Classes
struct	wait_until_ms
struct	watchdog
Functions
std::string	chomp (std::string &main, const char token= ',')
std::pair< double, double >	deg2meter (double difflat, double difflon, double lat)
template<class Point , class Iterator >
void	disableAxisToVector (Point &point, const Iterator &vec)
template<class T >
void	eulerZYXFromQuaternion (const T &q, double &roll, double &pitch, double &yaw)
unsigned char	getChecksum (const unsigned char *const data, size_t len)
template<class Derived >
std::pair< int, int >	getMatrixParam (const ros::NodeHandle &nh, const std::string &name, const Eigen::MatrixBase< Derived > &matrix)
template<class Derived >
std::pair< int, int >	getMatrixParam_fixedsize (const ros::NodeHandle &nh, const std::string &name, const Eigen::MatrixBase< Derived > &matrix)
template<class Derived >
std::pair< int, int >	getMatrixParam_variablesize (const ros::NodeHandle &nh, const std::string &name, const Eigen::MatrixBase< Derived > &matrix)
template<class Model >
void	loadDynamicsParams (const ros::NodeHandle &nh, Model &model)
template<class Derived >
void	matrixExtender (const ros::NodeHandle &nh, const std::string &name, Eigen::MatrixBase< Derived > &matrix)
std::pair< double, double >	meter2deg (double x, double y, double lat)
double	mpdlat (double lat)
double	mpdlon (double lat)
template<class Point , class Iterator >
void	nedToVector (const Point &point, Iterator &vec, int offset=0)
template<class Point , class Iterator >
void	pointToVector (const Point &point, Iterator &vec, int offset=0)
template<class T >
void	quaternionFromEulerZYX (double roll, double pitch, double yaw, Eigen::Quaternion< T > &q)
template<class Point , class Iterator >
void	rpyToVector (const Point &point, Iterator &vec, int offset=0)
void	sleep (size_t ms)
std::string	time_signature ()
template<class MyType >
std::string	to_string (MyType value)
double	unix_time ()
std::string	unix_time_string (bool microseconds=false)
template<class Point , class Iterator >
void	vectorToDisableAxis (const Iterator &vec, Point &point)
template<class Point , class Iterator >
void	vectorToNED (const Iterator &vec, Point &point, int offset=0)
template<class Point , class Iterator >
void	vectorToPoint (const Iterator &vec, Point &point, int offset=0)
template<class Point , class Iterator >
void	vectorToRPY (const Iterator &vec, Point &point, int offset=0)
template<class Derived , class XmlRpcVal >
Eigen::MatrixBase< Derived > ::Scalar	xmlRpcConvert (XmlRpcVal &data, bool intType)
Variables
static const double	deg2rad = M_PI/180
static const double	rad2deg = 180/M_PI
static const double	radius = 6378137
static const double	ratio = 0.99664719

Detailed Description

Todo:: Add Vincenty formula: http://en.wikipedia.org/wiki/Vincenty's_formulae

Function Documentation

std::string labust::tools::chomp	(	std::string &	main,
		const char	token = `','`
	)		`[inline]`

The function split the string into two parts separated by a delimiter.

Parameters:

main	The string that will be split.
token	Split delimiter character.

Returns:: The string before the delimiter.

Definition at line 50 of file StringUtilities.hpp.

std::pair<double,double> labust::tools::deg2meter	(	double	difflat,
		double	difflon,
		double	lat
	)		`[inline]`

The function converts degrees to meters.

Parameters:

difflat	North distance in degrees.
difflon	East distance in degrees.
lat	Latitude position in decimal degrees.

Returns:: Returns the latitude and longitude distance in relative meters.

Definition at line 79 of file GeoUtilities.hpp.

template<class Point , class Iterator >

void labust::tools::disableAxisToVector	(	Point &	point,
		const Iterator &	vec
	)

Definition at line 126 of file conversions.hpp.

template<class T >

void labust::tools::eulerZYXFromQuaternion	(	const T &	q,
		double &	roll,
		double &	pitch,
		double &	yaw
	)

Definition at line 150 of file conversions.hpp.

unsigned char labust::tools::getChecksum	(	const unsigned char *const	data,
		size_t	len
	)		`[inline]`

The function returns the checksum of a byte array.

Parameters:

data	Address of the range start.
len	Length of the range.

Returns:: XOR checksum of the given range.

Definition at line 83 of file StringUtilities.hpp.

template<class Derived >

std::pair<int,int> labust::tools::getMatrixParam	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		const Eigen::MatrixBase< Derived > &	matrix
	)		`[inline]`

Reads a vector or matrix list and populates the supplied vector or matrix.

Todo:: Derive one function for variable and fixed size.

Definition at line 195 of file MatrixLoader.hpp.

template<class Derived >

std::pair<int,int> labust::tools::getMatrixParam_fixedsize	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		const Eigen::MatrixBase< Derived > &	matrix
	)

Reads a vector or matrix list and populates the supplied vector or matrix.

Definition at line 59 of file MatrixLoader.hpp.

template<class Derived >

std::pair<int,int> labust::tools::getMatrixParam_variablesize	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		const Eigen::MatrixBase< Derived > &	matrix
	)

Reads a vector or matrix list and populates the supplied vector or matrix.

