nav_2d_utils Namespace Reference

A set of utility functions for Bounds objects interacting with other messages/types. More...

Classes
class	OdomSubscriber
class	PluginMux
	An organizer for switching between multiple different plugins of the same type. More...
class	PolygonParseException
	Exception to throw when Polygon doesn't load correctly. More...

Typedefs
using	PoseList = std::vector< geometry_msgs::Pose2D >

Functions
void	addPose (nav_2d_msgs::Path2D &path, double x, double y, double theta=0.0)
	Convenience function to add a pose to a path in one line. More...
nav_2d_msgs::Path2D	adjustPlanResolution (const nav_2d_msgs::Path2D &global_plan_in, double resolution)
	Increase plan resolution to match that of the costmap by adding points linearly between points. More...
void	calculateMinAndMaxDistances (const nav_2d_msgs::Polygon2D &polygon, double &min_dist, double &max_dist)
	Calculate the minimum and maximum distance from (0, 0) to any point on the polygon. More...
nav_2d_msgs::Path2D	compressPlan (const nav_2d_msgs::Path2D &input_path, double epsilon=0.1)
	Decrease the length of the plan by eliminating colinear points. More...
PoseList	compressPlan (const PoseList &input, unsigned int start_index, unsigned int end_index, double epsilon)
	Helper function for other version of compressPlan. More...
double	distanceToLine (double pX, double pY, double x0, double y0, double x1, double y1)
	Distance from point (pX, pY) to closest point on line from (x0, y0) to (x1, y1) More...
std::vector< nav_core2::UIntBounds >	divideBounds (const nav_core2::UIntBounds &original_bounds, unsigned int n_cols, unsigned int n_rows)
	divide the given bounds up into sub-bounds of roughly equal size More...
bool	equals (const nav_2d_msgs::Polygon2D &polygon0, const nav_2d_msgs::Polygon2D &polygon1)
	check if two polygons are equal. Used in testing More...
nav_2d_msgs::Polygon2D	footprintFromParams (ros::NodeHandle &nh, bool write=true)
	Load the robot footprint either as a polygon from the footprint parameter or from robot_radius. More...
nav_grid::NavGridInfo	fromMsg (const nav_2d_msgs::NavGridInfo &msg)
nav_core2::UIntBounds	fromMsg (const nav_2d_msgs::UIntBounds &msg)
nav_core2::Bounds	getFullBounds (const nav_grid::NavGridInfo &info)
	return a floating point bounds that covers the entire NavGrid More...
nav_core2::UIntBounds	getFullUIntBounds (const nav_grid::NavGridInfo &info)
	return an integral bounds that covers the entire NavGrid More...
double	getNumberFromXMLRPC (XmlRpc::XmlRpcValue &value)
	Helper function. Convert value to double. More...
std::vector< double >	getNumberVectorFromXMLRPC (XmlRpc::XmlRpcValue &value)
	Helper function. Convert value to double array. More...
geometry_msgs::Pose2D	getOrigin2D (const nav_grid::NavGridInfo &info)
geometry_msgs::Pose	getOrigin3D (const nav_grid::NavGridInfo &info)
double	getPlanLength (const nav_2d_msgs::Path2D &plan, const unsigned int start_index=0)
	Calculate the length of the plan, starting from the given index. More...
double	getPlanLength (const nav_2d_msgs::Path2D &plan, const geometry_msgs::Pose2D &query_pose)
	Calculate the length of the plan from the pose on the plan closest to the given pose. More...
