#include <math.h>#include <tf/tf.h>#include <angles/angles.h>#include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>
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Namespaces | |
| namespace | vigir_footstep_planning |
Defines | |
| #define | DEBUG_HASH 0 |
| #define | DEBUG_TIME 0 |
Enumerations | |
| enum | vigir_footstep_planning::Leg { vigir_footstep_planning::RIGHT = 0, vigir_footstep_planning::LEFT = 1, vigir_footstep_planning::NOLEG = 2 } |
Functions | |
| double | vigir_footstep_planning::angle_cell_2_state (int angle, double angle_bin_size) |
| Calculate the respective (continuous) angle for a bin. | |
| int | vigir_footstep_planning::angle_state_2_cell (double angle, double angle_bin_size) |
| Discretize a (continuous) angle into a bin. | |
| unsigned int | vigir_footstep_planning::calc_hash_tag (int x, int y, int theta, int leg, unsigned int hash_pred, unsigned int hash_succ, int max_hash_size) |
| double | vigir_footstep_planning::cell_2_state (int value, double cell_size) |
| Calculate the respective (continuous) state value for a cell. (Should be used to get a State from a discretized PlanningState.) | |
| double | vigir_footstep_planning::cont_val (int length, double cell_size) |
| Calculates the continuous value for a length discretized in cell size. | |
| int | vigir_footstep_planning::disc_val (double length, double cell_size) |
| Discretize a (continuous) value into cell size. | |
| double | vigir_footstep_planning::euclidean_distance (int x1, int y1, int x2, int y2) |
| double | vigir_footstep_planning::euclidean_distance (double x1, double y1, double x2, double y2) |
| double | vigir_footstep_planning::euclidean_distance (int x1, int y1, int z1, int x2, int y2, int z2) |
| double | vigir_footstep_planning::euclidean_distance (double x1, double y1, double z1, double x2, double y2, double z2) |
| double | vigir_footstep_planning::euclidean_distance_sq (int x1, int y1, int x2, int y2) |
| double | vigir_footstep_planning::euclidean_distance_sq (double x1, double y1, double x2, double y2) |
| double | vigir_footstep_planning::euclidean_distance_sq (int x1, int y1, int z1, int x2, int y2, int z2) |
| double | vigir_footstep_planning::euclidean_distance_sq (double x1, double y1, double z1, double x2, double y2, double z2) |
| void | vigir_footstep_planning::getDeltaStep (const msgs::Foot ¤t, const msgs::Foot &next, geometry_msgs::Pose &dstep) |
| void | vigir_footstep_planning::getDeltaStep (const tf::Pose ¤t, const tf::Pose &next, tf::Pose &dstep) |
| double | vigir_footstep_planning::grid_cost (int x1, int y1, int x2, int y2, float cell_size) |
| unsigned int | vigir_footstep_planning::int_hash (int key) |
| void | vigir_footstep_planning::normalToQuaternion (const geometry_msgs::Vector3 &n, double yaw, geometry_msgs::Quaternion &q) |
| void | vigir_footstep_planning::normalToRP (const geometry_msgs::Vector3 &n, double yaw, double &r, double &p) |
| double | vigir_footstep_planning::parabol (double x, double y, double a_inv, double b_inv) |
| double | vigir_footstep_planning::pceil (double x, double prec) |
| double | vigir_footstep_planning::pfloor (double x, double prec) |
| bool | vigir_footstep_planning::pointWithinPolygon (int x, int y, const std::vector< std::pair< int, int > > &edges) |
| Crossing number method to determine whether a point lies within a polygon or not. | |
| double | vigir_footstep_planning::pround (double x, double prec) |
| void | vigir_footstep_planning::quaternionToNormal (const geometry_msgs::Quaternion &q, geometry_msgs::Vector3 &n) |
| void | vigir_footstep_planning::quaternionToNormalYaw (const geometry_msgs::Quaternion &q, geometry_msgs::Vector3 &n, double &yaw) |
| void | vigir_footstep_planning::RPYToNormal (double r, double p, double y, geometry_msgs::Vector3 &n) |
| int | vigir_footstep_planning::state_2_cell (float value, float cell_size) |
| Discretize a (continuous) state value into a cell. (Should be used to discretize a State to a PlanningState.) | |
Variables | |
| static const int | vigir_footstep_planning::cvMmScale = 1000 |
| Used to scale continuous values in meter to discrete values in mm. | |
| static const double | vigir_footstep_planning::FLOAT_CMP_THR = 0.0001 |
| static const double | vigir_footstep_planning::TWO_PI = 2 * M_PI |
Define Documentation
| #define DEBUG_HASH 0 |
| #define DEBUG_TIME 0 |