Functions
double	distance2D (double ax, double ay, double bx, double by)
double	distance2D (geometry_msgs::Point a, geometry_msgs::Point b=geometry_msgs::Point())
double	distance2D (geometry_msgs::Pose a, geometry_msgs::Pose b=geometry_msgs::Pose())
double	distance2D (const tf::Vector3 &a, const tf::Vector3 &b=tf::Vector3())
double	distance2D (const tf::Transform &a, const tf::Transform &b=tf::Transform())
double	distance2D (double x, double y)
double	distance2D (const tf::Point &p)
double	distance3D (double ax, double ay, double az, double bx, double by, double bz)
double	distance3D (geometry_msgs::Point a, geometry_msgs::Point b=geometry_msgs::Point())
double	distance3D (geometry_msgs::Pose a, geometry_msgs::Pose b=geometry_msgs::Pose())
double	distance3D (const tf::Vector3 &a, const tf::Vector3 &b)
double	distance3D (const tf::Transform &a, const tf::Transform &b)
double	distance3D (double x, double y, double z)
double	distance3D (const tf::Point &p)
double	heading (geometry_msgs::Point a, geometry_msgs::Point b=geometry_msgs::Point())
double	heading (geometry_msgs::Pose a, geometry_msgs::Pose b=geometry_msgs::Pose())
double	heading (const tf::Vector3 &a, const tf::Vector3 &b)
double	heading (const tf::Transform &a, const tf::Transform &b)
template<typename T >
T	mean (const std::vector< T > &v)
template<typename T >
T	median (const std::vector< T > &v)
double	minAngle (geometry_msgs::Quaternion a, geometry_msgs::Quaternion b)
double	minAngle (geometry_msgs::Pose a, geometry_msgs::Pose b)
double	minAngle (const tf::Quaternion &a, const tf::Quaternion &b)
double	minAngle (const tf::Transform &a, const tf::Transform &b)
template<typename T >
std::string	nb2str (T x)
double	pitch (const tf::Transform &tf)
double	pitch (geometry_msgs::Pose pose)
double	pitch (geometry_msgs::PoseStamped pose)
const char *	point2str (const geometry_msgs::Point &point)
double	pointSegmentDistance (double px, double py, double s1x, double s1y, double s2x, double s2y)
const char *	pose2str (const geometry_msgs::Pose &pose)
const char *	pose2str (const geometry_msgs::PoseStamped &pose)
void	pose2tf (const geometry_msgs::Pose &pose, tf::Transform &tf)
void	pose2tf (const geometry_msgs::PoseStamped &pose, tf::StampedTransform &tf)
bool	rayCircleIntersection (double rx, double ry, double cx, double cy, double radius, double &ix, double &iy, double &distance)
bool	raySegmentIntersection (double r1x, double r1y, double r2x, double r2y, double s1x, double s1y, double s2x, double s2y, double &ix, double &iy, double &distance)
double	roll (const tf::Transform &tf)
double	roll (geometry_msgs::Pose pose)
double	roll (geometry_msgs::PoseStamped pose)
bool	sameFrame (const std::string &frame_a, const std::string &frame_b)
bool	sameFrame (const geometry_msgs::PoseStamped &a, const geometry_msgs::PoseStamped &b)
template<typename T >
T	sign (T x)
template<typename T >
T	std_dev (const std::vector< T > &v)
void	tf2pose (const tf::Transform &tf, geometry_msgs::Pose &pose)
void	tf2pose (const tf::StampedTransform &tf, geometry_msgs::PoseStamped &pose)
template<typename T >
T	variance (const std::vector< T > &v)
double	wrapAngle (double a)
Variables
char	___buffer___ [256]

Function Documentation

double mtk::distance2D	(	double	ax,
		double	ay,
		double	bx,
		double	by
	)

Euclidean distance between 2D points; z coordinate is ignored

Parameters:

a	point a
b	point b

Returns:: Distance

Definition at line 73 of file geometry.cpp.

double mtk::distance2D	(	geometry_msgs::Point	a,
		geometry_msgs::Point	b = `geometry_msgs::Point()`
	)

Definition at line 83 of file geometry.cpp.

double mtk::distance2D	(	geometry_msgs::Pose	a,
		geometry_msgs::Pose	b = `geometry_msgs::Pose()`
	)

Definition at line 88 of file geometry.cpp.