nav_grid::NavGridInfo	infoToInfo (const nav_msgs::MapMetaData &metadata, const std::string &frame)
nav_msgs::MapMetaData	infoToInfo (const nav_grid::NavGridInfo &info)
bool	isInside (const nav_2d_msgs::Polygon2D &polygon, const double x, const double y)
	Check if a given point is inside of a polygon. More...
template<class param_t >
param_t	loadParameterWithDeprecation (const ros::NodeHandle &nh, const std::string current_name, const std::string old_name, const param_t &default_value)
	Load a parameter from one of two namespaces. Complain if it uses the old name. More...
template<class param_t >
void	moveDeprecatedParameter (const ros::NodeHandle &nh, const std::string current_name, const std::string old_name)
	If a deprecated parameter exists, complain and move to its new location. More...
template<class param_t >
void	moveParameter (const ros::NodeHandle &nh, std::string old_name, std::string current_name, param_t default_value, bool should_delete=true)
	Move a parameter from one place to another. More...
nav_2d_msgs::Polygon2D	movePolygonToPose (const nav_2d_msgs::Polygon2D &polygon, const geometry_msgs::Pose2D &pose)
	Translate and rotate a polygon to a new pose. More...
std::vector< std::vector< double > >	parseVVD (const std::string &input)
	Parse a vector of vectors of doubles from a string. Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...]. More...
nav_2d_msgs::Path2D	pathToPath (const nav_msgs::Path &path)
nav_msgs::Path	pathToPath (const nav_2d_msgs::Path2D &path2d)
nav_2d_msgs::Point2D	pointToPoint2D (const geometry_msgs::Point &point)
nav_2d_msgs::Point2D	pointToPoint2D (const geometry_msgs::Point32 &point)
geometry_msgs::Point32	pointToPoint32 (const nav_2d_msgs::Point2D &point)
geometry_msgs::Point	pointToPoint3D (const nav_2d_msgs::Point2D &point)
geometry_msgs::Polygon	polygon2Dto3D (const nav_2d_msgs::Polygon2D &polygon_2d)
geometry_msgs::PolygonStamped	polygon2Dto3D (const nav_2d_msgs::Polygon2DStamped &polygon_2d)
nav_2d_msgs::Polygon2D	polygon3Dto2D (const geometry_msgs::Polygon &polygon_3d)
nav_2d_msgs::Polygon2DStamped	polygon3Dto2D (const geometry_msgs::PolygonStamped &polygon_3d)
nav_2d_msgs::Polygon2D	polygonFromParallelArrays (const std::vector< double > &xs, const std::vector< double > &ys)
	Create a polygon from two parallel arrays. More...
nav_2d_msgs::Polygon2D	polygonFromParams (const ros::NodeHandle &nh, const std::string parameter_name, bool search=true)
	Load a polygon from a parameter, whether it is a string or array, or two arrays. More...
nav_2d_msgs::Polygon2D	polygonFromRadius (const double radius, const unsigned int num_points=16)
	Create a "circular" polygon from a given radius. More...
nav_2d_msgs::Polygon2D	polygonFromString (const std::string &polygon_string)
	Make a polygon from the given string. Format should be bracketed array of arrays of doubles, like so: [[1.0, 2.2], [3.3, 4.2], ...]. More...
nav_2d_msgs::Polygon2D	polygonFromXMLRPC (XmlRpc::XmlRpcValue &polygon_xmlrpc)
	Create a polygon from the given XmlRpcValue. More...
void	polygonToParallelArrays (const nav_2d_msgs::Polygon2D polygon, std::vector< double > &xs, std::vector< double > &ys)
	Create two parallel arrays from a polygon. More...
