conversions.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 */ 00030 00039 #ifndef FLIRTLIB_ROS_CONVERSIONS_H 00040 #define FLIRTLIB_ROS_CONVERSIONS_H 00041 00042 #include "flirtlib.h" 00043 #include <flirtlib_ros/ScanMap.h> 00044 #include <sensor_msgs/LaserScan.h> 00045 #include <visualization_msgs/Marker.h> 00046 #include <geometry_msgs/Pose.h> 00047 00048 00049 namespace flirtlib_ros 00050 { 00051 00053 boost::shared_ptr<LaserReading> fromRos(const sensor_msgs::LaserScan& scan); 00054 00058 visualization_msgs::Marker interestPointMarkers (const std::vector<InterestPoint*>& pts, 00059 const geometry_msgs::Pose& pose, 00060 unsigned id=0); 00061 00062 00064 std::vector<visualization_msgs::Marker> poseMarkers (const std::vector<geometry_msgs::Pose>& poses); 00065 00067 InterestPointRos toRos (const InterestPoint& pt); 00068 00071 InterestPoint* fromRos (const InterestPointRos& m); 00072 00076 struct RefScan 00077 { 00078 sensor_msgs::LaserScan::ConstPtr scan; 00079 geometry_msgs::Pose pose; 00080 std::vector<boost::shared_ptr<InterestPoint> > pts; 00081 std::vector<InterestPoint*> raw_pts; 00082 00083 RefScan (sensor_msgs::LaserScan::ConstPtr scan, 00084 const geometry_msgs::Pose& pose, 00085 std::vector<InterestPoint*>& pts); 00086 00087 }; 00088 00090 RefScanRos toRos (const RefScan& r); 00091 00093 RefScan fromRos (const RefScanRos& r); 00094 00096 std::vector<RefScan> fromRos (const ScanMap& scan_map); 00097 00099 ScanMap toRos (const std::vector<RefScan>& scans); 00100 00101 00102 } // namespace 00103 00104 #endif // include guard