cras Namespace Reference

Namespaces
	impl

Classes
class	BoundParamHelper
	Bound param helper (allows omitting the param adapter in each getParam call). More...
struct	DefaultParamServerType
	Default ParamServerType for the given ResultType. More...
struct	DefaultToParamFn
	Default function for converting XmlRpcValue to an intermediate value of type ParamServerType. More...
struct	DefaultToResultFn
	Default function for converting param server types to result types. More...
class	DiagnosedPublisher
	Wrapper for ROS publisher that automatically diagnoses the rate and delay of published messages. More...
class	DiagnosedPubSub
	Base for ROS publisher and subscriber with automatic message rate and delay diagnostics. More...
class	DiagnosedSubscriber
	Wrapper for ROS subscriber that automatically diagnoses the rate and delay of received messages. More...
class	DiagnosticUpdater
	Diagnostic updater that automatically sets its Hardware ID to hostname of the machine. More...
class	DurationStatus
	Diagnostic task for topic frequency and timestamp delay (combining FrequencyStatus and TimeStampStatus tasks). More...
struct	DurationStatusParam
	Parameters of DurationStatus diagnostic task. More...
class	FilterBase
class	FilterChain
class	FilterChainDiagnostics
	Diagnostics of performance of a filter chain. More...
class	FilterChainNodelet
	A versatile nodelet that can load and run a filter chain. More...
struct	FilterGetParamAdapter
class	FilterLogHelper
class	FrequencyStatusParam
	An extension of diagnostic_updater::FrequencyStatusParam that allows passing non-pointer min/max frequency values. If the internal pointers are used, they are correctly handled when copying this object (the new copy will have its own copy of the internal pointers). More...
struct	from_chars_result
struct	GetParamAdapter
	An adapter that allows getting ROS parameters from various sources. More...
class	GetParamException
	Exception thrown when conversion of a parameter fails during getParam() if option throwIfConvertFails is true or when a missing parameter is required. More...
struct	GetParamOptions
	Options specifying behavior of getParam() calls. More...
struct	GetParamResult
	Wrapper for the result of a getParam() call. It is designed to autoconvert to the result type sometimes. More...
struct	GetParamResultInfo
	Detailed information about the executed getParam() call. More...
class	HasLogger
	Convenience base class for providing this->log and getCrasLogger(). Just add it as a base to your class and all CRAS_* logging macros should work with the logger from this class. More...
struct	InterruptibleSleepInterface
	Interface to an object whose sleep() calls can be interrupted externally. Multiple sleep() calls can be happening at a time. The object waits for the last sleep() call to finish on destruction. No more sleep() calls can be made once destruction of the object started (sleep() will return false in such case). Make sure that ok() returns false when this object is about to be destroyed. More...
class	InterruptibleTFBuffer
	Provides overrides of canTransform() that can be interrupted. Normally, canTransform() waits until transform is available, timeout is reached (which may be never in paused simulation), time jumps backwards or ros::ok() returns false. This buffer adds another option of interrupting the call. It also allows "wrapping around" another buffer that does not support this interruptibility and add this ability to it. More...
struct	is_any
	Type trait determining whether type T is cras::any or not. More...
struct	is_any<::cras::any >
	Type trait determining whether type T is cras::any or not. More...
struct	is_c_string
	Type trait for dynamic-sized and constant-sized C strings. More...
struct	is_c_string< char * >
struct	is_c_string< char *const >
struct	is_c_string< char[I]>
struct	is_c_string< const char * >
struct	is_c_string< const char *const >
struct	is_c_string< const char[I]>
struct	is_cras_expected
	Type trait determining whether type T is cras::expected or not. More...
struct	is_cras_expected<::cras::expected< T, E > >
	Type trait determining whether type T is cras::optional or not. More...
struct	is_optional
	Type trait determining whether type T is cras::optional or not. More...
struct	is_optional<::cras::optional< T > >
	Type trait determining whether type T is cras::optional or not. More...
struct	is_string
	Char trait for a C-string or std::string. More...
struct	is_string< T, ::std::enable_if_t<::cras::is_c_string< typename std::decay< T >::type >::value > >
struct	is_string< T, ::std::enable_if_t<::std::is_same< typename std::decay< T >::type, ::std::string >::value > >
class	LoaderROS
	ROS interface for loading/unloading nodelets (internally using nodelet::Loader to do the work). More...
class	LogHelper
	This class (reps. its descendants) provides unified access to ROS logging functions, be it ROS_* or NODELET_*. More...
class	MemoryLogHelper
class	NodeHandle
struct	NodeHandleGetParamAdapter
	An adapter that allows getting ROS parameters from a node handle. More...
class	NodeHandleWithDiagnostics
	Utils for adding diagnostics to a topic via node handle. More...
class	Nodelet
class	NodeletAwareTFBuffer
class	NodeletBase
	Base template which adds all defined mixins to BaseNodelet class. More...
class	NodeletLogHelper
class	NodeletManager
	Nodelet manager with customizable instance creation mechanism. More...
class	NodeletManagerSharingTfBuffer
	A nodelet manager that can share its TF buffer with cras::NodeletWithSharedTfBuffer nodelets. More...
class	NodeletParamHelper
	This mixin allows calling the getParam() helpers. More...
struct	NodeletWithDiagnostics
	Nodelet mixin that provides helper functions for running a diagnostics updater. More...
struct	NodeletWithSharedTfBuffer
	A nodelet mixin that allows to use a tf2_ros::Buffer provided by the nodelet manager (which should save some computations). If this nodelet has also the StatefulNodelet mixin, the automatically created non-shared buffer is nodelet-aware (you can also pass a NodeletAwareTfBuffer to setBuffer()). That means any TF lookups done via this->getBuffer() will be able to correctly end when the nodelet is being unloaded (which normally hangs: https://github.com/ros/geometry2/issues/381). More...
struct	NodeletWithSharedTfBufferInterface
	Public non-template API of NodeletWithSharedTfBuffer. Dynamic_cast a nodelet to this type if you need to access this API publicly. More...
class	NodeLogHelper
class	NodeParamHelper
	This mixin allows calling the getParam() helpers. More...
class	ParamHelper
	This class provides a unified experience for nodes, nodelets and filters for getting ROS parameter values. Each parameter has to be provided a default value, and each parameter read is logged - specified parameters with INFO verbosity level, defaulted parameters with WARN level. There are also lots of template specializations for builtin ROS types or unsigned values which ease the process of reading the parameters correctly. More...
struct	ParamToStringFn
	Default function for converting values to string in getParam(Verbose) functions. Uses cras::to_string(). More...
class	RateLimiter
	Generic rate-limiter interface. More...
class	ReverseSemaphore
	A reverse counting semaphore which can wait until its count is zero. Each acquire() increases this count and each release() decreases it. waitZero() is the function that waits until the internal count is zero. The semaphore can be disabled, which means no new acquire() calls will be accepted. This is useful if you plan to quit. More...
class	RosconsoleLogHelper
	Log helper relaying all of its work to the same mechanism used by ROS_* logging macros. More...
class	RunningStats
	Computation of running average and variance using Welford's algorithm. More...
class	SemaphoreGuard
	RAII guard for operations with a semaphore. On creation, the semaphore is acquired, and on destruction, it is released. More...
struct	SimpleDurationStatusParam
	Helper struct for easy brace-initialization of DurationStatusParam objects. On supported compilers, you can also use designated braced initialization, i.e. param = {.maxDuration = {10,0}}. Supported is e.g. GCC 8+ in any mode or any compiler in C++20 mode. More...
struct	SimpleTopicStatusParamNoHeader
	Helper struct for easy brace-initialization of TopicStatusParam objects. On supported compilers, you can also use designated braced initialization, i.e. param = {.maxRate = 10}. Supported is e.g. GCC 8+ in any mode or any compiler in C++20 mode. More...
struct	SimpleTopicStatusParamWithHeader
	Helper struct for easy brace-initialization of TopicStatusParam objects. On supported compilers, you can also use designated braced initialization, i.e. param = {.maxRate = 10}. Supported is e.g. GCC 8+ in any mode or any compiler in C++20 mode. More...
class	StatefulNodelet
	A mixin that can tell when a nodelet is being unloaded. More...
struct	StatefulNodeletInterface
	A non-templated interface of the mixin that can tell when a nodelet is being unloaded. More...
class	ThreadNameUpdatingNodelet
	This mixin allows the nodelet to update the OS name of the thread in which it is currently executing. More...
class	ThrottleLimiter
	The (not so clever) algorithm used by topic_tools/throttle node. More...
class	TokenBucketLimiter
	Token bucket rate limiting algorithm. More...
class	TopicStatus
	Diagnostic task for topic frequency and timestamp delay (combining FrequencyStatus and TimeStampStatus tasks). More...
struct	TopicStatusParams
	Utility class with various predefined topic diagnostic parameters. More...
class	TopicStatusParamWithHeader
	A combined parameter defining both rate diagnostics and delay diagnostics (for messages with a header). More...
struct	XmlRpcValueGetParamAdapter
struct	XmlRpcValueTraits
	Type traits for XmlRpcValue. More...
struct	XmlRpcValueTraits< bool >
struct	XmlRpcValueTraits< char * >
struct	XmlRpcValueTraits< char >
struct	XmlRpcValueTraits< const char * >
struct	XmlRpcValueTraits< double >
struct	XmlRpcValueTraits< float >
struct	XmlRpcValueTraits< int >
struct	XmlRpcValueTraits< long >
struct	XmlRpcValueTraits< long double >
struct	XmlRpcValueTraits< long long >
struct	XmlRpcValueTraits< short >
struct	XmlRpcValueTraits< signed char >
struct	XmlRpcValueTraits< typename ::XmlRpc::XmlRpcValue::BinaryData >
struct	XmlRpcValueTraits< unsigned char >
struct	XmlRpcValueTraits< unsigned int >
struct	XmlRpcValueTraits< unsigned long >
struct	XmlRpcValueTraits< unsigned long long >
struct	XmlRpcValueTraits< unsigned short >
struct	XmlRpcValueTraits<::std::array< T, N >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::std::list< T >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::std::map<::std::string, T >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::std::set< T >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::std::string >
struct	XmlRpcValueTraits<::std::unordered_map<::std::string, T >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::std::unordered_set< T >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::std::vector< T >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::tm >

