pal_util.h
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (Modified BSD License) 00003 * 00004 * Copyright (c) 2012, PAL Robotics, S.L. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of PAL Robotics, S.L. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * @file pal_util.h 00035 * @author Bence Magyar 00036 * @date March 2012 00037 * @version 0.1 00038 * @brief This collection includes functions used for image processing 00039 * and various conversion functions used in BLORT. 00040 * @namespace pal_blort 00041 */ 00042 00043 #ifndef PAL_UTIL_H 00044 #define PAL_UTIL_H 00045 00046 #include <opencv2/core/core.hpp> 00047 #include <vector> 00048 #include <string> 00049 #include <geometry_msgs/Pose.h> 00050 #include "TomGine/tgPose.h" 00051 #include <tf/transform_datatypes.h> 00052 00053 namespace pal_blort 00054 { 00055 std::string addRoot(const std::string& obj, const std::string& root); 00056 00057 geometry_msgs::Pose tgPose2RosPose(const TomGine::tgPose &pose); 00058 00059 TomGine::tgPose rosPose2TgPose(const geometry_msgs::Pose &pose); 00060 00061 tf::Transform rosPose2TfTransform(const geometry_msgs::Pose &pose); 00062 00063 geometry_msgs::Pose tfTransform2RosPose(const tf::Transform &transform); 00064 00065 geometry_msgs::Pose blortPosesToRosPose(geometry_msgs::Pose reference, 00066 geometry_msgs::Pose target); 00067 00068 geometry_msgs::Pose poseDiff(geometry_msgs::Pose pose1, geometry_msgs::Pose pose2); 00069 00070 bool poseValidate(geometry_msgs::Pose known_pose, 00071 geometry_msgs::Pose pose_estimate, 00072 geometry_msgs::Pose max_error); 00073 00074 cv::Mat quaternionTo3x3cvMat(geometry_msgs::Quaternion quaternion); 00075 } 00076 00077 #endif // PAL_UTIL_H