mrpt_bridge Namespace Reference

Namespaces
namespace	point_cloud
Classes
class	MapHdl
	the map class is implemented as singeleton use map::instance ()->ros2mrpt ... More...
Functions
bool	check_field (const sensor_msgs::PointField &input_field, std::string check_name, const sensor_msgs::PointField **output)
void	convert (const ros::Time &src, mrpt::system::TTimeStamp &des)
void	convert (const mrpt::system::TTimeStamp &src, ros::Time &des)
bool	convert (const sensor_msgs::LaserScan &_msg, const mrpt::poses::CPose3D &_pose, mrpt::slam::CObservation2DRangeScan &_obj)
mrpt::math::CMatrixDouble33 &	convert (const tf::Matrix3x3 &_src, mrpt::math::CMatrixDouble33 &_des)
bool	convert (const mrpt::slam::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg)
tf::Matrix3x3 &	convert (const mrpt::math::CMatrixDouble33 &_src, tf::Matrix3x3 &_des)
tf::Transform &	convert (const mrpt::poses::CPose3D &_src, tf::Transform &_des)
bool	convert (const mrpt::slam::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg, geometry_msgs::Pose &_pose)
mrpt::poses::CPose3D &	convert (const tf::Transform &_src, mrpt::poses::CPose3D &_des)
geometry_msgs::Pose &	convert (const mrpt::poses::CPose3D &_src, geometry_msgs::Pose &_des)
geometry_msgs::Pose &	convert (const mrpt::poses::CPose2D &_src, geometry_msgs::Pose &_des)
geometry_msgs::PoseWithCovariance &	convert (const mrpt::poses::CPose3DPDFGaussian &_src, geometry_msgs::PoseWithCovariance &_des)
tf::Transform &	convert (const mrpt::poses::CPose3DPDFGaussian &_src, tf::Transform &)
geometry_msgs::PoseWithCovariance &	convert (const mrpt::poses::CPosePDFGaussian &_src, geometry_msgs::PoseWithCovariance &_des)
geometry_msgs::Quaternion &	convert (const mrpt::poses::CQuaternionDouble &_src, geometry_msgs::Quaternion &_des)
mrpt::poses::CPose2D &	convert (const geometry_msgs::Pose &_src, mrpt::poses::CPose2D &_des)
mrpt::poses::CPose3D &	convert (const geometry_msgs::Pose &_src, mrpt::poses::CPose3D &_des)
mrpt::poses::CPose3DPDFGaussian &	convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPose3DPDFGaussian &_des)
mrpt::poses::CPosePDFGaussian &	convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPosePDFGaussian &_des)
mrpt::poses::CQuaternionDouble &	convert (const geometry_msgs::Quaternion &_src, mrpt::poses::CQuaternionDouble &_des)
bool	convert (const nav_msgs::OccupancyGrid &src, mrpt::slam::COccupancyGridMap2D &des)
bool	convert (const mrpt::slam::COccupancyGridMap2D &src, nav_msgs::OccupancyGrid &msg, const std_msgs::Header &header)
bool	convert (const mrpt::slam::COccupancyGridMap2D &src, nav_msgs::OccupancyGrid &msg)
bool	copy (const sensor_msgs::PointCloud2 &msg, mrpt::slam::CSimplePointsMap &obj)
bool	copy (const mrpt::slam::CSimplePointsMap &obj, const std_msgs::Header &msg_header, sensor_msgs::PointCloud2 &msg)
void	get_float_from_field (const sensor_msgs::PointField *field, const unsigned char *data, float &output)

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Function Documentation

bool mrpt_bridge::check_field	(	const sensor_msgs::PointField &	input_field,
		std::string	check_name,
		const sensor_msgs::PointField **	output
	)		[inline]

Definition at line 11 of file point_cloud2.cpp.

void mrpt_bridge::convert	(	const ros::Time &	src,
		mrpt::system::TTimeStamp &	des
	)		[inline]

converts ros time to mrpt time

Parameters:

src	ros time
des	mrpt time

Definition at line 14 of file time.h.

void mrpt_bridge::convert	(	const mrpt::system::TTimeStamp &	src,
		ros::Time &	des
	)		[inline]

converts mrpt time to ros time

Parameters:

src	ros time
des	mrpt time

Definition at line 25 of file time.h.

bool mrpt_bridge::convert	(	const sensor_msgs::LaserScan &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		mrpt::slam::CObservation2DRangeScan &	_obj
	)

Returns:

true on sucessful conversion, false on any error.