Typedefs
typedef void *(*	allocator_t) (size_t)
	Allocator function that should allocate a buffer of the given size on the caller side and return a pointer to it. More...
template<typename M >
using	BaseMessage = typename ::ros::ParameterAdapter< M >::Message
	Return the base message type of M (i.e. removes MessageEvent, const, &, shared_ptr etc.). More...
typedef ::std::shared_ptr<::cras::BoundParamHelper >	BoundParamHelperPtr
template<typename ResultType , typename ParamServerType >
using	check_get_param_types = typename std::enable_if_t< !::cras::is_optional< ResultType >::value &&!::cras::is_c_string< ResultType >::value &&!::cras::is_c_string< ParamServerType >::value >
	This type is a TrueType if the combination of ResultType and ParamServerType is valid. More...
typedef ::sensor_msgs::PointCloud2	Cloud
	Shorthand for sensor_msgs::PointCloud2. More...
typedef ::sensor_msgs::PointCloud2ConstIterator< float >	CloudConstIter
	Const cloud float field iterator. More...
typedef ::sensor_msgs::PointCloud2ConstIterator< int >	CloudIndexConstIter
	Const cloud int field iterator. More...
typedef ::sensor_msgs::PointCloud2Iterator< int >	CloudIndexIter
	Cloud int field iterator. More...
typedef ::sensor_msgs::PointCloud2Iterator< float >	CloudIter
	Cloud float field iterator. More...
typedef ::sensor_msgs::PointCloud2Modifier	CloudModifier
	Shorthand for sensor_msgs::PointCloud2Modifier. More...
using	DurationStatusPtr = ::std::shared_ptr<::cras::DurationStatus >
typedef ::cras::impl::GenericCloudConstIterator	GenericCloudConstIter
typedef ::cras::impl::GenericCloudIterator	GenericCloudIter
	GenericCloudIter and GenericCloudConstIter are iterators of fields of types unknown at compile time. More...
typedef ::std::shared_ptr<::cras::GetParamAdapter >	GetParamAdapterPtr
template<typename M >
using	IsMessageParam = ::ros::message_traits::IsMessage<::cras::BaseMessage< M > >
	Tells whether the given signature designates a ROS message parameters (possibly surrounded by const, &, shared_ptr, MessageEvent etc.). More...
typedef ::cras::LogHelper::ConstPtr	LogHelperConstPtr
	Const pointer to LogHelper. More...
typedef ::cras::LogHelper::Ptr	LogHelperPtr
	Pointer to LogHelper. More...
typedef ::std::shared_ptr<::cras::ParamHelper >	ParamHelperPtr
template<typename Message >
using	SimpleTopicStatusParam = ::std::conditional_t<::ros::message_traits::HasHeader< Message >::value, ::cras::SimpleTopicStatusParamWithHeader, ::cras::SimpleTopicStatusParamNoHeader >
	Helper struct for easy brace-initialization of TopicStatusParam objects. More...
template<typename Message >
using	TopicStatusParam = ::std::conditional_t<::ros::message_traits::HasHeader< Message >::value, ::cras::TopicStatusParamWithHeader, ::cras::FrequencyStatusParam >
	Helper struct for automatic choosing of the correct topic status parameter object based on whether the message type has a header or not. More...
template<typename Message >
using	TopicStatusPtr = ::std::shared_ptr<::cras::TopicStatus< Message > >
template<typename T >
using	ToStringFn = ::std::function<::std::string(const T &)>
	Type of function that converts anything to a string. More...