void	polygonToParams (const nav_2d_msgs::Polygon2D &polygon, const ros::NodeHandle &nh, const std::string parameter_name, bool array_of_arrays=true)
	Save a polygon to a parameter. More...
XmlRpc::XmlRpcValue	polygonToXMLRPC (const nav_2d_msgs::Polygon2D &polygon, bool array_of_arrays=true)
	Create XMLRPC Value for writing the polygon to the parameter server. More...
geometry_msgs::Pose	pose2DToPose (const geometry_msgs::Pose2D &pose2d)
geometry_msgs::PoseStamped	pose2DToPoseStamped (const nav_2d_msgs::Pose2DStamped &pose2d)
geometry_msgs::PoseStamped	pose2DToPoseStamped (const geometry_msgs::Pose2D &pose2d, const std::string &frame, const ros::Time &stamp)
double	poseDistance (const geometry_msgs::Pose2D &pose0, const geometry_msgs::Pose2D &pose1)
	Calculate the linear distance between two poses. More...
nav_msgs::Path	poses2DToPath (const std::vector< geometry_msgs::Pose2D > &poses, const std::string &frame, const ros::Time &stamp)
nav_2d_msgs::Pose2DStamped	poseStampedToPose2D (const geometry_msgs::PoseStamped &pose)
nav_msgs::Path	posesToPath (const std::vector< geometry_msgs::PoseStamped > &poses)
nav_2d_msgs::Path2D	posesToPath2D (const std::vector< geometry_msgs::PoseStamped > &poses)
template<class param_t >
param_t	searchAndGetParam (const ros::NodeHandle &nh, const std::string &param_name, const param_t &default_value)
	Search for a parameter and load it, or use the default value. More...
nav_2d_msgs::Pose2DStamped	stampedPoseToPose2D (const tf::Stamped< tf::Pose > &pose)
nav_2d_msgs::NavGridInfo	toMsg (const nav_grid::NavGridInfo &info)
nav_2d_msgs::UIntBounds	toMsg (const nav_core2::UIntBounds &bounds)
bool	transformPose (const TFListenerPtr tf, const std::string frame, const geometry_msgs::PoseStamped &in_pose, geometry_msgs::PoseStamped &out_pose, const bool extrapolation_fallback=true)
	Transform a PoseStamped from one frame to another while catching exceptions. More...
bool	transformPose (const TFListenerPtr tf, const std::string frame, const nav_2d_msgs::Pose2DStamped &in_pose, nav_2d_msgs::Pose2DStamped &out_pose, const bool extrapolation_fallback=true)
	Transform a Pose2DStamped from one frame to another while catching exceptions. More...
geometry_msgs::Pose2D	transformStampedPose (const TFListenerPtr tf, const nav_2d_msgs::Pose2DStamped &pose, const std::string &frame_id)
nav_core2::UIntBounds	translateBounds (const nav_grid::NavGridInfo &info, const nav_core2::Bounds &bounds)
	Translate real-valued bounds to uint coordinates based on nav_grid info. More...
nav_core2::Bounds	translateBounds (const nav_grid::NavGridInfo &info, const nav_core2::UIntBounds &bounds)
	Translate uint bounds to real-valued coordinates based on nav_grid info. More...
std::vector< nav_2d_msgs::Point2D >	triangulate (const nav_2d_msgs::ComplexPolygon2D &polygon)
	Decompose a complex polygon into a set of triangles. More...
std::vector< nav_2d_msgs::Point2D >	triangulate (const nav_2d_msgs::Polygon2D &polygon)
	Decompose a simple polygon into a set of triangles. More...
geometry_msgs::Twist	twist2Dto3D (const nav_2d_msgs::Twist2D &cmd_vel_2d)
nav_2d_msgs::Twist2D	twist3Dto2D (const geometry_msgs::Twist &cmd_vel)
XmlRpc::XmlRpcValue	vectorToXMLRPC (const std::vector< double > &array)
	Helper method to convert a vector of doubles. More...

