mrpt_bridge Namespace Reference

File includes methods for converting CNetworkOfPoses*DInf <=> NetworkOfPoses message types. More...

Namespaces
namespace	GPS
namespace	image
namespace	imu
namespace	point_cloud
namespace	range
namespace	stereo_image
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)
bool	convert (const sensor_msgs::LaserScan &_msg, const mrpt::poses::CPose3D &_pose, CObservation2DRangeScan &_obj)
bool	convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, CObservationBeaconRanges &_obj)
bool	convert (const mrpt_msgs::ObservationRangeBearing &_msg, const mrpt::poses::CPose3D &_pose, CObservationBearingRange &_obj)
void	convert (const mrpt::system::TTimeStamp &src, ros::Time &des)
bool	convert (const CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
bool	convert (const CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg)
bool	convert (const marker_msgs::MarkerDetection &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBearingRange &_obj)
bool	convert (const marker_msgs::MarkerDetection &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBeaconRanges &_obj)
bool	convert (const CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg)
bool	convert (const CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)
bool	convert (const CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg, geometry_msgs::Pose &_pose)
bool	convert (const CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg, geometry_msgs::Pose &_pose)
void	convert (mrpt_msgs::NetworkOfPoses &ros_graph, const mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph)
bool	copy (const sensor_msgs::PointCloud2 &msg, CSimplePointsMap &obj)
bool	copy (const 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)
void	mrptToROSLoggerCallback (const std::string &msg, const VerbosityLevel level, const std::string &loggerName, const mrpt::system::TTimeStamp timestamp)
	callback that is called by MRPT mrpt::utils::COuputLogger to redirect log messages to ROS logger. This function has to be inline, otherwise option log4j.logger.ros.package_name will be taken from mrpt_bridge instead of the package from which macro is actually called.
void	mrptToROSLoggerCallback_mrpt_15 (const std::string &msg, const VerbosityLevel level, const std::string &loggerName, const mrpt::system::TTimeStamp timestamp, void *userParam)
mrpt::math::TPose3D	p2t (const mrpt::poses::CPose3D &p)
VerbosityLevel	rosLoggerLvlToMRPTLoggerLvl (log4cxx::LevelPtr lvl)
	function that converts ROS verbosity level log4cxx::Level to MRPT equivalent MRPT's VerbosityLevel
ObservationRangeBeacon: ROS <-> MRPT
bool	convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBeaconRanges &_obj)
bool	convert (const mrpt::obs::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
bool	convert (const mrpt::obs::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)
bool	convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, mrpt::slam::CObservationBeaconRanges &_obj)
bool	convert (const mrpt::slam::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
bool	convert (const mrpt::slam::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)
LaserScan: ROS <-> MRPT
bool	convert (const mrpt_msgs::ObservationRangeBearing &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBearingRange &_obj)
bool	convert (const mrpt::obs::CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg)
bool	convert (const mrpt::obs::CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg, geometry_msgs::Pose &_pose)
bool	convert (const sensor_msgs::LaserScan &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservation2DRangeScan &_obj)
bool	convert (const mrpt::obs::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg)
bool	convert (const mrpt::obs::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg, geometry_msgs::Pose &_pose)
Maps, Occupancy Grid Maps: ROS <-> MRPT
bool	convert (const nav_msgs::OccupancyGrid &src, COccupancyGridMap2D &des)
bool	convert (const COccupancyGridMap2D &src, nav_msgs::OccupancyGrid &msg, const std_msgs::Header &header)
bool	convert (const COccupancyGridMap2D &src, nav_msgs::OccupancyGrid &msg)
ROS \rightarrow MRPT conversions
void	convert (const mrpt::graphs::CNetworkOfPoses2D &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
	Convert [MRPT] CNetworkOfPoses*D [ROS] NetworkOfPoses.
void	convert (const mrpt::graphs::CNetworkOfPoses3D &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
void	convert (const mrpt::graphs::CNetworkOfPoses2DInf &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
void	convert (const mrpt::graphs::CNetworkOfPoses3DInf &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
void	convert (const mrpt::graphs::CNetworkOfPoses2DInf_NA &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
void	convert (const mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
void	convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses2DInf &mrpt_graph)
void	convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses3DInf &mrpt_graph)
void	convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses2DInf_NA &mrpt_graph)
void	convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph)
mrpt::poses::CPose3D &	convert (const tf::Transform &_src, mrpt::poses::CPose3D &_des)
mrpt::math::CMatrixDouble33 &	convert (const tf::Matrix3x3 &_src, mrpt::math::CMatrixDouble33 &_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::CPose3DPDFGaussianInf &	convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPose3DPDFGaussianInf &_des)
mrpt::poses::CPosePDFGaussian &	convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPosePDFGaussian &_des)
mrpt::poses::CPosePDFGaussianInf &	convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPosePDFGaussianInf &_des)
mrpt::poses::CQuaternionDouble &	convert (const geometry_msgs::Quaternion &_src, mrpt::poses::CQuaternionDouble &_des)
sensor_msgs::PointCloud2: ROS <-> MRPT
bool	copy (const sensor_msgs::PointCloud2 &msg, mrpt::maps::CSimplePointsMap &obj)
bool	copy (const mrpt::maps::CSimplePointsMap &obj, const std_msgs::Header &msg_header, sensor_msgs::PointCloud2 &msg)
MRPT \rightarrow ROS conversions
tf::Matrix3x3 &	convert (const mrpt::math::CMatrixDouble33 &_src, tf::Matrix3x3 &_des)
tf::Transform &	convert (const mrpt::poses::CPose3D &_src, tf::Transform &_des)
tf::Transform &	convert (const mrpt::math::TPose3D &_src, tf::Transform &_des)
tf::Transform &	convert (const mrpt::poses::CPose2D &_src, tf::Transform &_des)
tf::Transform &	convert (const mrpt::math::TPose2D &_src, tf::Transform &_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)
geometry_msgs::PoseWithCovariance &	convert (const mrpt::poses::CPose3DPDFGaussianInf &_src, geometry_msgs::PoseWithCovariance &_des)
tf::Transform &	convert (const mrpt::poses::CPose3DPDFGaussian &_src, tf::Transform &_des)
geometry_msgs::PoseWithCovariance &	convert (const mrpt::poses::CPosePDFGaussian &_src, geometry_msgs::PoseWithCovariance &_des)
geometry_msgs::PoseWithCovariance &	convert (const mrpt::poses::CPosePDFGaussianInf &_src, geometry_msgs::PoseWithCovariance &_des)
geometry_msgs::Quaternion &	convert (const mrpt::poses::CQuaternionDouble &_src, geometry_msgs::Quaternion &_des)

