Functions
double	angle (const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2)
	computes the smallest angle between two poses.
double	distance (const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2)
	Computes the Euclidean-distance between two poses.
bool	getRobotPose (const TF &tf, const std::string &robot_frame, const std::string &global_frame, const ros::Duration &timeout, geometry_msgs::PoseStamped &robot_pose)
	Computes the robot pose.
bool	transformPoint (const TF &tf, const std::string &target_frame, const ros::Time &target_time, const ros::Duration &timeout, const geometry_msgs::PointStamped &in, const std::string &fixed_frame, geometry_msgs::PointStamped &out)
	Transforms a point from one frame into another.
bool	transformPose (const TF &tf, const std::string &target_frame, const ros::Time &target_time, const ros::Duration &timeout, const geometry_msgs::PoseStamped &in, const std::string &fixed_frame, geometry_msgs::PoseStamped &out)
	Transforms a pose from one frame into another.

Function Documentation

double mbf_utility::angle	(	const geometry_msgs::PoseStamped &	pose1,
		const geometry_msgs::PoseStamped &	pose2
	)

computes the smallest angle between two poses.

Parameters:

pose1	pose 1
pose2	pose 2

Definition at line 182 of file navigation_utility.cpp.

double mbf_utility::distance	(	const geometry_msgs::PoseStamped &	pose1,
		const geometry_msgs::PoseStamped &	pose2
	)

Computes the Euclidean-distance between two poses.

Parameters:

pose1	pose 1
pose2	pose 2

Definition at line 172 of file navigation_utility.cpp.

bool mbf_utility::getRobotPose	(	const TF &	tf,
		const std::string &	robot_frame,
		const std::string &	global_frame,
		const ros::Duration &	timeout,
		geometry_msgs::PoseStamped &	robot_pose
	)

Computes the robot pose.

Parameters:

tf_listener	TransformListener.
robot_frame	frame of the robot.
global_frame	global frame in which the robot is located.
timeout	Timeout for looking up the transformation.
robot_pose	the computed rebot pose in the global frame.

Definition at line 46 of file navigation_utility.cpp.

bool mbf_utility::transformPoint	(	const TF &	tf,
		const std::string &	target_frame,
		const ros::Time &	target_time,
		const ros::Duration &	timeout,
		const geometry_msgs::PointStamped &	in,
		const std::string &	fixed_frame,
		geometry_msgs::PointStamped &	out
	)

Transforms a point from one frame into another.

Parameters:

tf_listener	TransformListener.
target_frame	Target frame for the point.
target_time	Time, in that the frames should be used.
timeout	Timeout for looking up the transformation.
in	Point to transform.
fixed_frame	Fixed frame of the source and target frame.
out	Transformed point.

Definition at line 119 of file navigation_utility.cpp.

bool mbf_utility::transformPose	(	const TF &	tf,
		const std::string &	target_frame,
		const ros::Time &	target_time,
		const ros::Duration &	timeout,
		const geometry_msgs::PoseStamped &	in,
		const std::string &	fixed_frame,
		geometry_msgs::PoseStamped &	out
	)

Transforms a pose from one frame into another.

Parameters:

tf_listener	TransformListener.
target_frame	Target frame for the pose.
target_time	Time, in that the frames should be used.
timeout	Timeout for looking up the transformation.
in	Pose to transform.
fixed_frame	Fixed frame of the source and target frame.
out	Transformed pose.

Definition at line 66 of file navigation_utility.cpp.

Functions