object_msgs_tools::ObjectFunctions Class Reference

#include <ObjectFunctions.h>

List of all members.

Public Member Functions
	ObjectFunctions ()
Static Public Member Functions
static bool	getObjectPose (const object_msgs::Object &object, geometry_msgs::PoseStamped &pose)
Static Private Member Functions
static geometry_msgs::Point	getAveragePointFrom (const std::vector< geometry_msgs::Pose > &poses)
static bool	getPoseFromFields (const std_msgs::Header &object_header, int idx, const std::vector< geometry_msgs::Pose > &poses, const geometry_msgs::Pose &origin, geometry_msgs::PoseStamped &pose)

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Detailed Description

Provides a collection of convenience function for object_msgs/Object.

Author:

Jennifer Buehler

Date:

March 2016

Definition at line 16 of file ObjectFunctions.h.

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Constructor & Destructor Documentation

object_msgs_tools::ObjectFunctions::ObjectFunctions

(

)

[inline]

Definition at line 20 of file ObjectFunctions.h.

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Member Function Documentation

geometry_msgs::Point ObjectFunctions::getAveragePointFrom

(

const std::vector< geometry_msgs::Pose > &

poses

)

[static, private]

Computes the average pose of several positions. Because the average of several quaternions can only be determined approximately when the quaternions are close together, the orientation parts are ignored, and only the position is returned.

Definition at line 65 of file ObjectFunctions.cpp.

bool ObjectFunctions::getObjectPose	(	const object_msgs::Object &	object,
		geometry_msgs::PoseStamped &	pose
	)		[static]

Get the object pose out of the information in object according to what's specified in the message (fields object.primitive_origin and/or object.mesh_origin). If both mesh and primitive origins are enabled, the primitives are used to determine the object pose.

Returns:

false if insufficient information given to determine object pose, true if pose is returned in pose.

Definition at line 7 of file ObjectFunctions.cpp.

bool ObjectFunctions::getPoseFromFields	(	const std_msgs::Header &	object_header,
		int	idx,
		const std::vector< geometry_msgs::Pose > &	poses,
		const geometry_msgs::Pose &	origin,
		geometry_msgs::PoseStamped &	pose
	)		[static, private]

Parameters:

idx	the value of either Object::primitive_origin or Object::mesh_origin
object_header	the header of the Object message.
poses	the poses, either Object::primitive_poses or Object::mesh_poses
origin	the field Object::origin, in case it is required.

Definition at line 29 of file ObjectFunctions.cpp.

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The documentation for this class was generated from the following files:

• ObjectFunctions.h
• ObjectFunctions.cpp