Public Member Functions | Static Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes | Static Private Attributes | List of all members
directSearchWS::PoseHelper Class Reference

#include <pose_helper.hpp>

Public Member Functions

double calcAngularDistanceInRad (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
 
double calculateDistance (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
 
bool checkOrientationsAreApproxEquale (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2, const double orientationRadThreshold)
 
bool checkPosesAreApproxEquale (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2, const double positionThreshold, const double orientationRadThreshold)
 
bool checkPositionsAreApproxEquale (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2, const double positionThreshold)
 
bool checkViewCenterPointsAreApproxEquale (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
 
geometry_msgs::Pose getCurrentCameraPose ()
 
geometry_msgs::Pose getCurrentRobotPose ()
 

Static Public Member Functions

static boost::shared_ptr< PoseHelpergetInstance ()
 
static void resetInstance ()
 

Private Member Functions

double calcDistPositionEucl (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
 
double calcDistPositionWithNBV (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
 
Eigen::Vector3d calculateViewCenterPoint (const geometry_msgs::Pose &pose)
 
Eigen::Quaterniond convertPoseQuatToQuat (const geometry_msgs::Pose &pose)
 
Eigen::Vector3d convertPositionToVec (const geometry_msgs::Pose &pose)
 
geometry_msgs::Pose convertVecToPosition (const Eigen::Vector3d &vec)
 
geometry_msgs::Pose getOriginPose ()
 
 PoseHelper ()
 

Static Private Member Functions

template<typename T >
static T waitForParam (ros::NodeHandle n, std::string param)
 

Private Attributes

ros::ServiceClient getCameraPoseServiceClient
 
ros::ServiceClient getDistanceServiceClient
 
ros::ServiceClient getRobotPoseServiceClient
 

Static Private Attributes

static int distanceFuncParam
 
static boost::shared_ptr< PoseHelperinstancePtr
 
static double viewCenterOrientationRadDistanceThreshold
 
static double viewCenterPositionDistanceThreshold
 
static double viewPointDistance
 

Detailed Description

Definition at line 34 of file pose_helper.hpp.

Constructor & Destructor Documentation

directSearchWS::PoseHelper::PoseHelper ( )
private

Definition at line 69 of file pose_helper.cpp.

Member Function Documentation

double directSearchWS::PoseHelper::calcAngularDistanceInRad ( const geometry_msgs::Pose pose1,
const geometry_msgs::Pose pose2 
)

Definition at line 99 of file pose_helper.cpp.

double directSearchWS::PoseHelper::calcDistPositionEucl ( const geometry_msgs::Pose pose1,
const geometry_msgs::Pose pose2 
)
private

Definition at line 93 of file pose_helper.cpp.

double directSearchWS::PoseHelper::calcDistPositionWithNBV ( const geometry_msgs::Pose pose1,
const geometry_msgs::Pose pose2 
)
private

Definition at line 77 of file pose_helper.cpp.

double directSearchWS::PoseHelper::calculateDistance ( const geometry_msgs::Pose pose1,
const geometry_msgs::Pose pose2 
)

Definition at line 137 of file pose_helper.cpp.

Eigen::Vector3d directSearchWS::PoseHelper::calculateViewCenterPoint ( const geometry_msgs::Pose pose)
private

Definition at line 107 of file pose_helper.cpp.

bool directSearchWS::PoseHelper::checkOrientationsAreApproxEquale ( const geometry_msgs::Pose pose1,
const geometry_msgs::Pose pose2,
const double  orientationRadThreshold 
)

Definition at line 164 of file pose_helper.cpp.

bool directSearchWS::PoseHelper::checkPosesAreApproxEquale ( const geometry_msgs::Pose pose1,
const geometry_msgs::Pose pose2,
const double  positionThreshold,
const double  orientationRadThreshold 
)

Definition at line 153 of file pose_helper.cpp.

bool directSearchWS::PoseHelper::checkPositionsAreApproxEquale ( const geometry_msgs::Pose pose1,
const geometry_msgs::Pose pose2,
const double  positionThreshold 
)

Definition at line 159 of file pose_helper.cpp.

bool directSearchWS::PoseHelper::checkViewCenterPointsAreApproxEquale ( const geometry_msgs::Pose pose1,
const geometry_msgs::Pose pose2 
)

Definition at line 145 of file pose_helper.cpp.

Eigen::Quaterniond directSearchWS::PoseHelper::convertPoseQuatToQuat ( const geometry_msgs::Pose pose)
inlineprivate

Definition at line 69 of file pose_helper.hpp.

Eigen::Vector3d directSearchWS::PoseHelper::convertPositionToVec ( const geometry_msgs::Pose pose)
inlineprivate

Definition at line 57 of file pose_helper.hpp.

geometry_msgs::Pose directSearchWS::PoseHelper::convertVecToPosition ( const Eigen::Vector3d &  vec)
inlineprivate

Definition at line 61 of file pose_helper.hpp.

geometry_msgs::Pose directSearchWS::PoseHelper::getCurrentCameraPose ( )

Definition at line 126 of file pose_helper.cpp.

geometry_msgs::Pose directSearchWS::PoseHelper::getCurrentRobotPose ( )

Definition at line 115 of file pose_helper.cpp.

PoseHelperPtr directSearchWS::PoseHelper::getInstance ( )
static

Definition at line 28 of file pose_helper.cpp.

geometry_msgs::Pose directSearchWS::PoseHelper::getOriginPose ( )
inlineprivate

Definition at line 73 of file pose_helper.hpp.

void directSearchWS::PoseHelper::resetInstance ( )
static

Definition at line 36 of file pose_helper.cpp.

template<typename T >
T directSearchWS::PoseHelper::waitForParam ( ros::NodeHandle  n,
std::string  param 
)
staticprivate

Definition at line 57 of file pose_helper.cpp.

Member Data Documentation

int directSearchWS::PoseHelper::distanceFuncParam
staticprivate

Definition at line 39 of file pose_helper.hpp.

ros::ServiceClient directSearchWS::PoseHelper::getCameraPoseServiceClient
private

Definition at line 45 of file pose_helper.hpp.

ros::ServiceClient directSearchWS::PoseHelper::getDistanceServiceClient
private

Definition at line 43 of file pose_helper.hpp.

ros::ServiceClient directSearchWS::PoseHelper::getRobotPoseServiceClient
private

Definition at line 44 of file pose_helper.hpp.

PoseHelperPtr directSearchWS::PoseHelper::instancePtr
staticprivate

Definition at line 37 of file pose_helper.hpp.

double directSearchWS::PoseHelper::viewCenterOrientationRadDistanceThreshold
staticprivate

Definition at line 41 of file pose_helper.hpp.

double directSearchWS::PoseHelper::viewCenterPositionDistanceThreshold
staticprivate

Definition at line 40 of file pose_helper.hpp.

double directSearchWS::PoseHelper::viewPointDistance
staticprivate

Definition at line 38 of file pose_helper.hpp.


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


asr_direct_search_manager
Author(s): Borella Jocelyn, Karrenbauer Oliver, Mei├čner Pascal
autogenerated on Wed Jan 8 2020 03:15:41