#include <UncertainTransformListener.h>

Inheritance diagram for uncertain_tf::UncertainTransformListener:

Public Member Functions
template<typename Derived , typename OtherDerived >
void	calculateSampleCovariance (const MatrixBase< Derived > &x, const MatrixBase< Derived > &y, MatrixBase< OtherDerived > &C_)
	calculate the covariance of a given sample set in eigen type
VectorXd	calculateSampleMean (const MatrixXd &x)
	calculate the covariance of a given sample set in eigen type
bool	isZero (const MatrixXd mat)
	check if a covariance matrix is zero - as initialized when no cov is known
void	printFrame (std::string last_frame, std::string current_frame, tf::Transform rel)
MatrixXd	sampleFromMeanCov (const VectorXd &mean_, const MatrixXd &cov_, size_t n=1)
	sample n transforms given mean and cov in eigen types
void	sampleFromMeanCov (const tf::Transform &mean, const MatrixXd &cov, std::vector< tf::Transform > &output, size_t n=1)
	sample n transforms given mean in tf and cov in eigen type
tf::Transform	sampleFromMeanCov (const tf::Transform &mean, const MatrixXd &cov)
	sample a single transform given mean in tf and cov in eigen type
MatrixXd	sampleSetTFtoMatrixXd (std::vector< tf::StampedTransform > sampleset)
	convert a vector of transforms to a eigen sampleset matrix for covariance calculation
void	sampleTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, std::vector< StampedTransform > &output, size_t n)
	sample from frame names and time into a vector of transforms, results are push_back'ed to output
void	sampleTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &time, const std::string &fixed_frame, std::vector< StampedTransform > &output, size_t n)
	sample using time travel, results are push_back'ed to output
void	sampleTransformGaussianTime (const std::string &target_frame, const std::string &source_frame, const ros::Time &time_mean, const ros::Duration &time_variance, std::vector< StampedTransform > &output, size_t n)
	same as above, but now sample from a distribution for the time
void	sampleTransformUniformTime (const std::string &target_frame, const std::string &source_frame, const ros::Time &time_start, const ros::Time &time_end, std::vector< StampedTransform > &output, size_t n)
	same as above, but instead of gaussian time creates samples in equal time steps
VectorXd	transformTFToVectorXd (const tf::Transform &transform)
	convert from tf to eigen
tf::Transform	transformVectorXdToTF (const VectorXd &vec)
	convert from eigen to tf
	UncertainTransformListener (ros::Duration max_cache_time=ros::Duration(tf::Transformer::DEFAULT_CACHE_TIME), bool spin_thread=true)
Private Member Functions
void	subscription_callback (const uncertain_tf::utfMessageConstPtr &msg)
Private Attributes
EigenMultivariateNormal < double, 6 > *	emn_
ros::Subscriber	message_subscriber_utf_
ros::NodeHandle	node_
UnivariateNormal< double > *	univ_

Detailed Description

Definition at line 17 of file UncertainTransformListener.h.

Constructor & Destructor Documentation

uncertain_tf::UncertainTransformListener::UncertainTransformListener	(	ros::Duration	max_cache_time = `ros::Duration(tf::Transformer::DEFAULT_CACHE_TIME)`,
		bool	spin_thread = `true`
	)

Definition at line 13 of file UncertainTransformListener.cpp.

Member Function Documentation

template<typename Derived , typename OtherDerived >

void uncertain_tf::UncertainTransformListener::calculateSampleCovariance	(	const MatrixBase< Derived > &	x,
		const MatrixBase< Derived > &	y,
		MatrixBase< OtherDerived > &	C_
	)

calculate the covariance of a given sample set in eigen type

Definition at line 83 of file UncertainTransformListener.h.

VectorXd uncertain_tf::UncertainTransformListener::calculateSampleMean ( const MatrixXd & x )

calculate the covariance of a given sample set in eigen type

Definition at line 24 of file UncertainTransformListener.cpp.

bool uncertain_tf::UncertainTransformListener::isZero ( const MatrixXd mat )

check if a covariance matrix is zero - as initialized when no cov is known

Definition at line 29 of file UncertainTransformListener.cpp.

void uncertain_tf::UncertainTransformListener::printFrame	(	std::string	last_frame,
		std::string	current_frame,
		tf::Transform	rel
	)

Definition at line 120 of file UncertainTransformListener.cpp.

MatrixXd uncertain_tf::UncertainTransformListener::sampleFromMeanCov	(	const VectorXd &	mean_,
		const MatrixXd &	cov_,
		size_t	n = `1`
	)

sample n transforms given mean and cov in eigen types

Definition at line 49 of file UncertainTransformListener.cpp.

void uncertain_tf::UncertainTransformListener::sampleFromMeanCov	(	const tf::Transform &	mean,
		const MatrixXd &	cov,
		std::vector< tf::Transform > &	output,
		size_t	n = `1`
	)

sample n transforms given mean in tf and cov in eigen type

Definition at line 69 of file UncertainTransformListener.cpp.

tf::Transform uncertain_tf::UncertainTransformListener::sampleFromMeanCov	(	const tf::Transform &	mean,
		const MatrixXd &	cov
	)

sample a single transform given mean in tf and cov in eigen type

Definition at line 77 of file UncertainTransformListener.cpp.

MatrixXd uncertain_tf::UncertainTransformListener::sampleSetTFtoMatrixXd ( std::vector< tf::StampedTransform > sampleset )

convert a vector of transforms to a eigen sampleset matrix for covariance calculation

Definition at line 38 of file UncertainTransformListener.cpp.

void uncertain_tf::UncertainTransformListener::sampleTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		std::vector< StampedTransform > &	output,
		size_t	n
	)

sample from frame names and time into a vector of transforms, results are push_back'ed to output

Definition at line 126 of file UncertainTransformListener.cpp.

void uncertain_tf::UncertainTransformListener::sampleTransform	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	source_frame,
		const ros::Time &	time,
		const std::string &	fixed_frame,
		std::vector< StampedTransform > &	output,
		size_t	n
	)

sample using time travel, results are push_back'ed to output

Definition at line 279 of file UncertainTransformListener.cpp.

void uncertain_tf::UncertainTransformListener::sampleTransformGaussianTime	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time_mean,
		const ros::Duration &	time_variance,
		std::vector< StampedTransform > &	output,
		size_t	n
	)

same as above, but now sample from a distribution for the time

Definition at line 310 of file UncertainTransformListener.cpp.

void uncertain_tf::UncertainTransformListener::sampleTransformUniformTime	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time_start,
		const ros::Time &	time_end,
		std::vector< StampedTransform > &	output,
		size_t	n
	)