graph_mapping_utils Namespace Reference

Classes
struct	InvalidGraphLocalizationException
Typedefs
typedef boost::optional < gm::PoseStamped >	MaybePose
typedef boost::optional < tf::StampedTransform >	MaybeTransform
typedef std::map< unsigned, tf::Pose >	NodePoseMap
Functions
tf::Pose	absolutePose (const tf::Pose &base, const gm::Pose &offset)
	Adjust a pose given a relative offset.
gm::Pose	absolutePose (const gm::Pose &base, const tf::Pose &offset)
	Adjust a pose given a relative offset.
btVector3	barycenter (const sm::LaserScan &scan)
btVector3	barycenter (const sensor_msgs::LaserScan &scan)
	Return the barycenter of a laser scan (in the laser frame).
gm::Point	barycenter (const sensor_msgs::PointCloud &cloud)
	Return the barycenter of the cloud, in the same frame as the cloud itself.
template<class T >
std::string	concatenate (const std::string &s, const T &x)
template<class Key , class Container >
bool	contains (const Container &container, const Key &key)
void	doNothing (const ros::TimerEvent &e)
ros::Duration	duration (const double rate)
double	euclideanDistance (const gm::Point &p1, const gm::Point &p2)
	Return euclidean distance between two 3d-positions.
NodePoseMap	fromMsg (const NodePoses &poses)
template<class P >
P	getParam (const ros::NodeHandle &nh, const string &name, const P &default_val)
	Get a parameter, with default values.
template<class P >
P	getParam (const ros::NodeHandle &nh, const string &name)
	Get a parameter.
MaybeTransform	getTransform (const tf::TransformListener &tf, const string &target_frame, const string &source_frame, const ros::Time &t, const ros::Duration &timeout)
MaybeTransform	getTransform (const tf::Transformer &tf, const string &target_frame, const ros::Time &target_time, const string &source_frame, const ros::Time &source_time, const string &fixed_frame, const ros::Duration &timeout)
unsigned	index (const unsigned i, const unsigned j)
template<class K , class V , class C , class A >
const V &	keyValue (const std::map< K, V, C, A > &m, const K &key)
double	length (const gm::Point &p)
double	length (const btVector3 &v)
Edge	makeEdge (unsigned e, unsigned from, unsigned to, const PoseWithPrecision &constraint)
Node	makeNode (unsigned n)
gm::Point	makePoint (const double x, const double y, const double z=0.0)
	Construct a geometry_msgs Point.
tf::Pose	makePose (double x, double y, double theta)
	Construct a tf::Pose from x,y,theta.
gm::Pose2D	makePose2D (double x, double y, double theta=0.0)
	Construct a pose2d.
boost::array< double, 36 >	makePrecisionMatrix (const double x, const double y, const double xy, const double theta)
	Create a precision matrix given the precisions of x, y, and theta, and the joint precision of x-y.
string	nodeFrame (const unsigned n)
tf::Pose	optimizedPose (const gm::PoseStamped &loc, const std::map< unsigned, tf::Pose > &opt_poses)
	Get the optimized current pose given localization and optimized graph poses.
gm::Pose2D	projectToPose2D (const tf::Transform &pose)
gm::Pose2D	projectToPose2D (const tf::Pose &pose)
	Project tf pose to pose2d.
gm::Pose2D	projectToPose2D (const gm::Pose &pose)
	Project Pose to Pose2D.
unsigned	refNode (const geometry_msgs::PoseStamped &p)
tf::Pose	relativePose (const tf::Pose &pose1, const tf::Pose &pose2)
template<class T >
std::set< T >	sampleSubset (const std::set< T > &s, const int n)
	Sample a subset of set s of size n.
template<class P >
P	searchParam (const ros::NodeHandle &nh, const string &name, const P &default_val)
	Search for a parameter in a namespace and its ancestors with default.
template<class P >
P	searchParam (const ros::NodeHandle &nh, const string &name)
	Search for a parameter in a namespace and its ancestors.
template<class F , class G >
ros::Timer	timerFromRate (const ros::NodeHandle &nh, const double rate, const F &fn, const G &obj_ptr)
template<class MsgPtr >
ros::Time	timestamp (const MsgPtr &data)
	Get the timestamp given a shared pointer to a ROS message.
NodePoses::ConstPtr	toMsg (const NodePoseMap &poses)
gm::Point	toPoint (const btVector3 &p)
btVector3	toPoint (const gm::Point &p)
tf::Pose	toPose (const gm::Pose2D &p)
	Make a pose from a pose2d.
tf::Pose	toPose (const gm::Pose &p)
gm::Pose	toPose (const tf::Pose &p)
string	toString (const tf::Pose &pose)
std::string	toString (const btQuaternion &q)
std::string	toString (const btVector3 &v)
std::string	toString (const btTransform &t)
template<class T >
std::string	toString (const std::vector< T > &v)
template<class T >
std::string	toString (const std::set< T > &set)
string	toString (const gm::Pose &pose)
string	toString (const gm::Point &p)
string	toString (const gm::Pose2D &pose)
string	toString2D (const tf::Pose &pose)
string	toString2D (const gm::Pose &pose)
tf::Transform	transformBetween (const tf::Pose &pose1, const tf::Pose &pose2)
	Return the transform that sends pose1 to pose2.
gm::Point	transformPoint (const tf::Transform &trans, const gm::Point &point)
	Apply Bullet transformation to a ROS point.
gm::Point32	transformPoint (const tf::Transform &trans, const gm::Point32 &point)
	Apply Bullet transformation to a ROS point.
gm::Pose	transformPose (const tf::Transform &trans, const gm::Pose &pose)
	Apply Bullet transformation to a ROS pose.
MaybePose	waitAndTransform (const tf::TransformListener &tf, const gm::PoseStamped &pose_in, const string &target_frame, const ros::Time &target_time, const string &fixed_frame, const ros::Duration &timeout)