double mtk::distance2D	(	const tf::Vector3 &	a,
		const tf::Vector3 &	b = `tf::Vector3()`
	)

Definition at line 78 of file geometry.cpp.

double mtk::distance2D	(	const tf::Transform &	a,
		const tf::Transform &	b = `tf::Transform()`
	)

Definition at line 93 of file geometry.cpp.

double mtk::distance2D	(	double	x,
		double	y
	)

Definition at line 63 of file geometry.cpp.

double mtk::distance2D ( const tf::Point & p )

Definition at line 68 of file geometry.cpp.

double mtk::distance3D	(	double	ax,
		double	ay,
		double	az,
		double	bx,
		double	by,
		double	bz
	)

Euclidean distance between 3D points

Parameters:

a	point a
b	point b

Returns:: Distance

Definition at line 109 of file geometry.cpp.

double mtk::distance3D	(	geometry_msgs::Point	a,
		geometry_msgs::Point	b = `geometry_msgs::Point()`
	)

Definition at line 119 of file geometry.cpp.

double mtk::distance3D	(	geometry_msgs::Pose	a,
		geometry_msgs::Pose	b = `geometry_msgs::Pose()`
	)

Definition at line 124 of file geometry.cpp.

double mtk::distance3D	(	const tf::Vector3 &	a,
		const tf::Vector3 &	b
	)

Definition at line 114 of file geometry.cpp.

double mtk::distance3D	(	const tf::Transform &	a,
		const tf::Transform &	b
	)

Definition at line 129 of file geometry.cpp.

double mtk::distance3D	(	double	x,
		double	y,
		double	z
	)

Definition at line 99 of file geometry.cpp.

double mtk::distance3D ( const tf::Point & p )

Definition at line 104 of file geometry.cpp.

double mtk::heading	(	geometry_msgs::Point	a,
		geometry_msgs::Point	b = `geometry_msgs::Point()`
	)

Heading angle from point a to point b

Parameters:

a	point a
b	point b

Returns:: Heading angle

Definition at line 140 of file geometry.cpp.

double mtk::heading	(	geometry_msgs::Pose	a,
		geometry_msgs::Pose	b = `geometry_msgs::Pose()`
	)

Definition at line 145 of file geometry.cpp.

double mtk::heading	(	const tf::Vector3 &	a,
		const tf::Vector3 &	b
	)

Definition at line 135 of file geometry.cpp.

double mtk::heading	(	const tf::Transform &	a,
		const tf::Transform &	b
	)

Definition at line 150 of file geometry.cpp.

template<typename T >

T mtk::mean ( const std::vector< T > & v )

Definition at line 35 of file common.hpp.

template<typename T >

T mtk::median ( const std::vector< T > & v )

Definition at line 28 of file common.hpp.

double mtk::minAngle	(	geometry_msgs::Quaternion	a,
		geometry_msgs::Quaternion	b
	)

Minimum angle between quaternions

Parameters:

a	quaternion a
b	quaternion b

Returns:: Minimum angle

Definition at line 160 of file geometry.cpp.

double mtk::minAngle	(	geometry_msgs::Pose	a,
		geometry_msgs::Pose	b
	)

Definition at line 165 of file geometry.cpp.

double mtk::minAngle	(	const tf::Quaternion &	a,
		const tf::Quaternion &	b
	)

Definition at line 155 of file geometry.cpp.

double mtk::minAngle	(	const tf::Transform &	a,
		const tf::Transform &	b
	)

Definition at line 170 of file geometry.cpp.

template<typename T >

std::string mtk::nb2str ( T x )

Definition at line 23 of file common.hpp.

double mtk::pitch ( const tf::Transform & tf )

Shortcut to take the pitch of a transform/pose

Parameters:

tf/pose

Returns:: Transform/pose's pitch

Definition at line 43 of file geometry.cpp.

double mtk::pitch ( geometry_msgs::Pose pose )

Definition at line 50 of file geometry.cpp.

double mtk::pitch ( geometry_msgs::PoseStamped pose )

Definition at line 57 of file geometry.cpp.

const char * mtk::point2str ( const geometry_msgs::Point & point )

Definition at line 47 of file common.cpp.

double mtk::pointSegmentDistance	(	double	px,
		double	py,
		double	s1x,
		double	s1y,
		double	s2x,
		double	s2y
	)

