door_functions.cpp File Reference

#include "pr2_doors_common/door_functions.h"
#include <door_msgs/Door.h>
#include <door_msgs/DoorCmd.h>
#include <tf/tf.h>
#include <string.h>
#include <kdl/frames.hpp>

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Namespaces
namespace	pr2_doors_common
Functions
double	pr2_doors_common::getDoorAngle (const door_msgs::Door &door)
	get the door angle
double	pr2_doors_common::getDoorDir (const door_msgs::Door &d)
KDL::Vector	pr2_doors_common::getDoorNormal (const door_msgs::Door &door)
geometry_msgs::Point32	pr2_doors_common::getEdgePoint (const door_msgs::Door &door)
double	pr2_doors_common::getFrameAngle (const door_msgs::Door &door)
KDL::Vector	pr2_doors_common::getFrameNormal (const door_msgs::Door &door)
tf::Stamped< tf::Pose >	pr2_doors_common::getGripperPose (const door_msgs::Door &door, double angle, double dist, int side)
tf::Stamped< tf::Pose >	pr2_doors_common::getGripperPose (const door_msgs::Door &door, double angle, double dist)
double	pr2_doors_common::getHandleDir (const door_msgs::Door &d)
tf::Stamped< tf::Pose >	pr2_doors_common::getHandlePose (const door_msgs::Door &door, int side=1)
geometry_msgs::Point32	pr2_doors_common::getHingeAxisPoint (const door_msgs::Door &door)
double	pr2_doors_common::getNearestDoorAngle (const tf::Pose &robot_pose, const door_msgs::Door &door, double robot_dist, double touch_dist)
std::vector< geometry_msgs::Point >	pr2_doors_common::getPolygon (const door_msgs::Door &door, const double &door_thickness)
tf::Stamped< tf::Pose >	pr2_doors_common::getRobotPose (const door_msgs::Door &door, double dist)
	get robot and gripper pose
double	pr2_doors_common::getVectorAngle (const Vector &v1, const Vector &v2)
std::ostream &	pr2_doors_common::operator<< (std::ostream &os, const door_msgs::Door &d)
door_msgs::Door	pr2_doors_common::rotateDoor (const door_msgs::Door &door, const double &angle)
bool	pr2_doors_common::transformPointTo (const tf::Transformer &tf, const string &source_frame, const string &goal_frame, const Time &time_source, const geometry_msgs::Point32 &point_in, geometry_msgs::Point32 &point_out, const std::string &fixed_frame, const Time &time_goal)
bool	pr2_doors_common::transformTo (const tf::Transformer &tf, const string &goal_frame, const door_msgs::Door &door_in, door_msgs::Door &door_out, const std::string &fixed_frame)
bool	pr2_doors_common::transformVectorTo (const tf::Transformer &tf, const string &source_frame, const string &goal_frame, const Time &time_source, const geometry_msgs::Vector3 &point_in, geometry_msgs::Vector3 &point_out, const std::string &fixed_frame, const Time &time_goal)
Variables
static const double	pr2_doors_common::eps_angle = 5.0*M_PI/180.0
static const double	pr2_doors_common::gripper_height = 0.8