---

Detailed Description

File includes methods for converting CNetworkOfPoses*DInf <=> NetworkOfPoses message types.

ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationGPS.h

ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationIMU.h

ROS message : http://docs.ros.org/api/sensor_msgs/html/msg/Range.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationRange.h

---

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 14 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.

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

Definition at line 14 of file laser_scan.cpp.

bool mrpt_bridge::convert	(	const mrpt_msgs::ObservationRangeBeacon &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		CObservationBeaconRanges &	_obj
	)

Definition at line 16 of file beacon.cpp.

bool mrpt_bridge::convert	(	const mrpt_msgs::ObservationRangeBearing &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		CObservationBearingRange &	_obj
	)

Definition at line 21 of file landmark.cpp.

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 27 of file time.h.

void mrpt_bridge::convert	(	const mrpt::graphs::CNetworkOfPoses2D &	mrpt_graph,
		mrpt_msgs::NetworkOfPoses &	ros_graph
	)

Convert [MRPT] CNetworkOfPoses*D [ROS] NetworkOfPoses.

Convert [ROS] NetworkOfPoses [MRPT] CNetworkOfPoses*DInf.

Parameters:

[in]	mrpt_graph	MRPT graph representation
[out]	ros_graph	ROS graph representation
[in]	mrpt_graph	ROS graph representation
[out]	ros_graph	MRPT graph representation

void mrpt_bridge::convert	(	const mrpt::graphs::CNetworkOfPoses3D &	mrpt_graph,
		mrpt_msgs::NetworkOfPoses &	ros_graph
	)

void mrpt_bridge::convert	(	const mrpt::graphs::CNetworkOfPoses2DInf &	mrpt_graph,
		mrpt_msgs::NetworkOfPoses &	ros_graph
	)

Definition at line 35 of file network_of_poses.cpp.

void mrpt_bridge::convert	(	const mrpt::graphs::CNetworkOfPoses3DInf &	mrpt_graph,
		mrpt_msgs::NetworkOfPoses &	ros_graph
	)

Definition at line 101 of file network_of_poses.cpp.

bool mrpt_bridge::convert	(	const mrpt_msgs::ObservationRangeBeacon &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		mrpt::slam::CObservationBeaconRanges &	_obj
	)

ROS->MRPT: Takes a mrpt_msgs::ObservationRangeBeacon and the relative pose of the range sensor wrt base_link and builds a CObservationBeaconRanges

Returns:

true on sucessful conversion, false on any error.

