#include <tf/transform_datatypes.h>
#include <geometry_msgs/PoseStamped.h>
#include <string>
#include "nxLib.h"

Include dependency graph for pose_utilities.h:

This graph shows which files directly or indirectly include this file:

Functions
tf::Pose	poseFromNxLib (NxLibItem const &node)

tf::Stamped< tf::Pose >	poseFromNxLib (NxLibItem const &node, ros::Time const &timestamp, std::string const &frame)

bool	poseIsValid (tf::Pose const &transform)

tf::StampedTransform	transformFromPose (geometry_msgs::PoseStamped const &pose, std::string const &childFrame)

void	writePoseToNxLib (tf::Pose const &pose, NxLibItem const &node)

Function Documentation

tf::Pose poseFromNxLib ( NxLibItem const & node )

Convert the given NxLib transformation node to a TF pose.

Definition at line 66 of file pose_utilities.cpp.

tf::Stamped<tf::Pose> poseFromNxLib	(	NxLibItem const &	node,
		ros::Time const &	timestamp,
		std::string const &	frame
	)

Definition at line 88 of file pose_utilities.cpp.

bool poseIsValid ( tf::Pose const & transform )

Check whether the given pose is valid, that is, whether it does not contain NaNs.

For example, such an invalid pose is produced by converting an uninitialized geometry_msgs/Pose to a TF pose.

Definition at line 5 of file pose_utilities.cpp.

tf::StampedTransform transformFromPose	(	geometry_msgs::PoseStamped const &	pose,
		std::string const &	childFrame
	)

Get a TF transformation that defines the child frame at the position of the given pose.

Definition at line 93 of file pose_utilities.cpp.

Convert the given TF pose to an NxLib transformation and write it into the given NxLib node.

Definition at line 28 of file pose_utilities.cpp.

Functions