Namespaces | Classes | Functions
mrpt_bridge Namespace Reference

File includes methods for converting CNetworkOfPoses*DInf <=> NetworkOfPoses message types. More...

Namespaces

 GPS
 
 image
 
 imu
 
 point_cloud
 
 range
 
 stereo_image
 

Classes

class  MapHdl
 the map class is implemented as singeleton use map::instance ()->ros2mrpt ... More...
 

Functions

bool check_field (const sensor_msgs::PointField &input_field, std::string check_name, const sensor_msgs::PointField **output)
 
void convert (const ros::Time &src, mrpt::system::TTimeStamp &des)
 
bool convert (const sensor_msgs::LaserScan &_msg, const mrpt::poses::CPose3D &_pose, CObservation2DRangeScan &_obj)
 
bool convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, CObservationBeaconRanges &_obj)
 
bool convert (const mrpt_msgs::ObservationRangeBearing &_msg, const mrpt::poses::CPose3D &_pose, CObservationBearingRange &_obj)
 
void convert (const mrpt::system::TTimeStamp &src, ros::Time &des)
 
bool convert (const CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
 
bool convert (const CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg)
 
bool convert (const marker_msgs::MarkerDetection &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBearingRange &_obj)
 
bool convert (const marker_msgs::MarkerDetection &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBeaconRanges &_obj)
 
bool convert (const CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg)
 
bool convert (const CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)
 
bool convert (const CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg, geometry_msgs::Pose &_pose)
 
bool convert (const CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg, geometry_msgs::Pose &_pose)
 
void convert (mrpt_msgs::NetworkOfPoses &ros_graph, const mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph)
 
bool copy (const sensor_msgs::PointCloud2 &msg, CSimplePointsMap &obj)
 
bool copy (const CSimplePointsMap &obj, const std_msgs::Header &msg_header, sensor_msgs::PointCloud2 &msg)
 
void get_float_from_field (const sensor_msgs::PointField *field, const unsigned char *data, float &output)
 
void mrptToROSLoggerCallback (const std::string &msg, const VerbosityLevel level, const std::string &loggerName, const mrpt::system::TTimeStamp timestamp)
 callback that is called by MRPT mrpt::utils::COuputLogger to redirect log messages to ROS logger. This function has to be inline, otherwise option log4j.logger.ros.package_name will be taken from mrpt_bridge instead of the package from which macro is actually called. More...
 
void mrptToROSLoggerCallback_mrpt_15 (const std::string &msg, const VerbosityLevel level, const std::string &loggerName, const mrpt::system::TTimeStamp timestamp, void *userParam)
 
mrpt::math::TPose3D p2t (const mrpt::poses::CPose3D &p)
 
VerbosityLevel rosLoggerLvlToMRPTLoggerLvl (log4cxx::LevelPtr lvl)
 function that converts ROS verbosity level log4cxx::Level to MRPT equivalent MRPT's VerbosityLevel More...
 
ObservationRangeBeacon: ROS <-> MRPT
bool convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBeaconRanges &_obj)
 
bool convert (const mrpt::obs::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
 
bool convert (const mrpt::obs::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)
 
bool convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, mrpt::slam::CObservationBeaconRanges &_obj)
 
bool convert (const mrpt::slam::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
 
bool convert (const mrpt::slam::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)
 
LaserScan: ROS <-> MRPT
bool convert (const mrpt_msgs::ObservationRangeBearing &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBearingRange &_obj)
 
bool convert (const mrpt::obs::CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg)
 
bool convert (const mrpt::obs::CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg, geometry_msgs::Pose &_pose)
 
bool convert (const sensor_msgs::LaserScan &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservation2DRangeScan &_obj)
 
bool convert (const mrpt::obs::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg)
 
bool convert (const mrpt::obs::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg, geometry_msgs::Pose &_pose)
 