Minimum distance from a point to a line segment

Parameters:

px	point x-coordinate
py	point y-coordinate
s1x	segment's point 1 x-coordinate
s1y	segment's point 1 y-coordinate
s2x	segment's point 2 x-coordinate
s2y	segment's point 2 y-coordinate

Returns:: distance

Definition at line 201 of file geometry.cpp.

const char * mtk::pose2str ( const geometry_msgs::Pose & pose )

Definition at line 53 of file common.cpp.

const char * mtk::pose2str ( const geometry_msgs::PoseStamped & pose )

Definition at line 59 of file common.cpp.

void mtk::pose2tf	(	const geometry_msgs::Pose &	pose,
		tf::Transform &	tf
	)

Definition at line 30 of file common.cpp.

void mtk::pose2tf	(	const geometry_msgs::PoseStamped &	pose,
		tf::StampedTransform &	tf
	)

Definition at line 38 of file common.cpp.

bool mtk::rayCircleIntersection	(	double	rx,
		double	ry,
		double	cx,
		double	cy,
		double	radius,
		double &	ix,
		double &	iy,
		double &	distance
	)

Do a zero-centered, finite length ray intersects a circle?

Parameters:

rx	rays's end point x-coordinate
ry	rays's end point y-coordinate
cx	circle's center x-coordinate
cy	circle's center y-coordinate
radius	circle's radius
ix	closest intersection point (if any) x-coordinate
iy	closest intersection point (if any) y-coordinate
distance	Distance from rays's start (zero) to intersection point

Returns:: True if ray intersects the circle

Definition at line 251 of file geometry.cpp.

bool mtk::raySegmentIntersection	(	double	r1x,
		double	r1y,
		double	r2x,
		double	r2y,
		double	s1x,
		double	s1y,
		double	s2x,
		double	s2y,
		double &	ix,
		double &	iy,
		double &	distance
	)

Do a finite length ray intersects a line segment?

Parameters:

r1x	rays's start point x-coordinate
r1y	rays's start point y-coordinate
r2x	rays's end point x-coordinate
r2y	rays's end point y-coordinate
s1x	segment's point 1 x-coordinate
s1y	segment's point 1 y-coordinate
s2x	segment's point 2 x-coordinate
s2y	segment's point 2 y-coordinate
ix	intersection point (if any) x-coordinate
iy	intersection point (if any) y-coordinate
distance	Distance from rays's start to intersection point

Returns:: True if ray intersects the segment

Definition at line 223 of file geometry.cpp.

double mtk::roll ( const tf::Transform & tf )

Shortcut to take the roll of a transform/pose

Parameters:

tf/pose

Returns:: Transform/pose's roll

Definition at line 24 of file geometry.cpp.

double mtk::roll ( geometry_msgs::Pose pose )

Definition at line 31 of file geometry.cpp.

double mtk::roll ( geometry_msgs::PoseStamped pose )

Definition at line 38 of file geometry.cpp.

bool mtk::sameFrame	(	const std::string &	frame_a,
		const std::string &	frame_b
	)

Compares frame ids ignoring the leading /, as it is frequently omitted.

Parameters:

frame_a
frame_b

Returns:: true if frame ids match regardless leading /

Definition at line 180 of file geometry.cpp.

bool mtk::sameFrame	(	const geometry_msgs::PoseStamped &	a,
		const geometry_msgs::PoseStamped &	b
	)

Definition at line 175 of file geometry.cpp.

template<typename T >

T mtk::sign ( T x )

Definition at line 58 of file common.hpp.

template<typename T >

T mtk::std_dev ( const std::vector< T > & v )

Definition at line 52 of file common.hpp.

void mtk::tf2pose	(	const tf::Transform &	tf,
		geometry_msgs::Pose &	pose
	)

Definition at line 15 of file common.cpp.

void mtk::tf2pose	(	const tf::StampedTransform &	tf,
		geometry_msgs::PoseStamped &	pose
	)

Definition at line 23 of file common.cpp.

template<typename T >

T mtk::variance ( const std::vector< T > & v )

Definition at line 43 of file common.hpp.

double mtk::wrapAngle ( double a )

Normalize an angle between -π and +π

Parameters:

a	Unnormalized angle

Returns:: Normalized angle

Definition at line 16 of file geometry.cpp.

Variable Documentation

char mtk::___buffer___[256]

Definition at line 45 of file common.cpp.

Functions

Variables

Function Documentation

Variable Documentation