Detailed Description

A set of utility functions for Bounds objects interacting with other messages/types.

Typedef Documentation

using nav_2d_utils::PoseList = typedef std::vector<geometry_msgs::Pose2D>

Definition at line 121 of file path_ops.cpp.

Function Documentation

void nav_2d_utils::addPose	(	nav_2d_msgs::Path2D &	path,
		double	x,
		double	y,
		double	theta = 0.0
	)

Convenience function to add a pose to a path in one line.

Parameters

path	Path to add to
x	x-coordinate
y	y-coordinate
theta	theta (if needed)

Definition at line 184 of file path_ops.cpp.

nav_2d_msgs::Path2D nav_2d_utils::adjustPlanResolution	(	const nav_2d_msgs::Path2D &	global_plan_in,
		double	resolution
	)

Increase plan resolution to match that of the costmap by adding points linearly between points.

Parameters

global_plan_in	input plan
resolution	desired distance between waypoints

Returns

Higher resolution plan

Definition at line 76 of file path_ops.cpp.

void nav_2d_utils::calculateMinAndMaxDistances	(	const nav_2d_msgs::Polygon2D &	polygon,
		double &	min_dist,
		double &	max_dist
	)

Calculate the minimum and maximum distance from (0, 0) to any point on the polygon.

Parameters

[in]	polygon	polygon to analyze
[out]	min_dist
[out]	max_dist

Definition at line 404 of file polygons.cpp.

nav_2d_msgs::Path2D nav_2d_utils::compressPlan	(	const nav_2d_msgs::Path2D &	input_path,
		double	epsilon = 0.1
	)

Decrease the length of the plan by eliminating colinear points.

Uses the Ramer Douglas Peucker algorithm. Ignores theta values

Parameters

input_path	Path to compress
epsilon	maximum allowable error. Increase for greater compression.

Returns

Path2D with possibly fewer poses

Definition at line 176 of file path_ops.cpp.

PoseList nav_2d_utils::compressPlan	(	const PoseList &	input,
		unsigned int	start_index,
		unsigned int	end_index,
		double	epsilon
	)

Helper function for other version of compressPlan.

Uses the Ramer Douglas Peucker algorithm. Ignores theta values

Parameters

input	Full list of poses
start_index	Index of first pose (inclusive)
end_index	Index of last pose (inclusive)
epsilon	maximum allowable error. Increase for greater compression.
list	of poses possibly compressed for the poses[start_index, end_index]

Definition at line 134 of file path_ops.cpp.

double nav_2d_utils::distanceToLine ( double  pX, double  pY, double  x0, double  y0, double  x1, double  y1  )

inline

Distance from point (pX, pY) to closest point on line from (x0, y0) to (x1, y1)

Parameters

pX
pY
x0
y0
x1
y1

Returns

shortest distance from point to line

Definition at line 52 of file geometry_help.h.

std::vector< nav_core2::UIntBounds > nav_2d_utils::divideBounds	(	const nav_core2::UIntBounds &	original_bounds,
		unsigned int	n_cols,
		unsigned int	n_rows
	)

divide the given bounds up into sub-bounds of roughly equal size

Parameters

original_bounds	The original bounds to divide
n_cols	Positive number of columns to divide the bounds into
n_rows	Positive number of rows to divide the bounds into

Returns

vector of a maximum of n_cols*n_rows nonempty bounds

Exceptions

std::invalid_argument

when n_cols or n_rows is zero

Definition at line 71 of file bounds.cpp.

bool nav_2d_utils::equals	(	const nav_2d_msgs::Polygon2D &	polygon0,
		const nav_2d_msgs::Polygon2D &	polygon1
	)

check if two polygons are equal. Used in testing

Definition at line 350 of file polygons.cpp.

nav_2d_msgs::Polygon2D nav_2d_utils::footprintFromParams	(	ros::NodeHandle &	nh,
		bool	write = true
	)

Load the robot footprint either as a polygon from the footprint parameter or from robot_radius.

Analagous to costmap_2d::makeFootprintFromParams in that it will return an empty polygon if neither parameter is present.

Definition at line 41 of file footprint.cpp.

nav_grid::NavGridInfo nav_2d_utils::fromMsg

(

const nav_2d_msgs::NavGridInfo &

msg

)

Definition at line 268 of file conversions.cpp.

nav_core2::UIntBounds nav_2d_utils::fromMsg

(

const nav_2d_msgs::UIntBounds &

msg

)

Definition at line 334 of file conversions.cpp.

nav_core2::Bounds nav_2d_utils::getFullBounds

(

const nav_grid::NavGridInfo &

info

)

return a floating point bounds that covers the entire NavGrid

Parameters

info	Info for the NavGrid

Returns

bounds covering the entire NavGrid

Definition at line 43 of file bounds.cpp.

nav_core2::UIntBounds nav_2d_utils::getFullUIntBounds

(

const nav_grid::NavGridInfo &

info

)

return an integral bounds that covers the entire NavGrid

Parameters

info	Info for the NavGrid

Returns

bounds covering the entire NavGrid

Definition at line 49 of file bounds.cpp.

double nav_2d_utils::getNumberFromXMLRPC

(

XmlRpc::XmlRpcValue &

value

)

Helper function. Convert value to double.

