Frame transformation utilities. More...
#include <array>#include <Eigen/Eigen>#include <Eigen/Geometry>#include <ros/assert.h>#include <sensor_msgs/Imu.h>#include <geometry_msgs/Point.h>#include <geometry_msgs/Vector3.h>#include <geometry_msgs/Quaternion.h>#include <geometry_msgs/PoseWithCovariance.h>
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Namespaces | |
| mavros | |
| mavros::ftf | |
| mavros::ftf::detail | |
Typedefs | |
| using | mavros::ftf::Covariance3d = sensor_msgs::Imu::_angular_velocity_covariance_type |
| Type matching rosmsg for 3x3 covariance matrix. More... | |
| using | mavros::ftf::Covariance6d = geometry_msgs::PoseWithCovariance::_covariance_type |
| Type matching rosmsg for 6x6 covariance matrix. More... | |
| using | mavros::ftf::Covariance9d = boost::array< double, 81 > |
| Type matching rosmsg for 9x9 covariance matrix. More... | |
| using | mavros::ftf::EigenMapConstCovariance3d = Eigen::Map< const Eigen::Matrix< double, 3, 3, Eigen::RowMajor > > |
| using | mavros::ftf::EigenMapConstCovariance6d = Eigen::Map< const Eigen::Matrix< double, 6, 6, Eigen::RowMajor > > |
| using | mavros::ftf::EigenMapConstCovariance9d = Eigen::Map< const Eigen::Matrix< double, 9, 9, Eigen::RowMajor > > |
| using | mavros::ftf::EigenMapCovariance3d = Eigen::Map< Eigen::Matrix< double, 3, 3, Eigen::RowMajor > > |
| Eigen::Map for Covariance3d. More... | |
| using | mavros::ftf::EigenMapCovariance6d = Eigen::Map< Eigen::Matrix< double, 6, 6, Eigen::RowMajor > > |
| Eigen::Map for Covariance6d. More... | |
| using | mavros::ftf::EigenMapCovariance9d = Eigen::Map< Eigen::Matrix< double, 9, 9, Eigen::RowMajor > > |
| Eigen::Map for Covariance9d. More... | |
Enumerations | |
| enum | mavros::ftf::StaticEcefTF { mavros::ftf::StaticEcefTF::ECEF_TO_ENU, mavros::ftf::StaticEcefTF::ENU_TO_ECEF } |
| Orientation transform options when applying rotations to data, for ECEF. More... | |
| enum | mavros::ftf::StaticTF { mavros::ftf::StaticTF::NED_TO_ENU, mavros::ftf::StaticTF::ENU_TO_NED, mavros::ftf::StaticTF::AIRCRAFT_TO_BASELINK, mavros::ftf::StaticTF::BASELINK_TO_AIRCRAFT, mavros::ftf::StaticTF::ABSOLUTE_FRAME_AIRCRAFT_TO_BASELINK, mavros::ftf::StaticTF::ABSOLUTE_FRAME_BASELINK_TO_AIRCRAFT } |
| Orientation transform options when applying rotations to data. More... | |
Functions | |
| template<class T , std::size_t SIZE> | |
| void | mavros::ftf::covariance_to_mavlink (const T &cov, std::array< float, SIZE > &covmsg) |
| Convert covariance matrix to MAVLink float[n] format. More... | |
| template<class T , std::size_t ARR_SIZE> | |
| void | mavros::ftf::covariance_urt_to_mavlink (const T &covmap, std::array< float, ARR_SIZE > &covmsg) |
| Convert upper right triangular of a covariance matrix to MAVLink float[n] format. More... | |
| Eigen::Quaterniond | mavros::ftf::mavlink_to_quaternion (const std::array< float, 4 > &q) |
| Convert Mavlink float[4] quaternion to Eigen. More... | |
| template<class T , std::size_t ARR_SIZE> | |
| void | mavros::ftf::mavlink_urt_to_covariance_matrix (const std::array< float, ARR_SIZE > &covmsg, T &covmat) |
| Convert MAVLink float[n] format (upper right triangular of a covariance matrix) to Eigen::MatrixXd<n,n> full covariance matrix. More... | |
| Eigen::Quaterniond | mavros::ftf::quaternion_from_rpy (const Eigen::Vector3d &rpy) |
| Convert euler angles to quaternion. More... | |
| Eigen::Quaterniond | mavros::ftf::quaternion_from_rpy (const double roll, const double pitch, const double yaw) |
| Convert euler angles to quaternion. More... | |
| double | mavros::ftf::quaternion_get_yaw (const Eigen::Quaterniond &q) |
| Get Yaw angle from quaternion. More... | |
| template<typename _Scalar , typename std::enable_if< std::is_floating_point< _Scalar >::value, bool >::type = true> | |
| void | mavros::ftf::quaternion_to_mavlink (const Eigen::Quaternion< _Scalar > &q, std::array< float, 4 > &qmsg) |
| Store Quaternion to MAVLink float[4] format. More... | |
| Eigen::Vector3d | mavros::ftf::quaternion_to_rpy (const Eigen::Quaterniond &q) |
| Convert quaternion to euler angles. More... | |
| void | mavros::ftf::quaternion_to_rpy (const Eigen::Quaterniond &q, double &roll, double &pitch, double &yaw) |
| Convert quaternion to euler angles. More... | |
| Eigen::Vector3d | mavros::ftf::to_eigen (const geometry_msgs::Point r) |
| Helper to convert common ROS geometry_msgs::Point to Eigen::Vector3d. More... | |
| Eigen::Vector3d | mavros::ftf::to_eigen (const geometry_msgs::Vector3 r) |
| Helper to convert common ROS geometry_msgs::Vector3 to Eigen::Vector3d. More... | |
| Eigen::Quaterniond | mavros::ftf::to_eigen (const geometry_msgs::Quaternion r) |
| Helper to convert common ROS geometry_msgs::Quaternion to Eigen::Quaterniond. More... | |
| Eigen::Vector3d | mavros::ftf::detail::transform_frame (const Eigen::Vector3d &vec, const Eigen::Quaterniond &q) |
| Transform data expressed in one frame to another frame. More... | |
| Covariance3d | mavros::ftf::detail::transform_frame (const Covariance3d &cov, const Eigen::Quaterniond &q) |
| Transform 3x3 convariance expressed in one frame to another. More... | |
| Covariance6d | mavros::ftf::detail::transform_frame (const Covariance6d &cov, const Eigen::Quaterniond &q) |
| Transform 6x6 convariance expressed in one frame to another. More... | |