Maps, Occupancy Grid Maps: ROS <-> MRPT
bool convert (const nav_msgs::OccupancyGrid &src, COccupancyGridMap2D &des)
 
bool convert (const COccupancyGridMap2D &src, nav_msgs::OccupancyGrid &msg, const std_msgs::Header &header)
 
bool convert (const COccupancyGridMap2D &src, nav_msgs::OccupancyGrid &msg)
 
ROS \rightarrow MRPT conversions
void convert (const mrpt::graphs::CNetworkOfPoses2D &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 Convert [MRPT] CNetworkOfPoses*D [ROS] NetworkOfPoses. More...
 
void convert (const mrpt::graphs::CNetworkOfPoses3D &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 
void convert (const mrpt::graphs::CNetworkOfPoses2DInf &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 
void convert (const mrpt::graphs::CNetworkOfPoses3DInf &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 
void convert (const mrpt::graphs::CNetworkOfPoses2DInf_NA &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 
void convert (const mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 
void convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses2DInf &mrpt_graph)
 
void convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses3DInf &mrpt_graph)
 
void convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses2DInf_NA &mrpt_graph)
 
void convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph)
 
mrpt::poses::CPose3D & convert (const tf::Transform &_src, mrpt::poses::CPose3D &_des)
 
mrpt::math::CMatrixDouble33 & convert (const tf::Matrix3x3 &_src, mrpt::math::CMatrixDouble33 &_des)
 
mrpt::poses::CPose2D & convert (const geometry_msgs::Pose &_src, mrpt::poses::CPose2D &_des)
 
mrpt::poses::CPose3D & convert (const geometry_msgs::Pose &_src, mrpt::poses::CPose3D &_des)
 
mrpt::poses::CPose3DPDFGaussian & convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPose3DPDFGaussian &_des)
 
mrpt::poses::CPose3DPDFGaussianInf & convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPose3DPDFGaussianInf &_des)
 
mrpt::poses::CPosePDFGaussian & convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPosePDFGaussian &_des)
 
mrpt::poses::CPosePDFGaussianInf & convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPosePDFGaussianInf &_des)
 
mrpt::poses::CQuaternionDouble & convert (const geometry_msgs::Quaternion &_src, mrpt::poses::CQuaternionDouble &_des)
 
sensor_msgs::PointCloud2: ROS <-> MRPT
bool copy (const sensor_msgs::PointCloud2 &msg, mrpt::maps::CSimplePointsMap &obj)
 
bool copy (const mrpt::maps::CSimplePointsMap &obj, const std_msgs::Header &msg_header, sensor_msgs::PointCloud2 &msg)
 
MRPT \rightarrow ROS conversions
tf::Matrix3x3 & convert (const mrpt::math::CMatrixDouble33 &_src, tf::Matrix3x3 &_des)
 
tf::Transform & convert (const mrpt::poses::CPose3D &_src, tf::Transform &_des)
 
tf::Transform & convert (const mrpt::math::TPose3D &_src, tf::Transform &_des)
 
tf::Transform & convert (const mrpt::poses::CPose2D &_src, tf::Transform &_des)
 
tf::Transform & convert (const mrpt::math::TPose2D &_src, tf::Transform &_des)
 
geometry_msgs::Pose & convert (const mrpt::poses::CPose3D &_src, geometry_msgs::Pose &_des)
 
geometry_msgs::Pose & convert (const mrpt::poses::CPose2D &_src, geometry_msgs::Pose &_des)
 
geometry_msgs::PoseWithCovariance & convert (const mrpt::poses::CPose3DPDFGaussian &_src, geometry_msgs::PoseWithCovariance &_des)
 
geometry_msgs::PoseWithCovariance & convert (const mrpt::poses::CPose3DPDFGaussianInf &_src, geometry_msgs::PoseWithCovariance &_des)
 
tf::Transform & convert (const mrpt::poses::CPose3DPDFGaussian &_src, tf::Transform &_des)
 
geometry_msgs::PoseWithCovariance & convert (const mrpt::poses::CPosePDFGaussian &_src, geometry_msgs::PoseWithCovariance &_des)
 
geometry_msgs::PoseWithCovariance & convert (const mrpt::poses::CPosePDFGaussianInf &_src, geometry_msgs::PoseWithCovariance &_des)
 
geometry_msgs::Quaternion & convert (const mrpt::poses::CQuaternionDouble &_src, geometry_msgs::Quaternion &_des)
 

Detailed Description

File includes methods for converting CNetworkOfPoses*DInf <=> NetworkOfPoses message types.

ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationGPS.h

ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationIMU.h

ROS message : http://docs.ros.org/api/sensor_msgs/html/msg/Range.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationRange.h

Function Documentation

bool mrpt_bridge::check_field ( const sensor_msgs::PointField &  input_field,
std::string  check_name,
const sensor_msgs::PointField **  output 
)
inline

Definition at line 14 of file point_cloud2.cpp.

void mrpt_bridge::convert ( const ros::Time &  src,
mrpt::system::TTimeStamp &  des 
)
inline

converts ros time to mrpt time

Parameters
srcros time
desmrpt time

Definition at line 14 of file time.h.

bool mrpt_bridge::convert ( const sensor_msgs::LaserScan &  _msg,
const mrpt::poses::CPose3D &  _pose,
CObservation2DRangeScan &  _obj 
)

Definition at line 14 of file laser_scan.cpp.

bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBeacon &  _msg,
const mrpt::poses::CPose3D &  _pose,
CObservationBeaconRanges &  _obj 
)

Definition at line 16 of file beacon.cpp.

bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBearing &  _msg,
const mrpt::poses::CPose3D &  _pose,
CObservationBearingRange &  _obj 
)

Definition at line 21 of file landmark.cpp.

void mrpt_bridge::convert ( const mrpt::system::TTimeStamp &  src,
ros::Time &  des 
)
inline

converts mrpt time to ros time

Parameters
srcros time
desmrpt time

Definition at line 27 of file time.h.

void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses2D &  mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)

Convert [MRPT] CNetworkOfPoses*D [ROS] NetworkOfPoses.

Convert [ROS] NetworkOfPoses [MRPT] CNetworkOfPoses*DInf.

Parameters
[in]mrpt_graphMRPT graph representation
[out]ros_graphROS graph representation
[in]mrpt_graphROS graph representation
[out]ros_graphMRPT graph representation
void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses3D &  mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)
void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses2DInf &  mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)

Definition at line 35 of file network_of_poses.cpp.

bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBeacon &  _msg,
const mrpt::poses::CPose3D &  _pose,
mrpt::slam::CObservationBeaconRanges &  _obj 
)

ROS->MRPT: Takes a mrpt_msgs::ObservationRangeBeacon and the relative pose of the range sensor wrt base_link and builds a CObservationBeaconRanges

Returns
true on sucessful conversion, false on any error.
See also
mrpt2ros
void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses3DInf &  mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)

Definition at line 101 of file network_of_poses.cpp.

void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses2DInf_NA &  mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)

Definition at line 111 of file network_of_poses.cpp.

void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses3DInf_NA &  mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)

Definition at line 186 of file network_of_poses.cpp.

bool mrpt_bridge::convert ( const CObservationBeaconRanges &  _obj,
mrpt_msgs::ObservationRangeBeacon &  _msg 
)

Definition at line 51 of file beacon.cpp.

bool mrpt_bridge::convert ( const sensor_msgs::LaserScan &  _msg,
const mrpt::poses::CPose3D &  _pose,
mrpt::obs::CObservation2DRangeScan &  _obj 
)

ROS->MRPT: Takes a sensor_msgs::LaserScan and the relative pose of the laser wrt base_link and builds a CObservation2DRangeScan

Returns
true on sucessful conversion, false on any error.
See also
mrpt2ros
bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBeacon &  _msg,
const mrpt::poses::CPose3D &  _pose,
mrpt::obs::CObservationBeaconRanges &  _obj 
)

ROS->MRPT: Takes a mrpt_msgs::ObservationRangeBeacon and the relative pose of the range sensor wrt base_link and builds a CObservationBeaconRanges

Returns
true on sucessful conversion, false on any error.
See also
mrpt2ros
bool mrpt_bridge::convert ( const mrpt::slam::CObservationBeaconRanges &  _obj,
mrpt_msgs::ObservationRangeBeacon &  _msg 
)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt
bool mrpt_bridge::convert ( const CObservation2DRangeScan &  _obj,
sensor_msgs::LaserScan &  _msg 
)

Definition at line 58 of file laser_scan.cpp.

bool mrpt_bridge::convert ( const marker_msgs::MarkerDetection &  _msg,
const mrpt::poses::CPose3D &  _pose,
mrpt::obs::CObservationBearingRange &  _obj 
)

Definition at line 22 of file marker_msgs.cpp.

bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBearing &  _msg,
const mrpt::poses::CPose3D &  _pose,
mrpt::obs::CObservationBearingRange &  _obj 
)

ROS->MRPT: Takes a mrpt_msgs::CObservationBearingRange and the relative pose of the laser wrt base_link and builds a ObservationRangeBearing

Returns
true on sucessful conversion, false on any error.
See also
mrpt2ros
bool mrpt_bridge::convert ( const marker_msgs::MarkerDetection &  _msg,
const mrpt::poses::CPose3D &  _pose,
mrpt::obs::CObservationBeaconRanges &  _obj 
)

Definition at line 44 of file marker_msgs.cpp.

tf::Matrix3x3 & mrpt_bridge::convert ( const mrpt::math::CMatrixDouble33 &  _src,
tf::Matrix3x3 &  _des 
)

Convert: [MRPT] Matrix [ROS] Matrix

Definition at line 53 of file pose.cpp.

bool mrpt_bridge::convert ( const mrpt::obs::CObservation2DRangeScan &  _obj,
sensor_msgs::LaserScan &  _msg 
)

MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::LaserScan

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt
bool mrpt_bridge::convert ( const CObservationBearingRange &  _obj,
mrpt_msgs::ObservationRangeBearing &  _msg 
)

Definition at line 62 of file landmark.cpp.

bool mrpt_bridge::convert ( const mrpt::obs::CObservationBeaconRanges &  _obj,
mrpt_msgs::ObservationRangeBeacon &  _msg 
)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt
tf::Transform & mrpt_bridge::convert ( const mrpt::poses::CPose3D &  _src,
tf::Transform &  _des 
)

Convert: [MRPT] CPose3D [ROS] Transform

Definition at line 108 of file pose.cpp.

bool mrpt_bridge::convert ( const mrpt::slam::CObservationBeaconRanges &  _obj,
mrpt_msgs::ObservationRangeBeacon &  _msg,
geometry_msgs::Pose &  _pose 
)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon + the relative pose of the range sensor wrt base_link

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt
tf::Transform & mrpt_bridge::convert ( const mrpt::math::TPose3D &  _src,
tf::Transform &  _des 
)

Convert: [MRPT] TPose3D [ROS] Transform

Definition at line 337 of file pose.cpp.

tf::Transform & mrpt_bridge::convert ( const mrpt::poses::CPose2D &  _src,
tf::Transform &  _des 
)

Convert: [MRPT] CPose2D [ROS] Transform

Definition at line 343 of file pose.cpp.

bool mrpt_bridge::convert ( const mrpt::obs::CObservation2DRangeScan &  _obj,
sensor_msgs::LaserScan &  _msg,
geometry_msgs::Pose &  _pose 
)

MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::LaserScan + the relative pose of the laser wrt base_link

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt
bool mrpt_bridge::convert ( const mrpt::obs::CObservationBearingRange &  _obj,
mrpt_msgs::ObservationRangeBearing &  _msg 
)

MRPT->ROS: Takes a CObservationBearingRange and outputs range data in mrpt_msgs::ObservationRangeBearing

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt
tf::Transform & mrpt_bridge::convert ( const mrpt::math::TPose2D &  _src,
tf::Transform &  _des 
)

Convert: [MRPT] TPose2D [ROS] Transform

Definition at line 348 of file pose.cpp.

void mrpt_bridge::convert ( const mrpt_msgs::NetworkOfPoses &  ros_graph,
mrpt::graphs::CNetworkOfPoses2DInf &  mrpt_graph 
)

Definition at line 197 of file network_of_poses.cpp.

geometry_msgs::Pose & mrpt_bridge::convert ( const mrpt::poses::CPose3D &  _src,
geometry_msgs::Pose &  _des 
)

Convert: [MRPT] CPose3D [ROS] Pose

Definition at line 133 of file pose.cpp.

bool mrpt_bridge::convert ( const mrpt::obs::CObservationBeaconRanges &  _obj,
mrpt_msgs::ObservationRangeBeacon &  _msg,
geometry_msgs::Pose &  _pose 
)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon + the relative pose of the range sensor wrt base_link

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt
void mrpt_bridge::convert ( const mrpt_msgs::NetworkOfPoses &  ros_graph,
mrpt::graphs::CNetworkOfPoses3DInf &  mrpt_graph 
)

Definition at line 246 of file network_of_poses.cpp.

geometry_msgs::Pose & mrpt_bridge::convert ( const mrpt::poses::CPose2D &  _src,
geometry_msgs::Pose &  _des 
)

Convert: [MRPT] CPose2D (x,y,yaw) [ROS] Pose

Convert: MRPT's CPose2D (x,y,yaw) -> ROS's Pose

Definition at line 152 of file pose.cpp.

bool mrpt_bridge::convert ( const CObservationBeaconRanges &  _obj,
mrpt_msgs::ObservationRangeBeacon &  _msg,
geometry_msgs::Pose &  _pose 
)

Definition at line 79 of file beacon.cpp.

void mrpt_bridge::convert ( const mrpt_msgs::NetworkOfPoses &  ros_graph,
mrpt::graphs::CNetworkOfPoses2DInf_NA &  mrpt_graph 
)

Definition at line 256 of file network_of_poses.cpp.

bool mrpt_bridge::convert ( const mrpt::obs::CObservationBearingRange &  _obj,
mrpt_msgs::ObservationRangeBearing &  _msg,
geometry_msgs::Pose &  _pose 
)

MRPT->ROS: Takes a CObservationBearingRange and outputs range data in mrpt_msgs::ObservationRangeBearing + the relative pose of the range sensor wrt base_link

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt
geometry_msgs::PoseWithCovariance & mrpt_bridge::convert ( const mrpt::poses::CPose3DPDFGaussian &  _src,
geometry_msgs::PoseWithCovariance &  _des 
)

Convert: [MRPT] CPose3DPDFGaussian [ROS] PoseWithCovariance

Definition at line 67 of file pose.cpp.

void mrpt_bridge::convert ( const mrpt_msgs::NetworkOfPoses &  ros_graph,
mrpt::graphs::CNetworkOfPoses3DInf_NA &  mrpt_graph 
)
bool mrpt_bridge::convert ( const CObservation2DRangeScan &  _obj,
sensor_msgs::LaserScan &  _msg,
geometry_msgs::Pose &  _pose 
)

Definition at line 86 of file laser_scan.cpp.

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert ( const mrpt::poses::CPose3DPDFGaussianInf &  _src,
geometry_msgs::PoseWithCovariance &  _des 
)

Convert: [MRPT] CPose3DPDFGaussianInf [ROS] PoseWithCovariance

Definition at line 97 of file pose.cpp.

bool mrpt_bridge::convert ( const CObservationBearingRange &  _obj,
mrpt_msgs::ObservationRangeBearing &  _msg,
geometry_msgs::Pose &  _pose 
)

Definition at line 93 of file landmark.cpp.

tf::Transform & mrpt_bridge::convert ( const mrpt::poses::CPose3DPDFGaussian &  _src,
tf::Transform &  _des 
)

Convert: [MRPT] CPose3DPDFGaussian [ROS] Transform

Definition at line 61 of file pose.cpp.

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert ( const mrpt::poses::CPosePDFGaussian &  _src,
geometry_msgs::PoseWithCovariance &  _des 
)

Convert: [MRPT] CPosePDFGaussian (x,y,yaw) [ROS] PoseWithCovariance

Definition at line 197 of file pose.cpp.

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert ( const mrpt::poses::CPosePDFGaussianInf &  _src,
geometry_msgs::PoseWithCovariance &  _des 
)

Convert: [MRPT] CPosePDFGaussianInf (x,y,yaw) [ROS] PoseWithCovariance

Definition at line 231 of file pose.cpp.

geometry_msgs::Quaternion & mrpt_bridge::convert ( const mrpt::poses::CQuaternionDouble &  _src,
geometry_msgs::Quaternion &  _des 
)

Convert: [MRPT] CQuaternionDouble [ROS] Quaternion

Definition at line 314 of file pose.cpp.

mrpt::poses::CPose3D & mrpt_bridge::convert ( const tf::Transform &  _src,
mrpt::poses::CPose3D &  _des 
)

Convert: [ROS] CPose3D [MRPT] Transform

Definition at line 120 of file pose.cpp.

mrpt::math::CMatrixDouble33 & mrpt_bridge::convert ( const tf::Matrix3x3 &  _src,
mrpt::math::CMatrixDouble33 &  _des 
)

Convert: [ROS] Matrix [MRPT] Matrix

Definition at line 45 of file pose.cpp.

bool mrpt_bridge::convert ( const nav_msgs::OccupancyGrid &  src,
COccupancyGridMap2D &  des 
)

converts ros msg to mrpt object

Returns
true on sucessful conversion, false on any error.
Parameters
src
des

I hope the data is allways aligned

I hope the data is allways aligned

Definition at line 94 of file map.cpp.

mrpt::poses::CPose2D & mrpt_bridge::convert ( const geometry_msgs::Pose &  _src,
mrpt::poses::CPose2D &  _des 
)

Convert: [ROS] Pose [MRPT] CPose2D

Definition at line 180 of file pose.cpp.

mrpt::poses::CPose3D & mrpt_bridge::convert ( const geometry_msgs::Pose &  _src,
mrpt::poses::CPose3D &  _des 
)

Convert: [ROS] Pose [MRPT] CPose3D

Definition at line 325 of file pose.cpp.

bool mrpt_bridge::convert ( const COccupancyGridMap2D &  src,
nav_msgs::OccupancyGrid &  msg,
const std_msgs::Header &  header 
)

converts mrpt object to ros msg and updates the msg header

Returns
true on sucessful conversion, false on any error.
Parameters
src
des
header

Definition at line 128 of file map.cpp.

mrpt::poses::CPose3DPDFGaussian & mrpt_bridge::convert ( const geometry_msgs::PoseWithCovariance &  _src,
mrpt::poses::CPose3DPDFGaussian &  _des 
)

Convert: [ROS] PoseWithCovariance [MRPT] CPose3DPDFGaussian

Definition at line 242 of file pose.cpp.

mrpt::poses::CPose3DPDFGaussianInf & mrpt_bridge::convert ( const geometry_msgs::PoseWithCovariance &  _src,
mrpt::poses::CPose3DPDFGaussianInf &  _des 
)

Convert: [ROS] PoseWithCovariance [MRPT] CPose3DPDFGaussianInf

Definition at line 261 of file pose.cpp.

bool mrpt_bridge::convert ( const COccupancyGridMap2D &  src,
nav_msgs::OccupancyGrid &  msg 
)

converts mrpt object to ros msg

Returns
true on sucessful conversion, false on any error.
Parameters
src
des
header

I hope the data is allways aligned

I hope the data is allways aligned

Definition at line 136 of file map.cpp.

mrpt::poses::CPosePDFGaussian & mrpt_bridge::convert ( const geometry_msgs::PoseWithCovariance &  _src,
mrpt::poses::CPosePDFGaussian &  _des 
)

Convert: [ROS] PoseWithCovariance [MRPT] CPosePDFGaussian (x,y,yaw)

Definition at line 273 of file pose.cpp.

mrpt::poses::CPosePDFGaussianInf & mrpt_bridge::convert ( const geometry_msgs::PoseWithCovariance &  _src,
mrpt::poses::CPosePDFGaussianInf &  _des 
)

Convert: [ROS] PoseWithCovariance [MRPT] CPosePDFGaussianInf (x,y,yaw)

Definition at line 292 of file pose.cpp.

mrpt::poses::CQuaternionDouble & mrpt_bridge::convert ( const geometry_msgs::Quaternion &  _src,
mrpt::poses::CQuaternionDouble &  _des 
)

Convert: [ROS] Quaternion [MRPT] CQuaternionDouble

Definition at line 304 of file pose.cpp.

void mrpt_bridge::convert ( mrpt_msgs::NetworkOfPoses &  ros_graph,
const mrpt::graphs::CNetworkOfPoses3DInf_NA &  mrpt_graph 
)

Definition at line 313 of file network_of_poses.cpp.

bool mrpt_bridge::copy ( const sensor_msgs::PointCloud2 &  msg,
mrpt::maps::CSimplePointsMap &  obj 
)

Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap CSimplePointsMap only contains (x,y,z) data, so sensor_msgs::PointCloud2::channels are ignored.

Returns
true on sucessful conversion, false on any error.
See also
mrpt2ros
bool mrpt_bridge::copy ( const sensor_msgs::PointCloud2 &  msg,
CSimplePointsMap &  obj 
)

Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap

Returns
true on sucessful conversion, false on any error.

Definition at line 55 of file point_cloud2.cpp.

bool mrpt_bridge::copy ( const mrpt::maps::CSimplePointsMap &  obj,
const std_msgs::Header &  msg_header,
sensor_msgs::PointCloud2 &  msg 
)

Convert mrpt::slam::CSimplePointsMap -> sensor_msgs/PointCloud2 The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since CSimplePointsMap only contains (x,y,z) data, sensor_msgs::PointCloud2::channels will be empty.

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt
bool mrpt_bridge::copy ( const CSimplePointsMap &  obj,
const std_msgs::Header &  msg_header,
sensor_msgs::PointCloud2 &  msg 
)

Convert mrpt::slam::CSimplePointsMap -> sensor_msgs/PointCloud2 The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since CSimplePointsMap only contains (x,y,z) data, sensor_msgs::PointCloud2::channels will be empty.

Returns
true on sucessful conversion, false on any error.

Definition at line 104 of file point_cloud2.cpp.

void mrpt_bridge::get_float_from_field ( const sensor_msgs::PointField *  field,
const unsigned char *  data,
float &  output 
)
inline

Definition at line 35 of file point_cloud2.cpp.

void mrpt_bridge::mrptToROSLoggerCallback ( const std::string &  msg,
const VerbosityLevel  level,
const std::string &  loggerName,
const mrpt::system::TTimeStamp  timestamp 
)
inline

callback that is called by MRPT mrpt::utils::COuputLogger to redirect log messages to ROS logger. This function has to be inline, otherwise option log4j.logger.ros.package_name will be taken from mrpt_bridge instead of the package from which macro is actually called.

Definition at line 69 of file utils.h.

void mrpt_bridge::mrptToROSLoggerCallback_mrpt_15 ( const std::string &  msg,
const VerbosityLevel  level,
const std::string &  loggerName,
const mrpt::system::TTimeStamp  timestamp,
void *  userParam 
)
inline

Definition at line 98 of file utils.h.

mrpt::math::TPose3D mrpt_bridge::p2t ( const mrpt::poses::CPose3D &  p)
inline

Definition at line 106 of file utils.h.

VerbosityLevel mrpt_bridge::rosLoggerLvlToMRPTLoggerLvl ( log4cxx::LevelPtr  lvl)
inline

function that converts ROS verbosity level log4cxx::Level to MRPT equivalent MRPT's VerbosityLevel

Definition at line 30 of file utils.h.


mrpt_bridge
Author(s): Markus Bader , Raphael Zack
autogenerated on Sat Apr 28 2018 02:49:17