util.cpp File Reference

#include <mesh_map/util.h>
#include <std_msgs/ColorRGBA.h>
#include <tf2/LinearMath/Matrix3x3.h>
#include <tf2/LinearMath/Vector3.h>
#include <tf2/LinearMath/Transform.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>

Include dependency graph for util.cpp:

Go to the source code of this file.

Namespaces
	mesh_map

Functions
bool	mesh_map::barycentricCoords (const Vector &p, const Vector &v0, const Vector &v1, const Vector &v2, float &u, float &v, float &w)
	Computes the barycentric coordinates u, v,q of a query point p onto the triangle v0, v1, v2. More...
geometry_msgs::Pose	mesh_map::calculatePoseFromDirection (const Vector &position, const Vector &direction, const Normal &normal)
geometry_msgs::Pose	mesh_map::calculatePoseFromPosition (const Vector &current, const Vector &next, const Normal &normal)
	Calculates a geometry_msgs/Pose message from two positions and a normal vector. More...
geometry_msgs::Pose	mesh_map::calculatePoseFromPosition (const Vector &current, const Vector &next, const Normal &normal, float &cost)
	Calculates a geometry_msgs/Pose message from two positions and a normal vector. More...
std_msgs::ColorRGBA	mesh_map::color (const float &r, const float &g, const float &b, const float &a=1.0)
	Function to build std_msgs color instances. More...
void	mesh_map::getMinMax (const lvr2::VertexMap< float > &map, float &min, float &max)
	Function to compute the minimum and maximum of a cost layer. More...
std_msgs::ColorRGBA	mesh_map::getRainbowColor (const float value)
	map value to color on color rainbow More...
void	mesh_map::getRainbowColor (float value, float &r, float &g, float &b)
	map value to color on color rainbow More...
bool	mesh_map::inTriangle (const Vector &p, const Vector &v0, const Vector &v1, const Vector &v2, const float &max_dist, const float &epsilon)
	Computes whether a points lies inside or outside a triangle with respect to a maximum distance while using an epsilon. More...
mesh_map::Normal	mesh_map::poseToDirectionVector (const geometry_msgs::PoseStamped &pose, const tf2::Vector3 &axis=tf2::Vector3(1, 0, 0))
mesh_map::Vector	mesh_map::poseToPositionVector (const geometry_msgs::PoseStamped &pose)
bool	mesh_map::projectedBarycentricCoords (const Vector &p, const std::array< Vector, 3 > &vertices, std::array< float, 3 > &barycentric_coords)
bool	mesh_map::projectedBarycentricCoords (const Vector &p, const std::array< Vector, 3 > &vertices, std::array< float, 3 > &barycentric_coords, float &dist)
	Computes projected barycentric coordinates and whether the query point lies inside or outside the given triangle. More...
Vector	mesh_map::projectVectorOntoPlane (const Vector &vec, const Vector &ref, const Normal &normal)
	Projects a vector / point onto a plane, which is defined by the reference vector and the normal vector. More...
Vector	mesh_map::toVector (const geometry_msgs::Point &point)
	Converts a ROS geometry_msgs/Point message to a lvr2 vector. More...