| Covariance9d | mavros::ftf::detail::transform_frame (const Covariance9d &cov, const Eigen::Quaterniond &q) |
| Transform 9x9 convariance expressed in one frame to another. More... | |
| template<class T > | |
| T | mavros::ftf::transform_frame_aircraft_baselink (const T &in) |
| Transform data expressed in Aircraft frame to Baselink frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_frame_aircraft_enu (const T &in, const Eigen::Quaterniond &q) |
| Transform data expressed in aircraft frame to ENU frame. Assumes quaternion represents rotation from aircraft frame to ENU frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_frame_aircraft_ned (const T &in, const Eigen::Quaterniond &q) |
| Transform data expressed in aircraft frame to NED frame. Assumes quaternion represents rotation from aircraft frame to NED frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_frame_baselink_aircraft (const T &in) |
| Transform data expressed in Baselink frame to Aircraft frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_frame_baselink_enu (const T &in, const Eigen::Quaterniond &q) |
| Transform data expressed in baselink to ENU frame. Assumes quaternion represents rotation from basel_link to ENU frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_frame_ecef_enu (const T &in, const T &map_origin) |
| Transform data expressed in ECEF frame to ENU frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_frame_enu_aircraft (const T &in, const Eigen::Quaterniond &q) |
| Transform data expressed in ENU to aircraft frame. Assumes quaternion represents rotation from ENU to aircraft frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_frame_enu_baselink (const T &in, const Eigen::Quaterniond &q) |
| Transform data expressed in ENU to base_link frame. Assumes quaternion represents rotation from ENU to base_link frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_frame_enu_ecef (const T &in, const T &map_origin) |
| Transform data expressed in ENU frame to ECEF frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_frame_enu_ned (const T &in) |
| Transform data expressed in ENU to NED frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_frame_ned_aircraft (const T &in, const Eigen::Quaterniond &q) |
| Transform data expressed in NED to aircraft frame. Assumes quaternion represents rotation from NED to aircraft frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_frame_ned_enu (const T &in) |
| Transform data expressed in NED to ENU frame. More... | |
| Eigen::Quaterniond | mavros::ftf::detail::transform_orientation (const Eigen::Quaterniond &q, const StaticTF transform) |
| Transform representation of attitude from 1 frame to another (e.g. transfrom attitude from representing from base_link -> NED to representing base_link -> ENU) More... | |
| template<class T > | |
| T | mavros::ftf::transform_orientation_absolute_frame_aircraft_baselink (const T &in) |
| Transform from attitude represented WRT aircraft frame to attitude represented WRT base_link frame, treating aircraft frame as in an absolute frame of reference (local NED). More... | |
| template<class T > | |
| T | mavros::ftf::transform_orientation_absolute_frame_baselink_aircraft (const T &in) |
| Transform from attitude represented WRT baselink frame to attitude represented WRT body frame, treating baselink frame as in an absolute frame of reference (local NED). More... | |
| template<class T > | |
| T | mavros::ftf::transform_orientation_aircraft_baselink (const T &in) |
| Transform from attitude represented WRT aircraft frame to attitude represented WRT base_link frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_orientation_baselink_aircraft (const T &in) |
| Transform from attitude represented WRT baselink frame to attitude represented WRT body frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_orientation_enu_ned (const T &in) |
| Transform from attitude represented WRT ENU frame to attitude represented WRT NED frame. More... | |
| template<class T > | |
| T | mavros::ftf::transform_orientation_ned_enu (const T &in) |
| Transform from attitude represented WRT NED frame to attitude represented WRT ENU frame. More... | |
| Eigen::Vector3d | mavros::ftf::detail::transform_static_frame (const Eigen::Vector3d &vec, const StaticTF transform) |
| Transform data expressed in one frame to another frame. More... | |
| Covariance3d | mavros::ftf::detail::transform_static_frame (const Covariance3d &cov, const StaticTF transform) |
| Transform 3d convariance expressed in one frame to another. More... | |
| Covariance6d | mavros::ftf::detail::transform_static_frame (const Covariance6d &cov, const StaticTF transform) |
| Transform 6d convariance expressed in one frame to another. More... | |
| Covariance9d | mavros::ftf::detail::transform_static_frame (const Covariance9d &cov, const StaticTF transform) |
| Transform 9d convariance expressed in one frame to another. More... | |
| Eigen::Vector3d | mavros::ftf::detail::transform_static_frame (const Eigen::Vector3d &vec, const Eigen::Vector3d &map_origin, const StaticEcefTF transform) |
| Transform data expressed in one frame to another frame with additional map origin parameter. More... | |
Detailed Description
Frame transformation utilities.
Definition in file frame_tf.h.