---

Typedef Documentation

typedef boost::optional<gm::PoseStamped> graph_mapping_utils::MaybePose

Definition at line 147 of file ros.h.

typedef boost::optional<tf::StampedTransform> graph_mapping_utils::MaybeTransform

Definition at line 146 of file ros.h.

typedef std::map<unsigned, tf::Pose> graph_mapping_utils::NodePoseMap

Definition at line 95 of file msg.h.

---

Function Documentation

tf::Pose graph_mapping_utils::absolutePose	(	const tf::Pose &	base,
		const gm::Pose &	offset
	)			[inline]

Adjust a pose given a relative offset.

Definition at line 191 of file geometry.h.

gm::Pose graph_mapping_utils::absolutePose	(	const gm::Pose &	base,
		const tf::Pose &	offset
	)			[inline]

Adjust a pose given a relative offset.

Definition at line 184 of file geometry.h.

btVector3 graph_mapping_utils::barycenter

(

const sm::LaserScan &

scan

)

Definition at line 102 of file geometry.cpp.

btVector3 graph_mapping_utils::barycenter

(

const sensor_msgs::LaserScan &

scan

)

Return the barycenter of a laser scan (in the laser frame).

gm::Point graph_mapping_utils::barycenter

(

const sensor_msgs::PointCloud &

cloud

)

Return the barycenter of the cloud, in the same frame as the cloud itself.

Definition at line 83 of file geometry.cpp.

template<class T >

std::string graph_mapping_utils::concatenate	(	const std::string &	s,
		const T &	x
	)			[inline]

Definition at line 72 of file to_string.h.

template<class Key , class Container >

bool graph_mapping_utils::contains	(	const Container &	container,
		const Key &	key
	)			[inline]

Definition at line 47 of file general.h.

void graph_mapping_utils::doNothing

(

const ros::TimerEvent &

e

)

[inline]

Definition at line 133 of file ros.h.

ros::Duration graph_mapping_utils::duration

(

const double

rate

)

[inline]

Definition at line 126 of file ros.h.

double graph_mapping_utils::euclideanDistance	(	const gm::Point &	p1,
		const gm::Point &	p2
	)			[inline]

Return euclidean distance between two 3d-positions.

Definition at line 205 of file geometry.h.

NodePoseMap graph_mapping_utils::fromMsg

(

const NodePoses &

poses

)

Definition at line 47 of file msg.cpp.

template<class P >

P graph_mapping_utils::getParam	(	const ros::NodeHandle &	nh,
		const string &	name,
		const P &	default_val
	)			[inline]

Get a parameter, with default values.

Definition at line 116 of file ros.h.

template<class P >

P graph_mapping_utils::getParam	(	const ros::NodeHandle &	nh,
		const string &	name
	)			[inline]

Get a parameter.

Definition at line 103 of file ros.h.