Definition at line 161 of file polygons.cpp.

std::vector<double> nav_2d_utils::getNumberVectorFromXMLRPC

(

XmlRpc::XmlRpcValue &

value

)

Helper function. Convert value to double array.

Definition at line 180 of file polygons.cpp.

geometry_msgs::Pose2D nav_2d_utils::getOrigin2D

(

const nav_grid::NavGridInfo &

info

)

Definition at line 306 of file conversions.cpp.

geometry_msgs::Pose nav_2d_utils::getOrigin3D

(

const nav_grid::NavGridInfo &

info

)

Definition at line 297 of file conversions.cpp.

double nav_2d_utils::getPlanLength	(	const nav_2d_msgs::Path2D &	plan,
		const unsigned int	start_index = 0
	)

Calculate the length of the plan, starting from the given index.

Definition at line 48 of file path_ops.cpp.

double nav_2d_utils::getPlanLength	(	const nav_2d_msgs::Path2D &	plan,
		const geometry_msgs::Pose2D &	query_pose
	)

Calculate the length of the plan from the pose on the plan closest to the given pose.

Definition at line 58 of file path_ops.cpp.

nav_grid::NavGridInfo nav_2d_utils::infoToInfo	(	const nav_msgs::MapMetaData &	metadata,
		const std::string &	frame
	)

Definition at line 280 of file conversions.cpp.

nav_msgs::MapMetaData nav_2d_utils::infoToInfo

(

const nav_grid::NavGridInfo &

info

)

Definition at line 314 of file conversions.cpp.

bool nav_2d_utils::isInside	(	const nav_2d_msgs::Polygon2D &	polygon,
		const double	x,
		const double	y
	)

Check if a given point is inside of a polygon.

Borders are considered outside.

Parameters

polygon	Polygon to check
x	x coordinate
y	y coordinate

Returns

true if point is inside polygon

Definition at line 382 of file polygons.cpp.

template<class param_t >

param_t nav_2d_utils::loadParameterWithDeprecation	(	const ros::NodeHandle &	nh,
		const std::string	current_name,
		const std::string	old_name,
		const param_t &	default_value
	)

Load a parameter from one of two namespaces. Complain if it uses the old name.

Parameters

nh	NodeHandle to look for the parameter in
current_name	Parameter name that is current, i.e. not deprecated
old_name	Deprecated parameter name
default_value	If neither parameter is present, return this value

Returns

The value of the parameter or the default value

Definition at line 77 of file parameters.h.

template<class param_t >

void nav_2d_utils::moveDeprecatedParameter	(	const ros::NodeHandle &	nh,
		const std::string	current_name,
		const std::string	old_name
	)

If a deprecated parameter exists, complain and move to its new location.

Parameters

nh	NodeHandle to look for the parameter in
current_name	Parameter name that is current, i.e. not deprecated
old_name	Deprecated parameter name

Definition at line 102 of file parameters.h.

template<class param_t >

void nav_2d_utils::moveParameter	(	const ros::NodeHandle &	nh,
		std::string	old_name,
		std::string	current_name,
		param_t	default_value,
		bool	should_delete = true
	)

Move a parameter from one place to another.

For use loading old parameter structures into new places.

If the new name already has a value, don't move the old value there.

Parameters

nh	NodeHandle for loading/saving params
old_name	Parameter name to move/remove
current_name	Destination parameter name
default_value	Value to save in the new name if old parameter is not found.
should_delete	If true, whether to delete the parameter from the old name

Definition at line 126 of file parameters.h.

nav_2d_msgs::Polygon2D nav_2d_utils::movePolygonToPose	(	const nav_2d_msgs::Polygon2D &	polygon,
		const geometry_msgs::Pose2D &	pose
	)

Translate and rotate a polygon to a new pose.

Parameters

polygon	The polygon
pose	The x, y and theta to use when moving the polygon

Returns

A new moved polygon

Definition at line 366 of file polygons.cpp.

std::vector< std::vector< double > > nav_2d_utils::parseVVD

(

const std::string &

input

)

Parse a vector of vectors of doubles from a string. Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...].