See also:

mrpt2ros

Definition at line 11 of file laser_scan.cpp.

mrpt::math::CMatrixDouble33 & mrpt_bridge::convert	(	const tf::Matrix3x3 &	_src,
		mrpt::math::CMatrixDouble33 &	_des
	)

Convert: ROS's Matrix -> MRPT's Matrix

Definition at line 24 of file pose.cpp.

bool mrpt_bridge::convert	(	const mrpt::slam::CObservation2DRangeScan &	_obj,
		sensor_msgs::LaserScan &	_msg
	)

Returns:

true on sucessful conversion, false on any error.

See also:

ros2mrpt

Definition at line 34 of file laser_scan.cpp.

tf::Matrix3x3 & mrpt_bridge::convert	(	const mrpt::math::CMatrixDouble33 &	_src,
		tf::Matrix3x3 &	_des
	)

Convert: MRPT's Matrix -> Matrix

Definition at line 32 of file pose.cpp.

tf::Transform & mrpt_bridge::convert	(	const mrpt::poses::CPose3D &	_src,
		tf::Transform &	_des
	)

Convert: MRPT's CPose3D -> ROS's Transform

Definition at line 64 of file pose.cpp.

bool mrpt_bridge::convert	(	const mrpt::slam::CObservation2DRangeScan &	_obj,
		sensor_msgs::LaserScan &	_msg,
		geometry_msgs::Pose &	_pose
	)

Returns:

true on sucessful conversion, false on any error.

See also:

ros2mrpt

Definition at line 62 of file laser_scan.cpp.

mrpt::poses::CPose3D & mrpt_bridge::convert	(	const tf::Transform &	_src,
		mrpt::poses::CPose3D &	_des
	)

Convert: ROS's CPose3D -> MRPT's Transform

Definition at line 73 of file pose.cpp.

geometry_msgs::Pose & mrpt_bridge::convert	(	const mrpt::poses::CPose3D &	_src,
		geometry_msgs::Pose &	_des
	)

Convert: MRPT's CPose3D -> ROS's Pose

Definition at line 83 of file pose.cpp.

geometry_msgs::Pose & mrpt_bridge::convert	(	const mrpt::poses::CPose2D &	_src,
		geometry_msgs::Pose &	_des
	)

Convert: MRPT's CPose2D (x,y,yaw) -> ROS's Pose

Definition at line 100 of file pose.cpp.

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert	(	const mrpt::poses::CPose3DPDFGaussian &	_src,
		geometry_msgs::PoseWithCovariance &	_des
	)

Convert: MRPT's CPose3DPDFGaussian -> ROS's PoseWithCovariance

Definition at line 44 of file pose.cpp.

tf::Transform & mrpt_bridge::convert	(	const mrpt::poses::CPose3DPDFGaussian &	_src,
		tf::Transform &	_des
	)

Convert: MRPT's CPose3DPDFGaussian -> ROS's Transform

Definition at line 40 of file pose.cpp.

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert	(	const mrpt::poses::CPosePDFGaussian &	_src,
		geometry_msgs::PoseWithCovariance &	_des
	)

Convert: MRPT's CPosePDFGaussian (x,y,yaw) -> ROS's PoseWithCovariance

Definition at line 142 of file pose.cpp.

geometry_msgs::Quaternion & mrpt_bridge::convert	(	const mrpt::poses::CQuaternionDouble &	_src,
		geometry_msgs::Quaternion &	_des
	)

Convert: MRPT's CQuaternionDouble -> ROS's Quaternion

Definition at line 203 of file pose.cpp.

mrpt::poses::CPose2D & mrpt_bridge::convert	(	const geometry_msgs::Pose &	_src,
		mrpt::poses::CPose2D &	_des
	)