MaybeTransform graph_mapping_utils::getTransform	(	const tf::TransformListener &	tf,
		const string &	target_frame,
		const string &	source_frame,
		const ros::Time &	t,
		const ros::Duration &	timeout
	)			[inline]

Definition at line 204 of file ros.h.

MaybeTransform graph_mapping_utils::getTransform	(	const tf::Transformer &	tf,
		const string &	target_frame,
		const ros::Time &	target_time,
		const string &	source_frame,
		const ros::Time &	source_time,
		const string &	fixed_frame,
		const ros::Duration &	timeout
	)			[inline]

Does waitForTransform followed by lookupTransform with appropriate error checking

Definition at line 153 of file ros.h.

unsigned graph_mapping_utils::index	(	const unsigned	i,
		const unsigned	j
	)			[inline]

Definition at line 74 of file msg.h.

template<class K , class V , class C , class A >

const V& graph_mapping_utils::keyValue	(	const std::map< K, V, C, A > &	m,
		const K &	key
	)			[inline]

Definition at line 55 of file general.h.

double graph_mapping_utils::length

(

const gm::Point &

p

)

[inline]

Definition at line 149 of file geometry.h.

double graph_mapping_utils::length

(

const btVector3 &

v

)

[inline]

Definition at line 143 of file geometry.h.

Edge graph_mapping_utils::makeEdge	(	unsigned	e,
		unsigned	from,
		unsigned	to,
		const PoseWithPrecision &	constraint
	)			[inline]

Definition at line 63 of file msg.h.

Node graph_mapping_utils::makeNode

(

unsigned

n

)

[inline]

Definition at line 55 of file msg.h.

gm::Point graph_mapping_utils::makePoint	(	const double	x,
		const double	y,
		const double	z = 0.0
	)			[inline]

Construct a geometry_msgs Point.

Definition at line 172 of file geometry.h.

tf::Pose graph_mapping_utils::makePose	(	double	x,
		double	y,
		double	theta
	)

Construct a tf::Pose from x,y,theta.

Definition at line 77 of file geometry.cpp.

gm::Pose2D graph_mapping_utils::makePose2D	(	double	x,
		double	y,
		double	theta = 0.0
	)

Construct a pose2d.

Definition at line 68 of file geometry.cpp.

boost::array<double, 36> graph_mapping_utils::makePrecisionMatrix	(	const double	x,
		const double	y,
		const double	xy,
		const double	theta
	)			[inline]

Create a precision matrix given the precisions of x, y, and theta, and the joint precision of x-y.

Definition at line 81 of file msg.h.

string graph_mapping_utils::nodeFrame

(

const unsigned

n

)

[inline]

Definition at line 125 of file msg.h.

tf::Pose graph_mapping_utils::optimizedPose	(	const gm::PoseStamped &	loc,
		const std::map< unsigned, tf::Pose > &	opt_poses
	)			[inline]

Get the optimized current pose given localization and optimized graph poses.

Definition at line 132 of file msg.h.

gm::Pose2D graph_mapping_utils::projectToPose2D

(

const tf::Transform &

pose

)

Definition at line 48 of file geometry.cpp.

gm::Pose2D graph_mapping_utils::projectToPose2D

(

const tf::Pose &

pose

)

Project tf pose to pose2d.

gm::Pose2D graph_mapping_utils::projectToPose2D

(

const gm::Pose &

pose

)

Project Pose to Pose2D.

Definition at line 57 of file geometry.cpp.

unsigned graph_mapping_utils::refNode

(

const geometry_msgs::PoseStamped &

p

)

[inline]

Parameters:

A

localization wrt the graph, which is represented as a pose stamped where the frame_id looks like 'node24'

Return values:

Extracted

node id corresponding to the frame

Exceptions:

InvalidGraphLocalizationException

if frame_id isn't of the above form

Definition at line 112 of file msg.h.

tf::Pose graph_mapping_utils::relativePose	(	const tf::Pose &	pose1,
		const tf::Pose &	pose2
	)			[inline]

pose1 and pose2 are poses specified in some reference frame. This function returns the representation of pose1 in the frame at pose2.

Definition at line 58 of file geometry.h.

template<class T >

std::set<T> graph_mapping_utils::sampleSubset	(	const std::set< T > &	s,
		const int	n
	)			[inline]

Sample a subset of set s of size n.

Parameters:

n

the size of the subset. If this is greater than the size of s, or less than 0, then we just return s.

