mbf_utility Namespace Reference

Classes
struct	ExePathException
struct	GetPathException
struct	RecoveryException
class	RobotInformation

Functions
double	angle (const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2)
	computes the smallest angle between two poses. More...
double	distance (const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2)
	Computes the Euclidean-distance between two poses. More...
bool	getRobotPose (const TF &tf, const std::string &robot_frame, const std::string &global_frame, const ros::Duration &timeout, geometry_msgs::PoseStamped &robot_pose)
	Computes the robot pose. More...
static bool	isNormalized (const geometry_msgs::Quaternion &_q, double _epsilon)
	Returns true, if the given quaternion is normalized. More...
bool	transformPoint (const TF &tf, const std::string &target_frame, const ros::Duration &timeout, const geometry_msgs::PointStamped &in, geometry_msgs::PointStamped &out)
	Transforms a point from one frame into another. More...
bool	transformPose (const TF &tf, const std::string &target_frame, const ros::Duration &timeout, const geometry_msgs::PoseStamped &in, geometry_msgs::PoseStamped &out)
	Transforms a pose from one frame into another. More...

Function Documentation

angle()

double mbf_utility::angle	(	const geometry_msgs::PoseStamped &	pose1,
		const geometry_msgs::PoseStamped &	pose2
	)

computes the smallest angle between two poses.

Parameters

pose1	pose 1
pose2	pose 2

Returns

smallest angle between pose 1 and pose 2.

Definition at line 197 of file navigation_utility.cpp.

distance()

double mbf_utility::distance	(	const geometry_msgs::PoseStamped &	pose1,
		const geometry_msgs::PoseStamped &	pose2
	)

Computes the Euclidean-distance between two poses.

Parameters

pose1	pose 1
pose2	pose 2

Returns

Euclidean distance between pose 1 and pose 2.

Definition at line 187 of file navigation_utility.cpp.

getRobotPose()

bool mbf_utility::getRobotPose	(	const TF &	tf,
		const std::string &	robot_frame,
		const std::string &	global_frame,
		const ros::Duration &	timeout,
		geometry_msgs::PoseStamped &	robot_pose
	)

Computes the robot pose.

Parameters

tf_listener	TransformListener.
robot_frame	frame of the robot.
global_frame	global frame in which the robot is located.
timeout	Timeout for looking up the transformation.
robot_pose	the computed rebot pose in the global frame.

Returns

true, if succeeded, false otherwise.

Definition at line 50 of file navigation_utility.cpp.

isNormalized()

static bool mbf_utility::isNormalized ( const geometry_msgs::Quaternion &  _q, double  _epsilon  )

static

Returns true, if the given quaternion is normalized.

Parameters

_q	The quaternion to check.
_epsilon	The epsilon (squared distance to 1).

Definition at line 80 of file navigation_utility.cpp.

transformPoint()

bool mbf_utility::transformPoint	(	const TF &	tf,
		const std::string &	target_frame,
		const ros::Duration &	timeout,
		const geometry_msgs::PointStamped &	in,
		geometry_msgs::PointStamped &	out
	)

Transforms a point from one frame into another.

Parameters

tf_listener	TransformListener.
target_frame	Target frame for the point.
timeout	Timeout for looking up the transformation.
in	Point to transform.
out	Transformed point.

Returns

true, if the transformation succeeded.

Definition at line 140 of file navigation_utility.cpp.

transformPose()

bool mbf_utility::transformPose	(	const TF &	tf,
		const std::string &	target_frame,
		const ros::Duration &	timeout,
		const geometry_msgs::PoseStamped &	in,
		geometry_msgs::PoseStamped &	out
	)

Transforms a pose from one frame into another.

Parameters

tf_listener	TransformListener.
target_frame	Target frame for the pose.
timeout	Timeout for looking up the transformation.
in	Pose to transform.
out	Transformed pose.

Returns

true, if the transformation succeeded.

Definition at line 86 of file navigation_utility.cpp.