Enumerations
enum	chars_format { scientific = 1 << 0, fixed = 1 << 2, hex = 1 << 3, general = fixed | scientific }
enum	CloudChannelType { CloudChannelType::POINT, CloudChannelType::DIRECTION, CloudChannelType::SCALAR }
	Type of a pointcloud channel. More...
enum	ReplacePosition { ReplacePosition::EVERYWHERE, ReplacePosition::START, ReplacePosition::END }
	Specifies where a replace operation should act. More...

Functions
::std::string	appendIfNonEmpty (const ::std::string &str, const ::std::string &suffix)
	If str is nonempty, returns str + suffix, otherwise empty string. More...
template<class F , class... Args>
auto	bind_front (F &&f, Args &&... args)
::std::string	cleanTypeName (const ::std::string &typeName)
	Remove not-so-nice parts of demangled C++ type names. More...
bool	contains (const ::std::string &str, char c)
	Check whether str contains character c. More...
bool	contains (const ::std::string &str, const ::std::string &needle)
	Check whether str contains substring needle. More...
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::XmlRpc::XmlRpcValue &v, bool=false, ::std::list<::std::string > *errors=nullptr)
	Convert XmlRpcValue x to value v. More...
bool	convert (const ::XmlRpc::XmlRpcValue &x, bool &v, bool=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, int &v, bool=false, ::std::list<::std::string > *errors=nullptr)
LONG_MAX USHRT_MAX ULONG_LONG_MAX bool	convert (const ::XmlRpc::XmlRpcValue &x, double &v, bool=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, std::string &v, bool=false, ::std::list<::std::string > *errors=nullptr)
template<typename T >
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::map<::std::string, T > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
template<typename T >
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::unordered_map<::std::string, T > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
template<typename T >
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::vector< T > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
template<typename T >
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::list< T > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
template<typename T >
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::set< T > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
template<typename T >
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::unordered_set< T > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
template<typename T , size_t N>
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::array< T, N > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::dynamic_reconfigure::Config &v, bool skipNonConvertible, ::std::list<::std::string > *errors)
void	copyChannelData (const ::cras::Cloud &in, ::cras::Cloud &out, const ::std::string &fieldName)
	Copy data belonging to the given field from in cloud to out cloud. More...
	DEFINE_CONVERTING_GET_PARAM (::tf2::Vector3, ::std::vector< double >, "", [](const ::std::vector< double > &v) { if(v.size() !=3) throw ::std::runtime_error(::cras::format("Cannot load %s parameter from an array of length %lu", "tf2::Vector3", v.size()));return ::tf2::Vector3(v[0], v[1], v[2]);}) DEFINE_CONVERTING_GET_PARAM(
	DEFINE_CONVERTING_GET_PARAM (::Eigen::Vector3d, ::std::vector< double >, "", [](const ::std::vector< double > &v){ checkSize(v, 3, "vector");return ::Eigen::Vector3d(v.data());}) DEFINE_CONVERTING_GET_PARAM(
	DEFINE_CONVERTING_GET_PARAM (::Eigen::Vector4d, ::std::vector< double >, "", [](const ::std::vector< double > &v){ checkSize(v, 4, "vector");return ::Eigen::Vector4d(v.data());}) DEFINE_CONVERTING_GET_PARAM(
	DEFINE_CONVERTING_GET_PARAM (::geometry_msgs::Quaternion, ::std::vector< double >, "", [](const ::std::vector< double > &v) { if(v.size() !=3 &&v.size() !=4) throw ::std::runtime_error(::cras::format("Cannot load %s parameter from an array of length %lu", "geometry_msgs::Quaternion", v.size()));::geometry_msgs::Quaternion m;if(v.size()==4) { m.x=v[0];m.y=v[1];m.z=v[2];m.w=v[3];} else { ::tf2::Quaternion q;q.setRPY(v[0], v[1], v[2]);m.x=q.getX();m.y=q.getY();m.z=q.getZ();m.w=q.getW();} return m;}) DEFINE_CONVERTING_GET_PARAM(
	DEFINE_INTEGRAL_CONVERT (short, int, SHRT_MIN, SHRT_MAX) DEFINE_INTEGRAL_CONVERT(long
LONG_MAX	DEFINE_INTEGRAL_CONVERT (long long, int, LONG_LONG_MIN, LONG_LONG_MAX) DEFINE_INTEGRAL_CONVERT(unsigned short
LONG_MAX USHRT_MAX	DEFINE_INTEGRAL_CONVERT (unsigned long, int, 0, ULONG_MAX) DEFINE_INTEGRAL_CONVERT(unsigned long long
::std::string	demangle (const ::std::string &mangled)
	Demangle the given mangle C++ type identifier. More...
bool	endsWith (const ::std::string &str, const ::std::string &suffix)
	Check whether suffix is a suffix of str. More...
inline ::std::string	format (const char *format, ::va_list args)
inline ::std::string	format (const char *format,...)
inline ::std::string	format (::std::string format,...)
inline ::std::string	format (::std::string format, ::va_list args)
double	frequency (const ::ros::Rate &rate, bool maxCycleTimeMeansZero=false)
	Return the frequency represented by the given rate. More...
double	frequency (const ::ros::WallRate &rate, bool maxCycleTimeMeansZero=false)
	Return the frequency represented by the given rate. More...
::cras::from_chars_result	from_chars (const char *first, const char *last, float &value, ::cras::chars_format fmt=::cras::chars_format::general) noexcept
	Convert the given string to its best float representation. The behavior is similar to std::from_chars(), i.e. no leading space of plus sign is allowed. More...
::cras::from_chars_result	from_chars (const char *first, const char *last, double &value, ::cras::chars_format fmt=::cras::chars_format::general) noexcept
	Convert the given string to its best double representation. The behavior is similar to std::from_chars(), i.e. no leading space of plus sign is allowed. More...
inline ::cras::from_chars_result	from_chars (const ::std::string &string, float &value, ::cras::chars_format fmt=::cras::chars_format::general) noexcept
	Convert the given string to its best float representation. The behavior is similar to std::from_chars(), i.e. no leading space of plus sign is allowed. More...
inline ::cras::from_chars_result	from_chars (const ::std::string &string, double &value, ::cras::chars_format fmt=::cras::chars_format::general) noexcept