See also:

mrpt2ros

void mrpt_bridge::convert	(	const mrpt::graphs::CNetworkOfPoses2DInf_NA &	mrpt_graph,
		mrpt_msgs::NetworkOfPoses &	ros_graph
	)

Definition at line 111 of file network_of_poses.cpp.

void mrpt_bridge::convert	(	const mrpt::graphs::CNetworkOfPoses3DInf_NA &	mrpt_graph,
		mrpt_msgs::NetworkOfPoses &	ros_graph
	)

Definition at line 186 of file network_of_poses.cpp.

bool mrpt_bridge::convert	(	const CObservationBeaconRanges &	_obj,
		mrpt_msgs::ObservationRangeBeacon &	_msg
	)

Definition at line 51 of file beacon.cpp.

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

ROS->MRPT: Takes a sensor_msgs::LaserScan and the relative pose of the laser wrt base_link and builds a CObservation2DRangeScan

Returns:

true on sucessful conversion, false on any error.

See also:

mrpt2ros

bool mrpt_bridge::convert	(	const mrpt_msgs::ObservationRangeBeacon &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		mrpt::obs::CObservationBeaconRanges &	_obj
	)

ROS->MRPT: Takes a mrpt_msgs::ObservationRangeBeacon and the relative pose of the range sensor wrt base_link and builds a CObservationBeaconRanges

Returns:

true on sucessful conversion, false on any error.

See also:

mrpt2ros

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

Definition at line 58 of file laser_scan.cpp.

bool mrpt_bridge::convert	(	const marker_msgs::MarkerDetection &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		mrpt::obs::CObservationBearingRange &	_obj
	)

Definition at line 22 of file marker_msgs.cpp.

bool mrpt_bridge::convert	(	const mrpt::slam::CObservationBeaconRanges &	_obj,
		mrpt_msgs::ObservationRangeBeacon &	_msg
	)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon

Returns:

true on sucessful conversion, false on any error.

See also:

ros2mrpt

bool mrpt_bridge::convert	(	const marker_msgs::MarkerDetection &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		mrpt::obs::CObservationBeaconRanges &	_obj
	)

Definition at line 44 of file marker_msgs.cpp.

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

Convert: [MRPT] Matrix [ROS] Matrix

Definition at line 53 of file pose.cpp.

bool mrpt_bridge::convert	(	const mrpt_msgs::ObservationRangeBearing &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		mrpt::obs::CObservationBearingRange &	_obj
	)

ROS->MRPT: Takes a mrpt_msgs::CObservationBearingRange and the relative pose of the laser wrt base_link and builds a ObservationRangeBearing

Returns:

true on sucessful conversion, false on any error.

See also:

mrpt2ros

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

MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::LaserScan

Returns:

true on sucessful conversion, false on any error.

See also:

ros2mrpt

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

Convert: [MRPT] CPose3D [ROS] Transform

Definition at line 108 of file pose.cpp.

bool mrpt_bridge::convert	(	const CObservationBearingRange &	_obj,
		mrpt_msgs::ObservationRangeBearing &	_msg
	)

Definition at line 62 of file landmark.cpp.

bool mrpt_bridge::convert	(	const mrpt::obs::CObservationBeaconRanges &	_obj,
		mrpt_msgs::ObservationRangeBeacon &	_msg
	)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon

Returns:

true on sucessful conversion, false on any error.

