utils_8hpp_1a3443eb5482bec5e3347488cecaf43576`

- :ref:`exhale_function_utils_8hpp_1af16ba6df70517d9e4d8c4dcf30e2198a`

- :ref:`exhale_function_utils_8hpp_1a7ffe9a62f5cf865c92352ab8adbf5fad`

- :ref:`exhale_function_utils_8hpp_1a345103b5d4b6808020564679b255c5f8`

- :ref:`exhale_function_utils_8hpp_1ae6704c355a3c7dd29939377751d04ea0`

- :ref:`exhale_function_utils_8hpp_1a81cf2d05e089dbd2ea7a38f401700099`

- :ref:`exhale_function_utils_8hpp_1ad233c5ddecf3df94477f88f5235a7e75`

- :ref:`exhale_function_utils_8hpp_1a18f6fac1d6410bccf9342af4d4d513fc`

- :ref:`exhale_function_utils_8hpp_1a60bee05ef367fbca92ab8bdf7c457e9f`

- :ref:`exhale_function_utils_8hpp_1abce31e45d04fb597c6157c12ea77e8d6`

- :ref:`exhale_function_utils_8hpp_1a0150d941fd21bd908db05fa07e4d6cbb`