Definition at line 118 of file MatrixLoader.hpp.

template<class Model >

void labust::tools::loadDynamicsParams	(	const ros::NodeHandle &	nh,
		Model &	model
	)

The function loads and configures the dynamics parameters from the supplied ROS node handle.

Definition at line 66 of file DynamicsLoader.hpp.

template<class Derived >

void labust::tools::matrixExtender	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		Eigen::MatrixBase< Derived > &	matrix
	)		`[inline]`

The extender expands a diagonal vector representation of the matrix into a full rank diagonal matrix.

Definition at line 51 of file DynamicsLoader.hpp.

std::pair<double,double> labust::tools::meter2deg	(	double	x,
		double	y,
		double	lat
	)		`[inline]`

The function converts meters to relative degrees.

Parameters:

x	North distance in meters.
y	East distance in meters.
lat	Latitude position in decimal degrees.

Returns:: Returns the relative angles of the distances.

Definition at line 92 of file GeoUtilities.hpp.

double labust::tools::mpdlat ( double lat ) [inline]

The function calculates meters per latitude degree. The conversion was taken from: http://en.wikipedia.org/wiki/Geographic_coordinate_system#Cartesian_coordinates

Definition at line 57 of file GeoUtilities.hpp.

double labust::tools::mpdlon ( double lat ) [inline]

The function calculates meters per longitude degree. The conversion was taken from: http://en.wikipedia.org/wiki/Geographic_coordinate_system#Cartesian_coordinates

Definition at line 66 of file GeoUtilities.hpp.

template<class Point , class Iterator >

void labust::tools::nedToVector	(	const Point &	point,
		Iterator &	vec,
		int	offset = `0`
	)

The function offers mapping from NED structure to a vector.

Definition at line 71 of file conversions.hpp.

template<class Point , class Iterator >

void labust::tools::pointToVector	(	const Point &	point,
		Iterator &	vec,
		int	offset = `0`
	)

The class offers mapping from a XYZ structure to a vector.

Definition at line 49 of file conversions.hpp.

template<class T >

void labust::tools::quaternionFromEulerZYX	(	double	roll,
		double	pitch,
		double	yaw,
		Eigen::Quaternion< T > &	q
	)

Definition at line 137 of file conversions.hpp.

template<class Point , class Iterator >

void labust::tools::rpyToVector	(	const Point &	point,
		Iterator &	vec,
		int	offset = `0`
	)

The function offers mapping from RPY structure to a vector.

Definition at line 93 of file conversions.hpp.

void labust::tools::sleep ( size_t ms ) [inline]

The function suspends the system for the specified amount of milliseconds.

Parameters:

ms	The amount of milliseconds to sleep.

Definition at line 97 of file TimingTools.hpp.

std::string labust::tools::time_signature ( ) [inline]

The function generates a string format time signatures. Useful for creating time stamped filenames.

Returns:: String based time signature.

Definition at line 64 of file TimingTools.hpp.

template<class MyType >

std::string labust::tools::to_string ( MyType value ) [inline]

The function converts different types into string if a output operator is defined for the type.

Parameters:

value Value which to convert into a string.

Template Parameters:

MyType Type of the converted object.

Returns:: Returns the converted object in a string.

Definition at line 68 of file StringUtilities.hpp.

double labust::tools::unix_time ( ) [inline]

The function to calculate the UNIX time.

Returns:: Number of decimal seconds since 01.01.1970.

Definition at line 50 of file TimingTools.hpp.

std::string labust::tools::unix_time_string ( bool microseconds = false ) [inline]

The function returns the unix_time in a string format.

Parameters:

microseconds True if we wish to display the microseconds.

Returns:: UNIX time in string format.

Definition at line 85 of file TimingTools.hpp.

template<class Point , class Iterator >

void labust::tools::vectorToDisableAxis	(	const Iterator &	vec,
		Point &	point
	)

The class offers mapping from auv_msgs disable_axis structure to a vector.

Definition at line 115 of file conversions.hpp.

template<class Point , class Iterator >

void labust::tools::vectorToNED	(	const Iterator &	vec,
		Point &	point,
		int	offset = `0`
	)

The class offers mapping to a RPY structure from a vector.

Definition at line 82 of file conversions.hpp.

template<class Point , class Iterator >

void labust::tools::vectorToPoint	(	const Iterator &	vec,
		Point &	point,
		int	offset = `0`
	)

The class offers mapping from a XYZ structure to a vector.

Definition at line 60 of file conversions.hpp.

template<class Point , class Iterator >

void labust::tools::vectorToRPY	(	const Iterator &	vec,
		Point &	point,
		int	offset = `0`
	)

The class offers mapping to a NED structure from a vector.

Definition at line 104 of file conversions.hpp.

template<class Derived , class XmlRpcVal >

Eigen::MatrixBase<Derived>::Scalar labust::tools::xmlRpcConvert	(	XmlRpcVal &	data,
		bool	intType
	)		`[inline]`

Definition at line 49 of file MatrixLoader.hpp.

Variable Documentation

const double labust::tools::deg2rad = M_PI/180 [static]

Definition at line 47 of file GeoUtilities.hpp.

const double labust::tools::rad2deg = 180/M_PI [static]

Definition at line 48 of file GeoUtilities.hpp.

const double labust::tools::radius = 6378137 [static]

Definition at line 49 of file GeoUtilities.hpp.

const double labust::tools::ratio = 0.99664719 [static]

Definition at line 50 of file GeoUtilities.hpp.

Classes

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation