mbf_utility Namespace Reference

## Functions

double angle (const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2)
computes the smallest angle between two poses. More...

double distance (const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2)
Computes the Euclidean-distance between two poses. More...

bool getRobotPose (const TF &tf, const std::string &robot_frame, const std::string &global_frame, const ros::Duration &timeout, geometry_msgs::PoseStamped &robot_pose)
Computes the robot pose. More...

bool transformPoint (const TF &tf, const std::string &target_frame, const ros::Time &target_time, const ros::Duration &timeout, const geometry_msgs::PointStamped &in, const std::string &fixed_frame, geometry_msgs::PointStamped &out)
Transforms a point from one frame into another. More...

bool transformPose (const TF &tf, const std::string &target_frame, const ros::Time &target_time, const ros::Duration &timeout, const geometry_msgs::PoseStamped &in, const std::string &fixed_frame, geometry_msgs::PoseStamped &out)
Transforms a pose from one frame into another. More...

## Function Documentation

 double mbf_utility::angle ( const geometry_msgs::PoseStamped & pose1, const geometry_msgs::PoseStamped & pose2 )

computes the smallest angle between two poses.

Parameters
 pose1 pose 1 pose2 pose 2
Returns
smallest angle between pose 1 and pose 2.

Definition at line 182 of file navigation_utility.cpp.

 double mbf_utility::distance ( const geometry_msgs::PoseStamped & pose1, const geometry_msgs::PoseStamped & pose2 )

Computes the Euclidean-distance between two poses.

Parameters
 pose1 pose 1 pose2 pose 2
Returns
Euclidean distance between pose 1 and pose 2.

Definition at line 172 of file navigation_utility.cpp.

 bool mbf_utility::getRobotPose ( const TF & tf, const std::string & robot_frame, const std::string & global_frame, const ros::Duration & timeout, geometry_msgs::PoseStamped & robot_pose )

Computes the robot pose.

Parameters
 tf_listener TransformListener. robot_frame frame of the robot. global_frame global frame in which the robot is located. timeout Timeout for looking up the transformation. robot_pose the computed rebot pose in the global frame.
Returns
true, if succeeded, false otherwise.

Definition at line 46 of file navigation_utility.cpp.

 bool mbf_utility::transformPoint ( const TF & tf, const std::string & target_frame, const ros::Time & target_time, const ros::Duration & timeout, const geometry_msgs::PointStamped & in, const std::string & fixed_frame, geometry_msgs::PointStamped & out )

Transforms a point from one frame into another.

Parameters
 tf_listener TransformListener. target_frame Target frame for the point. target_time Time, in that the frames should be used. timeout Timeout for looking up the transformation. in Point to transform. fixed_frame Fixed frame of the source and target frame. out Transformed point.
Returns
true, if the transformation succeeded.

Definition at line 119 of file navigation_utility.cpp.

 bool mbf_utility::transformPose ( const TF & tf, const std::string & target_frame, const ros::Time & target_time, const ros::Duration & timeout, const geometry_msgs::PoseStamped & in, const std::string & fixed_frame, geometry_msgs::PoseStamped & out )

Transforms a pose from one frame into another.

Parameters
 tf_listener TransformListener. target_frame Target frame for the pose. target_time Time, in that the frames should be used. timeout Timeout for looking up the transformation. in Pose to transform. fixed_frame Fixed frame of the source and target frame. out Transformed pose.
Returns
true, if the transformation succeeded.

Definition at line 66 of file navigation_utility.cpp.

mbf_utility
Author(s): Sebastian Pütz
autogenerated on Tue Jun 18 2019 19:34:32