.. _program_listing_file__tmp_ws_src_grid_map_grid_map_pcl_include_grid_map_pcl_helpers.hpp:

Program Listing for File helpers.hpp
====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_pcl_include_grid_map_pcl_helpers.hpp>` (``/tmp/ws/src/grid_map/grid_map_pcl/include/grid_map_pcl/helpers.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * helpers.hpp
    *
    *  Created on: Nov 20, 2019
    *      Author: Edo Jelavic
    *      Institute: ETH Zurich, Robotic Systems Lab
    */
   
   #ifndef GRID_MAP_PCL__HELPERS_HPP_
   #define GRID_MAP_PCL__HELPERS_HPP_
   
   #include <pcl/common/common.h>
   #include <rclcpp/rclcpp.hpp>
   #include <string>
   #include <chrono>
   
   namespace grid_map
   {
   
   class GridMapPclLoader;
   class GridMap;
   
   namespace grid_map_pcl
   {
   
   void setVerbosityLevelToDebugIfFlagSet(rclcpp::Node::SharedPtr & node);
   
   std::string getParameterPath();
   
   std::string getOutputBagPath(rclcpp::Node::SharedPtr & node);
   
   std::string getPcdFilePath(rclcpp::Node::SharedPtr & node);
   
   std::string getMapFrame(rclcpp::Node::SharedPtr & node);
   
   std::string getMapRosbagTopic(rclcpp::Node::SharedPtr & node);
   
   std::string getMapLayerName(rclcpp::Node::SharedPtr & node);
   
   void saveGridMap(
     const grid_map::GridMap & gridMap, rclcpp::Node::SharedPtr & node,
     const std::string & mapTopic);
   
   inline void printTimeElapsedToRosInfoStream(
     const std::chrono::system_clock::time_point & start,
     const std::string & prefix,
     const rclcpp::Logger & node_logger)
   {
     const auto stop = std::chrono::high_resolution_clock::now();
     const auto duration =
       std::chrono::duration_cast<std::chrono::milliseconds>(stop - start).count() / 1000.0;
     RCLCPP_INFO_STREAM(node_logger, prefix << duration << " sec");
   }
   
   void processPointcloud(
     grid_map::GridMapPclLoader * gridMapPclLoader,
     rclcpp::Node::SharedPtr & node);
   
   using Point = ::pcl::PointXYZ;
   using Pointcloud = ::pcl::PointCloud<Point>;
   enum class XYZ : int {X, Y, Z};
   
   Eigen::Affine3f getRigidBodyTransform(
     const Eigen::Vector3d & translation,
     const Eigen::Vector3d & intrinsicRpy,
     const rclcpp::Logger & node_logger);
   
   Eigen::Matrix3f getRotationMatrix(
     double angle, XYZ axis,
     const rclcpp::Logger & node_logger);
   
   // processing point clouds
   Eigen::Vector3d calculateMeanOfPointPositions(Pointcloud::ConstPtr inputCloud);
   Pointcloud::Ptr transformCloud(
     Pointcloud::ConstPtr inputCloud,
     const Eigen::Affine3f & transformMatrix);
   Pointcloud::Ptr loadPointcloudFromPcd(const std::string & filename);
   
   }  // namespace grid_map_pcl
   
   }  // namespace grid_map
   #endif  // GRID_MAP_PCL__HELPERS_HPP_