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| <language>C++</language> |
| <body>wp=wp+1;</body> |
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| <language>C++</language> |
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| <language>C++</language> |
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| <language>C++</language> |
| <body> geometry_msgs::Point* pt = new geometry_msgs::Point() |
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| pt->x = argminx pt->y = argminy; pt->z = 0.0 |
| route.push_back(*pt) |
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| outport.write(route[wp]) |
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| <language>C++</language> |
| <body>if(wp < route.size()) then return true |
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