Parameters

input

The string to parse

Returns

a vector of vectors of doubles

Definition at line 49 of file polygons.cpp.

nav_2d_msgs::Path2D nav_2d_utils::pathToPath

(

const nav_msgs::Path &

path

)

Definition at line 142 of file conversions.cpp.

nav_msgs::Path nav_2d_utils::pathToPath

(

const nav_2d_msgs::Path2D &

path2d

)

Definition at line 205 of file conversions.cpp.

nav_2d_msgs::Point2D nav_2d_utils::pointToPoint2D

(

const geometry_msgs::Point &

point

)

Definition at line 60 of file conversions.cpp.

nav_2d_msgs::Point2D nav_2d_utils::pointToPoint2D

(

const geometry_msgs::Point32 &

point

)

Definition at line 68 of file conversions.cpp.

geometry_msgs::Point32 nav_2d_utils::pointToPoint32

(

const nav_2d_msgs::Point2D &

point

)

Definition at line 84 of file conversions.cpp.

geometry_msgs::Point nav_2d_utils::pointToPoint3D

(

const nav_2d_msgs::Point2D &

point

)

Definition at line 76 of file conversions.cpp.

geometry_msgs::Polygon nav_2d_utils::polygon2Dto3D

(

const nav_2d_msgs::Polygon2D &

polygon_2d

)

Definition at line 218 of file conversions.cpp.

geometry_msgs::PolygonStamped nav_2d_utils::polygon2Dto3D

(

const nav_2d_msgs::Polygon2DStamped &

polygon_2d

)

Definition at line 240 of file conversions.cpp.

nav_2d_msgs::Polygon2D nav_2d_utils::polygon3Dto2D

(

const geometry_msgs::Polygon &

polygon_3d

)

Definition at line 229 of file conversions.cpp.

nav_2d_msgs::Polygon2DStamped nav_2d_utils::polygon3Dto2D

(

const geometry_msgs::PolygonStamped &

polygon_3d

)

Definition at line 248 of file conversions.cpp.

nav_2d_msgs::Polygon2D nav_2d_utils::polygonFromParallelArrays	(	const std::vector< double > &	xs,
		const std::vector< double > &	ys
	)

Create a polygon from two parallel arrays.

Parameters

xs	Array of doubles representing x coordinates, at least three elements long
ys	Array of doubles representing y coordinates, matching length of xs

Definition at line 317 of file polygons.cpp.

Polygon2D nav_2d_utils::polygonFromParams	(	const ros::NodeHandle &	nh,
		const std::string	parameter_name,
		bool	search = true
	)

Load a polygon from a parameter, whether it is a string or array, or two arrays.

Parameters

nh	Node handle to load parameter from
parameter_name	Name of the parameter
search	Whether to search up the namespace for the parameter name

Returns

Loaded polygon

Definition at line 250 of file polygons.cpp.

Polygon2D nav_2d_utils::polygonFromRadius	(	const double	radius,
		const unsigned int	num_points = 16
	)

Create a "circular" polygon from a given radius.

Parameters

radius	Radius of the polygon
num_points	Number of points in the resulting polygon

Returns

A rotationally symmetric polygon with the specified number of vertices

Definition at line 112 of file polygons.cpp.

Polygon2D nav_2d_utils::polygonFromString

(

const std::string &

polygon_string

)

Make a polygon from the given string. Format should be bracketed array of arrays of doubles, like so: [[1.0, 2.2], [3.3, 4.2], ...].

Parameters

polygon_string

The string to parse

Returns

Polygon2D

Definition at line 127 of file polygons.cpp.

Polygon2D nav_2d_utils::polygonFromXMLRPC

(

XmlRpc::XmlRpcValue &

polygon_xmlrpc

)

Create a polygon from the given XmlRpcValue.

Parameters

polygon_xmlrpc

should be an array of arrays, where the top-level array should have 3 or more elements, and the sub-arrays should all have exactly 2 elements (x and y coordinates).

Definition at line 194 of file polygons.cpp.

void nav_2d_utils::polygonToParallelArrays	(	const nav_2d_msgs::Polygon2D	polygon,
		std::vector< double > &	xs,
		std::vector< double > &	ys
	)

Create two parallel arrays from a polygon.

