conversions.h File Reference

#include <octomap/octomap.h>
#include <octomap_ros/OctomapBinary.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <geometry_msgs/Point.h>
#include <tf/transform_datatypes.h>

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Namespaces
namespace	octomap
Functions
template<class OctomapT >
static void	octomap::octomapMapToMsg (const OctomapT &octomap, octomap_ros::OctomapBinary &mapMsg)
	Converts an octomap map structure to a ROS octomap msg as binary data. This will fill the timestamp of the header with the current time, but will not fill in the frame_id.
template<class OctomapT >
static void	octomap::octomapMapToMsgData (const OctomapT &octomap, std::vector< int8_t > &mapData)
	Converts an octomap map structure to a ROS binary data, which can be put into a dedicated octomap msg.
template<class OctomapT >
static void	octomap::octomapMsgDataToMap (const std::vector< int8_t > &mapData, OctomapT &octomap)
	Converts ROS binary data to an octomap map structure, e.g. coming from an octomap msg.
template<class OctomapT >
static void	octomap::octomapMsgToMap (const octomap_ros::OctomapBinary &mapMsg, OctomapT &octomap)
	Converts a ROS octomap msg (binary data) to an octomap map structure.
template<class PointT >
static void	octomap::pointcloudPCLToOctomap (const pcl::PointCloud< PointT > &pclCloud, Pointcloud &octomapCloud)
	Conversion from a PCL pointcloud to octomap::Pointcloud, used internally in OctoMap.
static octomap::point3d	octomap::pointMsgToOctomap (const geometry_msgs::Point &ptMsg)
	Conversion from geometry_msgs::Point to octomap::point3d.
static geometry_msgs::Point	octomap::pointOctomapToMsg (const point3d &octomapPt)
	Conversion from octomap::point3d to geometry_msgs::Point.
template<class PointT >
static PointT	octomap::pointOctomapToPCL (const point3d &octomapPt)
static tf::Point	octomap::pointOctomapToTf (const point3d &octomapPt)
	Conversion from octomap::point3d to tf::Point.
template<class PointT >
static octomap::point3d	octomap::pointPCLToOctomap (const PointT &p)
	Conversion from pcl::PointT to octomap::point3d.
template<class PointT >
static void	octomap::pointsOctomapToPCL (const point3d_list &points, pcl::PointCloud< PointT > &cloud)
	Conversion from octomap::point3d_list (e.g. all occupied nodes from getOccupied()) to pcl PointCloud.
static octomap::point3d	octomap::pointTfToOctomap (const tf::Point &ptTf)
	Conversion from tf::Point to octomap::point3d.
static tf::Pose	octomap::poseOctomapToTf (const octomap::pose6d &octomapPose)
	Conversion from octomap::pose6f to tf::Pose.
static octomap::pose6d	octomap::poseTfToOctomap (const tf::Pose &poseTf)
	Conversion from tf::Pose to octomap::pose6d.
static tf::Quaternion	octomap::quaternionOctomapToTf (const octomath::Quaternion &octomapQ)
	Conversion from octomap Quaternion to tf::Quaternion.
static octomath::Quaternion	octomap::quaternionTfToOctomap (const tf::Quaternion &qTf)
	Conversion from tf::Quaternion to octomap Quaternion.