See also:

ros2mrpt

tf::Transform & mrpt_bridge::convert	(	const mrpt::math::TPose3D &	_src,
		tf::Transform &	_des
	)

Convert: [MRPT] TPose3D [ROS] Transform

Definition at line 337 of file pose.cpp.

tf::Transform & mrpt_bridge::convert	(	const mrpt::poses::CPose2D &	_src,
		tf::Transform &	_des
	)

Convert: [MRPT] CPose2D [ROS] Transform

Definition at line 343 of file pose.cpp.

tf::Transform & mrpt_bridge::convert	(	const mrpt::math::TPose2D &	_src,
		tf::Transform &	_des
	)

Convert: [MRPT] TPose2D [ROS] Transform

Definition at line 348 of file pose.cpp.

bool mrpt_bridge::convert	(	const mrpt::slam::CObservationBeaconRanges &	_obj,
		mrpt_msgs::ObservationRangeBeacon &	_msg,
		geometry_msgs::Pose &	_pose
	)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon + the relative pose of the range sensor wrt base_link

Returns:

true on sucessful conversion, false on any error.

See also:

ros2mrpt

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

MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::LaserScan + the relative pose of the laser wrt base_link

Returns:

true on sucessful conversion, false on any error.

See also:

ros2mrpt

bool mrpt_bridge::convert	(	const mrpt::obs::CObservationBearingRange &	_obj,
		mrpt_msgs::ObservationRangeBearing &	_msg
	)

MRPT->ROS: Takes a CObservationBearingRange and outputs range data in mrpt_msgs::ObservationRangeBearing

Returns:

true on sucessful conversion, false on any error.

See also:

ros2mrpt

void mrpt_bridge::convert	(	const mrpt_msgs::NetworkOfPoses &	ros_graph,
		mrpt::graphs::CNetworkOfPoses2DInf &	mrpt_graph
	)

Definition at line 197 of file network_of_poses.cpp.

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

Convert: [MRPT] CPose3D [ROS] Pose

Definition at line 133 of file pose.cpp.

bool mrpt_bridge::convert	(	const mrpt::obs::CObservationBeaconRanges &	_obj,
		mrpt_msgs::ObservationRangeBeacon &	_msg,
		geometry_msgs::Pose &	_pose
	)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon + the relative pose of the range sensor wrt base_link

Returns:

true on sucessful conversion, false on any error.

See also:

ros2mrpt

void mrpt_bridge::convert	(	const mrpt_msgs::NetworkOfPoses &	ros_graph,
		mrpt::graphs::CNetworkOfPoses3DInf &	mrpt_graph
	)

Definition at line 246 of file network_of_poses.cpp.

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

Convert: [MRPT] CPose2D (x,y,yaw) [ROS] Pose

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

Definition at line 152 of file pose.cpp.

bool mrpt_bridge::convert	(	const CObservationBeaconRanges &	_obj,
		mrpt_msgs::ObservationRangeBeacon &	_msg,
		geometry_msgs::Pose &	_pose
	)

Definition at line 79 of file beacon.cpp.

void mrpt_bridge::convert	(	const mrpt_msgs::NetworkOfPoses &	ros_graph,
		mrpt::graphs::CNetworkOfPoses2DInf_NA &	mrpt_graph
	)

Definition at line 256 of file network_of_poses.cpp.

bool mrpt_bridge::convert	(	const mrpt::obs::CObservationBearingRange &	_obj,
		mrpt_msgs::ObservationRangeBearing &	_msg,
		geometry_msgs::Pose &	_pose
	)

MRPT->ROS: Takes a CObservationBearingRange and outputs range data in mrpt_msgs::ObservationRangeBearing + the relative pose of the range sensor wrt base_link

Returns:

true on sucessful conversion, false on any error.

See also:

ros2mrpt

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

Convert: [MRPT] CPose3DPDFGaussian [ROS] PoseWithCovariance

Definition at line 67 of file pose.cpp.

void mrpt_bridge::convert	(	const mrpt_msgs::NetworkOfPoses &	ros_graph,
		mrpt::graphs::CNetworkOfPoses3DInf_NA &	mrpt_graph
	)

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

Definition at line 86 of file laser_scan.cpp.

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert	(	const mrpt::poses::CPose3DPDFGaussianInf &	_src,
		geometry_msgs::PoseWithCovariance &	_des
	)

Convert: [MRPT] CPose3DPDFGaussianInf [ROS] PoseWithCovariance

Definition at line 97 of file pose.cpp.

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

Convert: [MRPT] CPose3DPDFGaussian [ROS] Transform

Definition at line 61 of file pose.cpp.

bool mrpt_bridge::convert	(	const CObservationBearingRange &	_obj,
		mrpt_msgs::ObservationRangeBearing &	_msg,
		geometry_msgs::Pose &	_pose
	)

Definition at line 93 of file landmark.cpp.