	Convert the given string to its best double representation. The behavior is similar to std::from_chars(), i.e. no leading space of plus sign is allowed. More...
::sensor_msgs::PointField &	getField (::cras::Cloud &cloud, const ::std::string &fieldName)
	Return the sensor_msgs::PointField with the given name. More...
const ::sensor_msgs::PointField &	getField (const ::cras::Cloud &cloud, const ::std::string &fieldName)
	Return the sensor_msgs::PointField with the given name. More...
template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...
template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...
inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char *> &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...
inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions< std::string > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...
template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}, const ::cras::LogHelper *const logger=nullptr)
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...
template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}, const ::cras::LogHelper *const logger=nullptr)
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...
inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char *> &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}, const ::cras::LogHelper *const logger=nullptr)
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...
inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}, const ::cras::LogHelper *const logger=nullptr)
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...
template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...
template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...
template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}, const ::cras::LogHelper *const logger=nullptr)
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...
GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char *> &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...
GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...
template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}, const ::cras::LogHelper *const logger=nullptr)
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...
inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char *> &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}, const ::cras::LogHelper *const logger=nullptr)
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...
inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}, const ::cras::LogHelper *const logger=nullptr)
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...
double	getPitch (const ::tf2::Quaternion &quat)
	Get pitch from the given quaternion. More...
double	getPitch (const ::geometry_msgs::Quaternion &quat)
	Get pitch from the given quaternion. More...
double	getRoll (const ::tf2::Quaternion &quat)
	Get roll from the given quaternion. More...
double	getRoll (const ::geometry_msgs::Quaternion &quat)
	Get roll from the given quaternion. More...
void	getRPY (const ::tf2::Quaternion &quat, double &roll, double &pitch, double &yaw)
	Get roll, pitch and yaw from the given quaternion. More...
void	getRPY (const ::geometry_msgs::Quaternion &quat, double &roll, double &pitch, double &yaw)
	Get roll, pitch and yaw from the given quaternion. More...
std::string	getThreadName ()
	Get the OS name of the current thread. More...
template<typename T >
inline ::std::string	getTypeName ()
	Get a human-readable name of T. More...
::std::string	getTypeName (const ::std::type_info &typeInfo)
	Get a human-readable name of a type represented by the given typeinfo. More...
double	getYaw (const ::tf2::Quaternion &quat)
	Get yaw from the given quaternion. More...
double	getYaw (const ::geometry_msgs::Quaternion &quat)
	Get yaw from the given quaternion. More...
bool	hasField (const ::cras::Cloud &cloud, const ::std::string &fieldName)
	Return true if the cloud contains a field with the given name. More...
bool	isNodeletUnloading (const ::nodelet::Nodelet &nodelet)
	Tells whether the nodelet is currently being unloaded (with some pending callbacks still running). More...
template<typename T >
bool	isSetIntersectionEmpty (const ::std::set< T > &set1, const ::std::set< T > &set2)
	Test whether the two given sets have empty intersection. More...
template<typename T >
::std::string	join (const T &strings, const ::std::string &delimiter)
	Return a string that is a concatenation of elements of strings delimited by delimiter. More...
int8_t	logLevelToRosgraphMsgLevel (::ros::console::Level rosLevel)
	Convert the given rosconsole logging level to rosgraph_msgs::Log level constant. More...
template<typename T , class... Args>
::boost::shared_ptr< T >	make_shared_from_fast_pool (Args &&... args)
	Make a shared instance of an object from Boost fast pool (suitable for e.g. elements of a std::list or single object allocations). More...
template<typename T , class... Args>
::boost::shared_ptr< T >	make_shared_from_pool (Args &&... args)
	Make a shared instance of an object from Boost pool (suitable for e.g. elements of a std::vector or allocations of multiple objects at once). More...
inline ::cras::BoundParamHelperPtr	nodeParams (const ::ros::NodeHandle &node, const ::std::string &ns="")
	Returns a param helper structure "bound" to the given node handle, so that it is not needed to specify the node handle in the subsequent getParam() calls. More...
::ros::Time	nowFallbackToWall ()
	Return current ROS time if it has already been initialized, or current wall time. More...
size_t	numPoints (const ::cras::Cloud &cloud)
	Return the number of points the given pointcloud contains. More...
uint8_t *	outputByteBuffer (allocator_t allocator, const uint8_t *bytes, size_t length)
	Allocate enough bytes using the given allocator and copy the given bytes into the buffer. More...
uint8_t *	outputByteBuffer (allocator_t allocator, const std::vector< uint8_t > &bytes)
	Allocate enough bytes using the given allocator and copy the given bytes into the buffer. More...
template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
uint8_t *	outputRosMessage (allocator_t allocator, const Message &msg)
	Allocate enough bytes using the given allocator and serialize the given message into it. More...
char *	outputString (allocator_t allocator, const char *string, size_t length)