Definition at line 67 of file general.h.

template<class P >

P graph_mapping_utils::searchParam	(	const ros::NodeHandle &	nh,
		const string &	name,
		const P &	default_val
	)			[inline]

Search for a parameter in a namespace and its ancestors with default.

Definition at line 83 of file ros.h.

template<class P >

P graph_mapping_utils::searchParam	(	const ros::NodeHandle &	nh,
		const string &	name
	)			[inline]

Search for a parameter in a namespace and its ancestors.

Definition at line 67 of file ros.h.

template<class F , class G >

ros::Timer graph_mapping_utils::timerFromRate	(	const ros::NodeHandle &	nh,
		const double	rate,
		const F &	fn,
		const G &	obj_ptr
	)			[inline]

Definition at line 138 of file ros.h.

template<class MsgPtr >

ros::Time graph_mapping_utils::timestamp

(

const MsgPtr &

data

)

[inline]

Get the timestamp given a shared pointer to a ROS message.

Definition at line 54 of file ros.h.

NodePoses::ConstPtr graph_mapping_utils::toMsg

(

const NodePoseMap &

poses

)

Definition at line 56 of file msg.cpp.

gm::Point graph_mapping_utils::toPoint

(

const btVector3 &

p

)

[inline]

Definition at line 116 of file geometry.h.

btVector3 graph_mapping_utils::toPoint

(

const gm::Point &

p

)

[inline]

Definition at line 110 of file geometry.h.

tf::Pose graph_mapping_utils::toPose

(

const gm::Pose2D &

p

)

Make a pose from a pose2d.

Definition at line 122 of file geometry.cpp.

tf::Pose graph_mapping_utils::toPose

(

const gm::Pose &

p

)

[inline]

Definition at line 134 of file geometry.h.

gm::Pose graph_mapping_utils::toPose

(

const tf::Pose &

p

)

[inline]

Definition at line 126 of file geometry.h.

string graph_mapping_utils::toString

(

const tf::Pose &

pose

)

Definition at line 88 of file to_string.cpp.

string graph_mapping_utils::toString

(

const btQuaternion &

q

)

Definition at line 81 of file to_string.cpp.

string graph_mapping_utils::toString

(

const btVector3 &

v

)

Definition at line 76 of file to_string.cpp.

std::string graph_mapping_utils::toString

(

const btTransform &

t

)

template<class T >

std::string graph_mapping_utils::toString

(

const std::vector< T > &

v

)

[inline]

Definition at line 86 of file to_string.h.

template<class T >

std::string graph_mapping_utils::toString

(

const std::set< T > &

set

)

[inline]

Definition at line 79 of file to_string.h.

string graph_mapping_utils::toString

(

const gm::Pose &

pose

)

Definition at line 50 of file to_string.cpp.

string graph_mapping_utils::toString

(

const gm::Point &

p

)

Definition at line 57 of file to_string.cpp.

string graph_mapping_utils::toString

(

const gm::Pose2D &

pose

)

Definition at line 45 of file to_string.cpp.

string graph_mapping_utils::toString2D

(

const tf::Pose &

pose

)

Definition at line 71 of file to_string.cpp.

string graph_mapping_utils::toString2D

(

const gm::Pose &

pose

)

Definition at line 63 of file to_string.cpp.

tf::Transform graph_mapping_utils::transformBetween	(	const tf::Pose &	pose1,
		const tf::Pose &	pose2
	)			[inline]

Return the transform that sends pose1 to pose2.

Definition at line 65 of file geometry.h.

gm::Point graph_mapping_utils::transformPoint	(	const tf::Transform &	trans,
		const gm::Point &	point
	)			[inline]

Apply Bullet transformation to a ROS point.

Definition at line 86 of file geometry.h.

gm::Point32 graph_mapping_utils::transformPoint	(	const tf::Transform &	trans,
		const gm::Point32 &	point
	)			[inline]

Apply Bullet transformation to a ROS point.

Definition at line 72 of file geometry.h.

gm::Pose graph_mapping_utils::transformPose	(	const tf::Transform &	trans,
		const gm::Pose &	pose
	)			[inline]

Apply Bullet transformation to a ROS pose.

Definition at line 99 of file geometry.h.

MaybePose graph_mapping_utils::waitAndTransform	(	const tf::TransformListener &	tf,
		const gm::PoseStamped &	pose_in,
		const string &	target_frame,
		const ros::Time &	target_time,
		const string &	fixed_frame,
		const ros::Duration &	timeout
	)			[inline]

Definition at line 178 of file ros.h.