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

Convert: [MRPT] CPosePDFGaussian (x,y,yaw) [ROS] PoseWithCovariance

Definition at line 197 of file pose.cpp.

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

Convert: [MRPT] CPosePDFGaussianInf (x,y,yaw) [ROS] PoseWithCovariance

Definition at line 231 of file pose.cpp.

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

Convert: [MRPT] CQuaternionDouble [ROS] Quaternion

Definition at line 314 of file pose.cpp.

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

Convert: [ROS] CPose3D [MRPT] Transform

Definition at line 120 of file pose.cpp.

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

Convert: [ROS] Matrix [MRPT] Matrix

Definition at line 45 of file pose.cpp.

bool mrpt_bridge::convert	(	const nav_msgs::OccupancyGrid &	src,
		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 94 of file map.cpp.

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

Convert: [ROS] Pose [MRPT] CPose2D

Definition at line 180 of file pose.cpp.

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

Convert: [ROS] Pose [MRPT] CPose3D

Definition at line 325 of file pose.cpp.

bool mrpt_bridge::convert	(	const 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 128 of file map.cpp.

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

Convert: [ROS] PoseWithCovariance [MRPT] CPose3DPDFGaussian

Definition at line 242 of file pose.cpp.

mrpt::poses::CPose3DPDFGaussianInf & mrpt_bridge::convert	(	const geometry_msgs::PoseWithCovariance &	_src,
		mrpt::poses::CPose3DPDFGaussianInf &	_des
	)

Convert: [ROS] PoseWithCovariance [MRPT] CPose3DPDFGaussianInf

Definition at line 261 of file pose.cpp.

bool mrpt_bridge::convert	(	const 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 136 of file map.cpp.

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

Convert: [ROS] PoseWithCovariance [MRPT] CPosePDFGaussian (x,y,yaw)

Definition at line 273 of file pose.cpp.

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

Convert: [ROS] PoseWithCovariance [MRPT] CPosePDFGaussianInf (x,y,yaw)

Definition at line 292 of file pose.cpp.

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

Convert: [ROS] Quaternion [MRPT] CQuaternionDouble

Definition at line 304 of file pose.cpp.

void mrpt_bridge::convert	(	mrpt_msgs::NetworkOfPoses &	ros_graph,
		const mrpt::graphs::CNetworkOfPoses3DInf_NA &	mrpt_graph
	)

Definition at line 313 of file network_of_poses.cpp.

bool mrpt_bridge::copy	(	const sensor_msgs::PointCloud2 &	msg,
		mrpt::maps::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

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

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

Returns:

true on sucessful conversion, false on any error.

Definition at line 55 of file point_cloud2.cpp.

bool mrpt_bridge::copy	(	const mrpt::maps::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

bool mrpt_bridge::copy	(	const 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.

Definition at line 104 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 35 of file point_cloud2.cpp.

void mrpt_bridge::mrptToROSLoggerCallback	(	const std::string &	msg,
		const VerbosityLevel	level,
		const std::string &	loggerName,
		const mrpt::system::TTimeStamp	timestamp
	)		[inline]

callback that is called by MRPT mrpt::utils::COuputLogger to redirect log messages to ROS logger. This function has to be inline, otherwise option log4j.logger.ros.package_name will be taken from mrpt_bridge instead of the package from which macro is actually called.

Definition at line 69 of file utils.h.

void mrpt_bridge::mrptToROSLoggerCallback_mrpt_15	(	const std::string &	msg,
		const VerbosityLevel	level,
		const std::string &	loggerName,
		const mrpt::system::TTimeStamp	timestamp,
		void *	userParam
	)		[inline]

Definition at line 98 of file utils.h.

mrpt::math::TPose3D mrpt_bridge::p2t

(

const mrpt::poses::CPose3D &

p

)

[inline]

Definition at line 106 of file utils.h.

VerbosityLevel mrpt_bridge::rosLoggerLvlToMRPTLoggerLvl

(

log4cxx::LevelPtr

lvl

)

[inline]

function that converts ROS verbosity level log4cxx::Level to MRPT equivalent MRPT's VerbosityLevel

Definition at line 30 of file utils.h.