	Allocate enough bytes using the given allocator and copy the given string into the buffer (including null termination byte). More...
char *	outputString (allocator_t allocator, const std::string &string)
	Allocate enough bytes using the given allocator and copy the given string into the buffer (including null termination byte). More...
inline ::cras::BoundParamHelperPtr	paramsForNodeHandle (const ::ros::NodeHandle &node)
	Returns a param helper structure "bound" to the given node handle, so that it is not needed to specify the node handle in the subsequent getParam() calls. More...
double	parseDouble (const ::std::string &string)
	Parse the given string to a double. More...
double	parseDouble (const char *string)
	Parse the given string to a double. More...
float	parseFloat (const ::std::string &string)
	Parse the given string to a float. More...
float	parseFloat (const char *string)
	Parse the given string to a float. More...
int16_t	parseInt16 (const std::string &string)
	Parse the given string to a 16-bit int. More...
int16_t	parseInt16 (const char *string)
	Parse the given string to a 16-bit int. More...
int32_t	parseInt32 (const std::string &string)
	Parse the given string to a 32-bit int. More...
int32_t	parseInt32 (const char *string)
	Parse the given string to a 32-bit int. More...
int64_t	parseInt64 (const std::string &string)
	Parse the given string to a 64-bit int. More...
int64_t	parseInt64 (const char *string)
	Parse the given string to a 64-bit int. More...
int8_t	parseInt8 (const std::string &string)
	Parse the given string to a 8-bit int. More...
int8_t	parseInt8 (const char *string)
	Parse the given string to a 8-bit int. More...
uint16_t	parseUInt16 (const std::string &string)
	Parse the given string to a 16-bit unsigned int. More...
uint16_t	parseUInt16 (const char *string)
	Parse the given string to a 16-bit unsigned int. More...
uint32_t	parseUInt32 (const std::string &string)
	Parse the given string to a 32-bit unsigned int. More...
uint32_t	parseUInt32 (const char *string)
	Parse the given string to a 32-bit unsigned int. More...
uint64_t	parseUInt64 (const std::string &string)
	Parse the given string to a 64-bit unsigned int. More...
uint64_t	parseUInt64 (const char *string)
	Parse the given string to a 64-bit unsigned int. More...
uint8_t	parseUInt8 (const std::string &string)
	Parse the given string to a 8-bit unsigned int. More...
uint8_t	parseUInt8 (const char *string)
	Parse the given string to a 8-bit unsigned int. More...
::std::string	prependIfNonEmpty (const ::std::string &str, const ::std::string &prefix)
	If str is nonempty, returns prefix + str, otherwise empty string. More...
template<typename T , ::std::enable_if_t<!::cras::is_string<::std::decay_t< T >>::value, bool > = true>
inline ::std::string	quoteIfStringType (const ::std::string &s, const T &)
	Put s in double quotes if T is a string type (std::string or char*). More...
void	registerCloudChannelType (const ::std::string &channelPrefix, ::cras::CloudChannelType type)
	Register the given pointcloud channel prefix with the given type. This registration will be used by transformWithChannels() when called without an explicit channel list. More...
::ros::Duration	remainingTime (const ::ros::Time &query, double timeout)
	Return remaining time to timeout from the query time. More...
::ros::Duration	remainingTime (const ::ros::Time &query, const ::ros::Duration &timeout)
	Return remaining time to timeout from the query time. More...
::std::string	removePrefix (const ::std::string &str, const ::std::string &prefix, bool *hadPrefix=nullptr)
	Remove prefix from start of str if it contains it, otherwise return str unchanged. More...
::std::string	removeSuffix (const ::std::string &str, const ::std::string &suffix, bool *hadSuffix=nullptr)
	Remove suffix from end of str if it contains it, otherwise return str unchanged. More...
::std::string	replace (const ::std::string &str, const ::std::string &from, const ::std::string &to, const ::cras::ReplacePosition &where=::cras::ReplacePosition::EVERYWHERE)
	Replace all occurrences of from in str with to. More...
void	replace (::std::string &str, const ::std::string &from, const ::std::string &to, const ::cras::ReplacePosition &where=::cras::ReplacePosition::EVERYWHERE)
	Replace all occurrences of from in str with to. More...
::ros::console::Level	rosgraphMsgLevelToLogLevel (uint8_t msgLevel)
	Convert the given rosgraph_msgs::Log level constant to rosconsole logging level. More...
::ros::Rate	safeRate (double frequency)
	Return a rate representing the given frequency. If the frequency is zero or too small, return min/max representable rate. More...
::ros::WallRate	safeWallRate (double frequency)
	Return a rate representing the given frequency. If the frequency is zero or too small, return min/max representable rate. More...
void	setThreadName (const std::string &name)
	Set the OS name of the current thread. More...
size_t	sizeOfPointField (int datatype)
	Return the size (in bytes) of a sensor_msgs::PointField datatype. More...
size_t	sizeOfPointField (const ::sensor_msgs::PointField &field)
	Return the size (in bytes) of the data represented by the sensor_msgs::PointField. More...
::std::vector<::std::string >	split (const ::std::string &str, const ::std::string &delimiter, int maxSplits=-1)
	Split the given string by the given delimiter. More...
bool	startsWith (const ::std::string &str, const ::std::string &prefix)
	Check whether prefix is a prefix of str. More...
void	strip (::std::string &s, const char &c=' ')
	Strip c from the beginning and end of the given string (if it is there). More...
::std::string	strip (const ::std::string &s, const char &c=' ')
	Return a copy of the given string with c removed from its beginning and end (if it was there). More...
void	stripLeading (::std::string &s, const char &c=' ')
	Strip c from the start of the given string (if there is one). More...
::std::string	stripLeading (const ::std::string &s, const char &c=' ')
	Return a copy of the given string with c removed from its start (if there is one). More...
void	stripLeadingSlash (::std::string &s, bool warn=false)
	Strip leading slash from the given string (if there is one). More...
::std::string	stripLeadingSlash (const ::std::string &s, bool warn=false)
	Return a copy of the given string with leading slash removed (if there is one). More...
void	stripTrailing (::std::string &s, const char &c=' ')