Parameters

[in]	polygon
[out]	xs	Array of doubles representing x coordinates, to be populated
[out]	ys	Array of doubles representing y coordinates, to be populated

Definition at line 339 of file polygons.cpp.

void nav_2d_utils::polygonToParams	(	const nav_2d_msgs::Polygon2D &	polygon,
		const ros::NodeHandle &	nh,
		const std::string	parameter_name,
		bool	array_of_arrays = true
	)

Save a polygon to a parameter.

Parameters

polygon	The Polygon
nh	Node handle to save the parameter to
parameter_name	Name of the parameter
array_of_arrays	If true, write an array of arrays. Otherwise, write two parallel arrays

Definition at line 311 of file polygons.cpp.

XmlRpc::XmlRpcValue nav_2d_utils::polygonToXMLRPC	(	const nav_2d_msgs::Polygon2D &	polygon,
		bool	array_of_arrays = true
	)

Create XMLRPC Value for writing the polygon to the parameter server.

Parameters

polygon	Polygon to convert
array_of_arrays	If true, write an array of arrays. Otherwise, write two parallel arrays

Returns

XmlRpcValue

Definition at line 287 of file polygons.cpp.

geometry_msgs::Pose nav_2d_utils::pose2DToPose

(

const geometry_msgs::Pose2D &

pose2d

)

Definition at line 113 of file conversions.cpp.

geometry_msgs::PoseStamped nav_2d_utils::pose2DToPoseStamped

(

const nav_2d_msgs::Pose2DStamped &

pose2d

)

Definition at line 122 of file conversions.cpp.

geometry_msgs::PoseStamped nav_2d_utils::pose2DToPoseStamped	(	const geometry_msgs::Pose2D &	pose2d,
		const std::string &	frame,
		const ros::Time &	stamp
	)

Definition at line 130 of file conversions.cpp.

double nav_2d_utils::poseDistance	(	const geometry_msgs::Pose2D &	pose0,
		const geometry_msgs::Pose2D &	pose1
	)

Calculate the linear distance between two poses.

Definition at line 43 of file path_ops.cpp.

nav_msgs::Path nav_2d_utils::poses2DToPath	(	const std::vector< geometry_msgs::Pose2D > &	poses,
		const std::string &	frame,
		const ros::Time &	stamp
	)

Definition at line 191 of file conversions.cpp.

nav_2d_msgs::Pose2DStamped nav_2d_utils::poseStampedToPose2D

(

const geometry_msgs::PoseStamped &

pose

)

Definition at line 103 of file conversions.cpp.

nav_msgs::Path nav_2d_utils::posesToPath

(

const std::vector< geometry_msgs::PoseStamped > &

poses

)

Definition at line 156 of file conversions.cpp.

nav_2d_msgs::Path2D nav_2d_utils::posesToPath2D

(

const std::vector< geometry_msgs::PoseStamped > &

poses

)

Definition at line 172 of file conversions.cpp.

template<class param_t >

param_t nav_2d_utils::searchAndGetParam	(	const ros::NodeHandle &	nh,
		const std::string &	param_name,
		const param_t &	default_value
	)

Search for a parameter and load it, or use the default value.

This templated function shortens a commonly used ROS pattern in which you search for a parameter and get its value if it exists, otherwise returning a default value.

Parameters

nh	NodeHandle to start the parameter search from
param_name	Name of the parameter to search for
default_value	Value to return if not found

Returns

Value of parameter if found, otherwise the default_value

Definition at line 56 of file parameters.h.

nav_2d_msgs::Pose2DStamped nav_2d_utils::stampedPoseToPose2D

(

const tf::Stamped< tf::Pose > &

pose

)

Definition at line 92 of file conversions.cpp.

nav_2d_msgs::NavGridInfo nav_2d_utils::toMsg

(

const nav_grid::NavGridInfo &

info

)

Definition at line 256 of file conversions.cpp.

nav_2d_msgs::UIntBounds nav_2d_utils::toMsg

(

const nav_core2::UIntBounds &

bounds

)

Definition at line 324 of file conversions.cpp.

bool nav_2d_utils::transformPose	(	const TFListenerPtr	tf,
		const std::string	frame,
		const geometry_msgs::PoseStamped &	in_pose,
		geometry_msgs::PoseStamped &	out_pose,
		const bool	extrapolation_fallback = true
	)

Transform a PoseStamped from one frame to another while catching exceptions.

