Namespaces | Classes | Functions
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 marker_msgs::MarkerDetection &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBearingRange &_obj)
bool convert (const CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg)
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 mrpt::utils::VerbosityLevel level, const std::string &loggerName, const mrpt::system::TTimeStamp timestamp, void *userParam)
 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.
mrpt::utils::VerbosityLevel rosLoggerLvlToMRPTLoggerLvl (log4cxx::LevelPtr lvl)
 function that converts ROS verbosity level log4cxx::Level to MRPT equivalent mrpt::utils::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::CMatrixDouble33convert (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::CQuaternionDoubleconvert (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::Matrix3x3convert (const mrpt::math::CMatrixDouble33 &_src, tf::Matrix3x3 &_des)
tf::Transformconvert (const mrpt::poses::CPose3D &_src, tf::Transform &_des)
tf::Transformconvert (const mrpt::math::TPose3D &_src, tf::Transform &_des)
tf::Transformconvert (const mrpt::poses::CPose2D &_src, tf::Transform &_des)
tf::Transformconvert (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::Transformconvert (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:
srcros time
desmrpt 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:
srcros time
desmrpt 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_graphMRPT graph representation
[out]ros_graphROS graph representation
[in]mrpt_graphROS graph representation
[out]ros_graphMRPT 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 26 of file network_of_poses.cpp.

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

Definition at line 92 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 102 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 177 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 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 CObservation2DRangeScan &  _obj,
sensor_msgs::LaserScan &  _msg 
)

Definition at line 58 of file laser_scan.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.

Convert: [MRPT] Matrix [ROS] Matrix

Definition at line 46 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 101 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 330 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 336 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 341 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 188 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 126 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 238 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 145 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 248 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 60 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 90 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 54 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 190 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 224 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 80 of file map.cpp.

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

Convert: [MRPT] CQuaternionDouble [ROS] Quaternion

Definition at line 307 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 113 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 114 of file map.cpp.

Convert: [ROS] Matrix [MRPT] Matrix

Definition at line 38 of file pose.cpp.

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

Convert: [ROS] Pose [MRPT] CPose2D

Definition at line 173 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 122 of file map.cpp.

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

Convert: [ROS] Pose [MRPT] CPose3D

Definition at line 318 of file pose.cpp.

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

Convert: [ROS] PoseWithCovariance [MRPT] CPose3DPDFGaussian

Definition at line 235 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 254 of file pose.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 266 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 285 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 297 of file pose.cpp.

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

Definition at line 306 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 mrpt::utils::VerbosityLevel  level,
const std::string &  loggerName,
const mrpt::system::TTimeStamp  timestamp,
void *  userParam 
) [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 63 of file utils.h.

mrpt::utils::VerbosityLevel mrpt_bridge::rosLoggerLvlToMRPTLoggerLvl ( log4cxx::LevelPtr  lvl) [inline]

function that converts ROS verbosity level log4cxx::Level to MRPT equivalent mrpt::utils::VerbosityLevel

Definition at line 22 of file utils.h.



mrpt_bridge
Author(s): Markus Bader , Raphael Zack
autogenerated on Mon Sep 18 2017 03:12:06