	Strip c from the end of the given string (if there is one). More...
::std::string	stripTrailing (const ::std::string &s, const char &c=' ')
	Return a copy of the given string with c removed from its end (if there is one). More...
constexpr const char *	to_cstring (const ::XmlRpc::XmlRpcValue::Type &value)
	Return a string representation of the XmlRpcValue type. More...
inline ::std::string	to_string (const ::XmlRpc::XmlRpcValue &value)
inline ::std::string	to_string (const ::tf2::Vector3 &value)
template<typename Scalar , int Rows, int Cols, int Options, int MaxRows, int MaxCols>
inline ::std::string	to_string (const ::Eigen::Matrix< Scalar, Rows, Cols, Options, MaxRows, MaxCols > &value)
inline ::std::string	to_string (const ::tf2::Quaternion &value)
template<typename Derived , int Dim>
inline ::std::string	to_string (const ::Eigen::RotationBase< Derived, Dim > &value)
template<typename T , typename ::std::enable_if_t< ::std::is_same< T, ::ros::Time >::value||::std::is_same< T, ::ros::WallTime >::value||::std::is_same< T, ::ros::SteadyTime >::value||::std::is_same< T, ::ros::Duration >::value||::std::is_same< T, ::ros::WallDuration >::value > * = nullptr>
inline ::std::string	to_string (const T &value)
inline ::std::string	to_string (const ::tf2::Matrix3x3 &value)
template<typename Scalar , int Dim, int Mode, int Options>
inline ::std::string	to_string (const ::Eigen::Transform< Scalar, Dim, Mode, Options > &value)
inline ::std::string	to_string (const ::tf2::Transform &value)
template<typename M , ::std::enable_if_t<::ros::message_traits::IsMessage< M >::value > * = nullptr>
std::string	to_string (const M &msg)
template<>
inline ::std::string	to_string (const ::XmlRpc::XmlRpcValue::Type &value)
template<typename T >
decltype(::std::to_string(::std::declval< T >()))	to_string (const T &value)
	Convert the given value to a string representation. More...
template<typename T >
decltype(static_cast<::std::string >(::std::declval< T >()))	to_string (const T &value)
	Convert the given value to a string representation. More...
inline ::std::string	to_string (const double &value)
inline ::std::string	to_string (const float &value)
inline ::std::string	to_string (const long double &value)
inline ::std::string	to_string (const char *value)
inline ::std::string	to_string (char *value)
template<int I>
inline ::std::string	to_string (const char value[I])
inline ::std::string	to_string (const bool &value)
inline ::std::string	to_string (const ::std::string &value)
template<typename K , typename V >
inline ::std::string	to_string (const ::std::map< K, V > &value)
template<typename K , typename V >
inline ::std::string	to_string (const ::std::unordered_map< K, V > &value)
template<typename T , size_t N>
inline ::std::string	to_string (const ::std::array< T, N > &value)
::Eigen::Translation3d	toEigen (const ::urdf::Vector3 &position)
	URDF Vector3 to Eigen translation. More...
::Eigen::Quaterniond	toEigen (const ::urdf::Rotation &rotation)
	Convert URDF rotation to Eigen quaternion. More...
::Eigen::Isometry3d	toEigen (const ::urdf::Pose &pose)
	Convert URDF pose to Eigen transform. More...
::std::string	toLower (const ::std::string &str)
	Convert all characters in the given string to lower case. More...
::std::string	toUpper (const ::std::string &str)
	Convert all characters in the given string to upper case. More...
::urdf::Vector3	toURDF (const ::Eigen::Translation3d &translation)
	Convert Eigen translation to URDF Vector3. More...
::urdf::Vector3	toURDF (const ::Eigen::Vector3d &vector)
	Convert Eigen vector to URDF Vector3. More...
::urdf::Rotation	toURDF (const ::Eigen::Quaterniond &rotation)
	Convert Eigen quaternion to URDF Rotation. More...
::urdf::Pose	toURDF (const ::Eigen::Isometry3d &pose)
	Convert Eigen isometry to URDF Pose. More...
void	transformChannel (::sensor_msgs::PointCloud2 &cloud, const ::geometry_msgs::Transform &transform, const ::std::string &channelPrefix, ::cras::CloudChannelType type)
	Transform the given channel in the given cloud using the given transform. More...
::sensor_msgs::PointCloud2 &	transformOnlyChannels (const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::geometry_msgs::TransformStamped &tf, const ::std::unordered_map<::std::string, ::cras::CloudChannelType > &channels)
	Copy the selected channels from in cloud to out and transform them using the given transform. More...
::sensor_msgs::PointCloud2 &	transformOnlyXYZ (const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::geometry_msgs::TransformStamped &tf)
	Copy only the XYZ channel from in cloud to out and transform it using the given transform. More...
::sensor_msgs::PointCloud2 &	transformWithChannels (const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::geometry_msgs::TransformStamped &tf)
	Copy in cloud to out and transform channels using the given transform. The list of channels to be transformed consists of the XYZ channel, vp_, normal_ and all channels registered by registerCloudChannelType(). More...
::sensor_msgs::PointCloud2 &	transformWithChannels (const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::geometry_msgs::TransformStamped &tf, const ::std::unordered_map<::std::string, ::cras::CloudChannelType > &channels)
	Copy in cloud to out and transform channels using the given transform. Only the channels passed in channels will be transformed, according to their type. More...
::sensor_msgs::PointCloud2 &	transformWithChannels (const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::tf2_ros::Buffer &tfBuffer, const ::std::string &targetFrame)
	Copy in cloud to out and transform channels using the given transform. The list of channels to be transformed consists of the XYZ channel, vp_, normal_ and all channels registered by registerCloudChannelType(). More...
::sensor_msgs::PointCloud2 &	transformWithChannels (const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::tf2_ros::Buffer &tfBuffer, const ::std::string &targetFrame, const ::std::unordered_map<::std::string, ::cras::CloudChannelType > &channels)
	Copy in cloud to out and transform channels using the given transform. Only the channels passed in channels will be transformed, according to their type. More...
void	unregisterCloudChannelType (const ::std::string &channelPrefix)
	Unregister a cloud channel type registered earlier with registerCloudChannelType(). More...

