omip Namespace Reference

Classes
struct	_FeaturePCLwc
class	BagSubscriber
class	Feature
struct	FeaturePCLwc
class	FeaturesDataBase
class	FeatureTracker
	Interface to be implemented by feature trackers It derives from the RecursiveEstimator interface. More...
class	FeatureTrackerNode
	FeatureTrackerNode class Connects to the ROS communication system to get messages from the sensors and publish results Templated in the state of to be estimated by this RE level (ROS type) The received messages are passed to the FeatureTracker object to be processed. More...
class	PointFeatureTracker
class	RecursiveEstimatorFilterInterface
class	RecursiveEstimatorNodeInterface

Typedefs
typedef pcl::PointCloud< FeaturePCL >	FeatureCloudPCL
typedef pcl::PointCloud< FeaturePCLwc >	FeatureCloudPCLwc
typedef pcl::PointXYZL	FeaturePCL
typedef void	ft_measurement_ros_t
typedef std::pair< cv_bridge::CvImagePtr, cv_bridge::CvImagePtr >	ft_measurement_t
typedef sensor_msgs::PointCloud2	ft_state_ros_t
typedef FeatureCloudPCLwc::Ptr	ft_state_t
typedef long int	Joint_id_t
typedef std::pair< omip_msgs::RigidBodyPoseAndVelMsg, omip_msgs::RigidBodyPoseAndVelMsg >	joint_measurement_t
typedef std::map< std::pair< int, int >, boost::shared_ptr< JointCombinedFilter > >	KinematicModel
typedef omip_msgs::RigidBodyPosesAndVelsMsg	ks_measurement_ros_t
typedef omip_msgs::RigidBodyPosesAndVelsMsg	ks_measurement_t
typedef omip_msgs::KinematicStructureMsg::Ptr	ks_state_ros_t
typedef KinematicModel	ks_state_t
typedef pcl::PointCloud< pcl::PointXYZRGB >	PointCloudPCL
typedef pcl::PointCloud< PointPCL >	PointCloudPCLNoColor
typedef pcl::PointXYZ	PointPCL
typedef long int	RB_id_t
typedef sensor_msgs::PointCloud2	rbt_measurement_ros_t
typedef FeatureCloudPCLwc::Ptr	rbt_measurement_t
typedef omip_msgs::RigidBodyPosesAndVelsMsg	rbt_state_ros_t
typedef omip_msgs::RigidBodyPosesAndVelsMsg	rbt_state_t
typedef pcl::PointCloud< PointPCL >	RigidBodyShape

Enumerations
enum	shape_model_selector_t
enum	static_environment_tracker_t

Functions
void	EigenAffine2TranslationAndEulerAngles (const Eigen::Affine3d &t, double &x, double &y, double &z, double &roll, double &pitch, double &yaw)
void	EigenTwist2GeometryMsgsTwist (Eigen::Twistd &eigen_twist, geometry_msgs::Twist &gm_twist)
void	GeometryMsgsTwist2EigenTwist (const geometry_msgs::Twist &gm_twist, Eigen::Twistd &eigen_twist)
void	invert3x3Matrix (const MatrixWrapper::Matrix &to_inv, MatrixWrapper::Matrix &inverse)
void	invert3x3MatrixEigen (const Eigen::Map< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > &to_inv, Eigen::Map< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > &inverse)
void	invert3x3MatrixEigen2 (const Eigen::Matrix3d &to_inv, Eigen::Matrix3d &inverse)
Eigen::Twistd	invertTwist (Eigen::Twistd &current_twist, Eigen::Twistd &previous_twist, bool &inverted)
bool	isFinite (const Eigen::Matrix4d &transformation)
double	L2Distance (const Feature::Location &first, const Feature::Location &second)
void	Location2PointPCL (const Feature::Location &point_location, pcl::PointXYZ &point_pcl)
void	LocationAndId2FeaturePCL (const Feature::Location &feature_location, const Feature::Id &feature_id, pcl::PointXYZL &feature_pcl)
void	LocationAndId2FeaturePCLwc (const Feature::Location &feature_location, const Feature::Id &feature_id, omip::FeaturePCLwc &feature_pcl)
void	LocationOfFeature2ColumnVector (const Feature::Location &lof, MatrixWrapper::ColumnVector &col_vec)
void	LocationOfFeature2ColumnVectorHomogeneous (const Feature::Location &lof, MatrixWrapper::ColumnVector &col_vec)
void	LocationOfFeature2EigenVectorHomogeneous (const Feature::Location &lof, Eigen::Vector4d &eig_vec)
Feature::Location	operator+ (const Feature::Location &location1, const Feature::Location &location2)
Feature::Location	operator- (const Feature::Location &location1, const Feature::Location &location2)
std::ostream &	operator<< (std::ostream &os, std::vector< Feature::Id > vector_ids)
std::ostream &	operator<< (std::ostream &os, Eigen::Twistd twistd)
std::ostream &	operator<< (std::ostream &os, Feature::Location location)
void	ROSTwist2EigenTwist (const geometry_msgs::Twist &ros_twist, Eigen::Twistd &eigen_twist)
double	sampleNormal (double mean, double std_dev)
void	TransformLocation (const Feature::Location &origin, const Eigen::Matrix4d &transformation, Feature::Location &new_location)
void	TransformLocation (const Feature::Location &origin, const geometry_msgs::Twist &twist, Feature::Location &new_location)
void	TransformLocation (const Feature::Location &origin, const Eigen::Twistd &twist, Feature::Location &new_location, int feat_id=0)
void	TransformMatrix2Twist (const Eigen::Matrix4d &transformation_matrix, Eigen::Twistd &twist)
void	TransformMatrix2TwistUnwrapped (const Eigen::Matrix4d &transformation_matrix, Eigen::Twistd &twist, const Eigen::Twistd &twist_previous)
void	TranslationAndEulerAngles2EigenAffine (const double &x, const double &y, const double &z, const double &roll, const double &pitch, const double &yaw, Eigen::Transform< double, 3, Eigen::Affine > &t)
void	Twist2TransformMatrix (const Eigen::Twistd &transformation_twist, Eigen::Matrix4d &matrix)
Eigen::Twistd	unwrapTwist (Eigen::Twistd &current_twist, Eigen::Displacementd &current_displacement, Eigen::Twistd &previous_twist, bool &changed)

Variables
	BASED_ON_COLOR
	BASED_ON_DEPTH
	BASED_ON_EXT_COLOR
	BASED_ON_EXT_DEPTH
	BASED_ON_EXT_DEPTH_AND_COLOR
	STATIC_ENVIRONMENT_EKF_TRACKER
	STATIC_ENVIRONMENT_ICP_TRACKER