Also returns immediately if the frames are equal.

Parameters

tf	Smart pointer to TFListener
frame	Frame to transform the pose into
in_pose	Pose to transform
out_pose	Place to store the resulting transformed pose
extrapolation_fallback	If true, if there is an ExtrapolationException, allow looking up the latest timestamp instead.

Returns

True if successful transform

Definition at line 57 of file tf_help.h.

bool nav_2d_utils::transformPose	(	const TFListenerPtr	tf,
		const std::string	frame,
		const nav_2d_msgs::Pose2DStamped &	in_pose,
		nav_2d_msgs::Pose2DStamped &	out_pose,
		const bool	extrapolation_fallback = true
	)

Transform a Pose2DStamped from one frame to another while catching exceptions.

Also returns immediately if the frames are equal.

Parameters

tf	Smart pointer to TFListener
frame	Frame to transform the pose into
in_pose	Pose to transform
out_pose	Place to store the resulting transformed pose
extrapolation_fallback	If true, if there is an ExtrapolationException, allow looking up the latest timestamp instead.

Returns

True if successful transform

Definition at line 101 of file tf_help.h.

geometry_msgs::Pose2D nav_2d_utils::transformStampedPose	(	const TFListenerPtr	tf,
		const nav_2d_msgs::Pose2DStamped &	pose,
		const std::string &	frame_id
	)

Definition at line 116 of file tf_help.h.

nav_core2::UIntBounds nav_2d_utils::translateBounds	(	const nav_grid::NavGridInfo &	info,
		const nav_core2::Bounds &	bounds
	)

Translate real-valued bounds to uint coordinates based on nav_grid info.

Parameters

info	Information used when converting the coordinates
bounds	floating point bounds object

Returns

corresponding UIntBounds for parameter

Definition at line 55 of file bounds.cpp.

nav_core2::Bounds nav_2d_utils::translateBounds	(	const nav_grid::NavGridInfo &	info,
		const nav_core2::UIntBounds &	bounds
	)

Translate uint bounds to real-valued coordinates based on nav_grid info.

Parameters

info	Information used when converting the coordinates
bounds	UIntBounds object

Returns

corresponding floating point bounds for parameter

Definition at line 63 of file bounds.cpp.

std::vector< nav_2d_msgs::Point2D > nav_2d_utils::triangulate

(

const nav_2d_msgs::ComplexPolygon2D &

polygon

)

Decompose a complex polygon into a set of triangles.

See https://en.wikipedia.org/wiki/Polygon_triangulation

Implementation from https://github.com/mapbox/earcut.hpp

Parameters

polygon

The complex polygon to deconstruct

Returns

A vector of points where each set of three points represents a triangle

Definition at line 462 of file polygons.cpp.

std::vector< nav_2d_msgs::Point2D > nav_2d_utils::triangulate

(

const nav_2d_msgs::Polygon2D &

polygon

)

Decompose a simple polygon into a set of triangles.

See https://en.wikipedia.org/wiki/Polygon_triangulation

Implementation from https://github.com/mapbox/earcut.hpp

Parameters

polygon

The polygon to deconstruct

Returns

A vector of points where each set of three points represents a triangle

Definition at line 494 of file polygons.cpp.

geometry_msgs::Twist nav_2d_utils::twist2Dto3D

(

const nav_2d_msgs::Twist2D &

cmd_vel_2d

)

Definition at line 41 of file conversions.cpp.

nav_2d_msgs::Twist2D nav_2d_utils::twist3Dto2D

(

const geometry_msgs::Twist &

cmd_vel

)

Definition at line 51 of file conversions.cpp.

XmlRpc::XmlRpcValue nav_2d_utils::vectorToXMLRPC

(

const std::vector< double > &

array

)

Helper method to convert a vector of doubles.

Definition at line 276 of file polygons.cpp.