Variables
	int
	LONG_MIN
const ParamHelper	paramHelper (::std::make_shared<::cras::NodeLogHelper >())

Typedef Documentation

allocator_t

typedef void*(* cras::allocator_t) (size_t)

Allocator function that should allocate a buffer of the given size on the caller side and return a pointer to it.

This is used throughout the C API to ease returning strings and byte buffers of dynamic size to the caller. Instead of taking a writable char* argument or returning a new-allocated const char*, the function takes the allocator as the argument. When it is about to return to the caller, it uses the allocator to get a caller-side-managed buffer of the correct size and writes the string/byte buffer to this buffer.

cras_py_common provides the BytesAllocator and StringAllocator classes that can be passed as this allocator argument. Once the ctypes function call finishes, the caller can access allocator.value to get the string or buffer returned by the function.

Definition at line 36 of file c_api.h.

BaseMessage

template<typename M >

using cras::BaseMessage = typedef typename ::ros::ParameterAdapter<M>::Message

Return the base message type of M (i.e. removes MessageEvent, const, &, shared_ptr etc.).

Definition at line 19 of file message_utils.hpp.

BoundParamHelperPtr

typedef ::std::shared_ptr<::cras::BoundParamHelper> cras::BoundParamHelperPtr

Definition at line 24 of file bound_param_helper.hpp.

check_get_param_types

template<typename ResultType , typename ParamServerType >

using cras::check_get_param_types = typedef typename std::enable_if_t< !::cras::is_optional<ResultType>::value && !::cras::is_c_string<ResultType>::value && !::cras::is_c_string<ParamServerType>::value >

This type is a TrueType if the combination of ResultType and ParamServerType is valid.

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Definition at line 67 of file param_utils.hpp.

Cloud

typedef ::sensor_msgs::PointCloud2 cras::Cloud

Shorthand for sensor_msgs::PointCloud2.

Definition at line 23 of file cloud.hpp.