Convert: ROS's Pose -> MRPT's CPose2D

Definition at line 126 of file pose.cpp.

mrpt::poses::CPose3D & mrpt_bridge::convert	(	const geometry_msgs::Pose &	_src,
		mrpt::poses::CPose3D &	_des
	)

Convert: ROS's Pose -> MRPT's CPose3D

Definition at line 212 of file pose.cpp.

mrpt::poses::CPose3DPDFGaussian & mrpt_bridge::convert	(	const geometry_msgs::PoseWithCovariance &	_src,
		mrpt::poses::CPose3DPDFGaussian &	_des
	)

Convert: ROS's PoseWithCovariance -> MRPT's CPose3DPDFGaussian

Definition at line 168 of file pose.cpp.

mrpt::poses::CPosePDFGaussian & mrpt_bridge::convert	(	const geometry_msgs::PoseWithCovariance &	_src,
		mrpt::poses::CPosePDFGaussian &	_des
	)

Convert: ROS's PoseWithCovariance -> MRPT's CPosePDFGaussian (x,y,yaw)

Definition at line 180 of file pose.cpp.

mrpt::poses::CQuaternionDouble & mrpt_bridge::convert	(	const geometry_msgs::Quaternion &	_src,
		mrpt::poses::CQuaternionDouble &	_des
	)

Convert: ROS's Quaternion -> MRPT's CQuaternionDouble

Definition at line 194 of file pose.cpp.

bool mrpt_bridge::convert	(	const nav_msgs::OccupancyGrid &	src,
		mrpt::slam::COccupancyGridMap2D &	des
	)

converts ros msg to mrpt object

Returns:

true on sucessful conversion, false on any error.

Parameters:

src
des

I hope the data is allways aligned

I hope the data is allways aligned

Definition at line 57 of file map.cpp.

bool mrpt_bridge::convert	(	const mrpt::slam::COccupancyGridMap2D &	src,
		nav_msgs::OccupancyGrid &	msg,
		const std_msgs::Header &	header
	)

converts mrpt object to ros msg and updates the msg header

Returns:

true on sucessful conversion, false on any error.

Parameters:

src
des
header

Definition at line 86 of file map.cpp.

bool mrpt_bridge::convert	(	const mrpt::slam::COccupancyGridMap2D &	src,
		nav_msgs::OccupancyGrid &	msg
	)

converts mrpt object to ros msg

Returns:

true on sucessful conversion, false on any error.

Parameters:

src
des
header

I hope the data is allways aligned

I hope the data is allways aligned

Definition at line 93 of file map.cpp.

bool mrpt_bridge::copy	(	const sensor_msgs::PointCloud2 &	msg,
		mrpt::slam::CSimplePointsMap &	obj
	)

Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap CSimplePointsMap only contains (x,y,z) data, so sensor_msgs::PointCloud2::channels are ignored.

Returns:

true on sucessful conversion, false on any error.

See also:

mrpt2ros

Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap

Returns:

true on sucessful conversion, false on any error.

Definition at line 49 of file point_cloud2.cpp.

bool mrpt_bridge::copy	(	const mrpt::slam::CSimplePointsMap &	obj,
		const std_msgs::Header &	msg_header,
		sensor_msgs::PointCloud2 &	msg
	)

Convert mrpt::slam::CSimplePointsMap -> sensor_msgs/PointCloud2 The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since CSimplePointsMap only contains (x,y,z) data, sensor_msgs::PointCloud2::channels will be empty.

Returns:

true on sucessful conversion, false on any error.

See also:

ros2mrpt

Convert mrpt::slam::CSimplePointsMap -> sensor_msgs/PointCloud2 The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since CSimplePointsMap only contains (x,y,z) data, sensor_msgs::PointCloud2::channels will be empty.

Returns:

true on sucessful conversion, false on any error.

Definition at line 94 of file point_cloud2.cpp.

void mrpt_bridge::get_float_from_field	(	const sensor_msgs::PointField *	field,
		const unsigned char *	data,
		float &	output
	)		[inline]

Definition at line 31 of file point_cloud2.cpp.