_1Controller_html_a5e69a84d5053dcff2ab3954850afb21b"><div class="ttname"><a href="classrmp_1_1controller_1_1Controller.html#a5e69a84d5053dcff2ab3954850afb21b">rmp::controller::Controller::getLookAheadPoint</a></div><div class="ttdeci">void getLookAheadPoint(double lookahead_dist, geometry_msgs::PoseStamped robot_pose_global, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;prune_plan, geometry_msgs::PointStamped &amp;pt, double &amp;theta, double &amp;kappa)</div><div class="ttdoc">find the point 