CloudConstIter

typedef ::sensor_msgs::PointCloud2ConstIterator<float> cras::CloudConstIter

Const cloud float field iterator.

Definition at line 32 of file cloud.hpp.

CloudIndexConstIter

typedef ::sensor_msgs::PointCloud2ConstIterator<int> cras::CloudIndexConstIter

Const cloud int field iterator.

Definition at line 35 of file cloud.hpp.

CloudIndexIter

typedef ::sensor_msgs::PointCloud2Iterator<int> cras::CloudIndexIter

Cloud int field iterator.

Definition at line 29 of file cloud.hpp.

CloudIter

typedef ::sensor_msgs::PointCloud2Iterator<float> cras::CloudIter

Cloud float field iterator.

Definition at line 26 of file cloud.hpp.

CloudModifier

typedef ::sensor_msgs::PointCloud2Modifier cras::CloudModifier

Shorthand for sensor_msgs::PointCloud2Modifier.

Definition at line 38 of file cloud.hpp.

DurationStatusPtr

using cras::DurationStatusPtr = typedef ::std::shared_ptr<::cras::DurationStatus>

Definition at line 140 of file duration_status.h.

GenericCloudConstIter

typedef ::cras::impl::GenericCloudConstIterator cras::GenericCloudConstIter

Definition at line 61 of file cloud.hpp.

GenericCloudIter

typedef ::cras::impl::GenericCloudIterator cras::GenericCloudIter

GenericCloudIter and GenericCloudConstIter are iterators of fields of types unknown at compile time.

The iterators allow you to dereference them into an unsigned char, which doesn't however need to be the actual data, as they may span multiple bytes.

It adds function rawData() which returns a pointer to the current position in the uchar data stream. You can use reinterpret_cast to transform the data into some desired type and get or set the value. Any kind of data safety is on you.

Another provided function is dataAs<Type>() which returns the current iterator position as a pointer to data of the requested type. This function does a basic check that the requested data type has the same size as the type of the iterated field.

The non-const iterator also provides method copyData() which can copy the field data from another generic iterator. This can be used to copy fields of types which are not known at compile time.

Definition at line 58 of file cloud.hpp.

GetParamAdapterPtr

typedef ::std::shared_ptr<::cras::GetParamAdapter> cras::GetParamAdapterPtr

Definition at line 57 of file get_param_adapter.hpp.

IsMessageParam

template<typename M >

using cras::IsMessageParam = typedef ::ros::message_traits::IsMessage<::cras::BaseMessage<M> >

Tells whether the given signature designates a ROS message parameters (possibly surrounded by const, &, shared_ptr, MessageEvent etc.).

Definition at line 24 of file message_utils.hpp.

LogHelperConstPtr

typedef ::cras::LogHelper::ConstPtr cras::LogHelperConstPtr

Const pointer to LogHelper.

Definition at line 203 of file log_utils.h.

LogHelperPtr

typedef ::cras::LogHelper::Ptr cras::LogHelperPtr

Pointer to LogHelper.

Definition at line 202 of file log_utils.h.

ParamHelperPtr

typedef ::std::shared_ptr<::cras::ParamHelper> cras::ParamHelperPtr

Definition at line 266 of file param_utils/param_helper.hpp.

SimpleTopicStatusParam

template<typename Message >

using cras::SimpleTopicStatusParam = typedef ::std::conditional_t<::ros::message_traits::HasHeader<Message>::value, ::cras::SimpleTopicStatusParamWithHeader, ::cras::SimpleTopicStatusParamNoHeader>

Helper struct for easy brace-initialization of TopicStatusParam objects.

Template Parameters

Message

Type of the message for which parameters are constructed.

Note

This typedef automatically chooses WithHeader or NoHeader variant of the struct based on the type of the message.

Definition at line 80 of file topic_status_param.hpp.

TopicStatusParam

template<typename Message >

using cras::TopicStatusParam = typedef ::std::conditional_t<::ros::message_traits::HasHeader<Message>::value, ::cras::TopicStatusParamWithHeader, ::cras::FrequencyStatusParam>

Helper struct for automatic choosing of the correct topic status parameter object based on whether the message type has a header or not.

Template Parameters

Message

Type of the message for which parameters are constructed.

Note

This typedef automatically chooses either cras::FrequencyStatusParam or cras::TopicStatusParamWithHeader based on the type of the message.

Definition at line 280 of file topic_status_param.hpp.

TopicStatusPtr

template<typename Message >

using cras::TopicStatusPtr = typedef ::std::shared_ptr<::cras::TopicStatus<Message> >

Definition at line 250 of file topic_status.hpp.

ToStringFn

template<typename T >

using cras::ToStringFn = typedef ::std::function<::std::string(const T&)>

Type of function that converts anything to a string.

Definition at line 339 of file string_utils.hpp.

Enumeration Type Documentation

chars_format

enum cras::chars_format

Enumerator
scientific
fixed
hex
general

Definition at line 17 of file from_chars.h.

CloudChannelType

enum cras::CloudChannelType

strong

Type of a pointcloud channel.

Enumerator
POINT	A 3D point (if transformed, both translation and rotation is applied).
DIRECTION	A 3D vector/direction (if transformed, only rotation is applied).
SCALAR	A scalar value (not affected by transforms).

Definition at line 25 of file tf2_sensor_msgs.h.

ReplacePosition

enum cras::ReplacePosition

strong

Specifies where a replace operation should act.

Enumerator
EVERYWHERE	Act in the whole string.
START	Act only on the beginning of the string.
END	Act only on the end of the string.

Definition at line 143 of file string_utils.hpp.

Function Documentation

appendIfNonEmpty()

::std::string cras::appendIfNonEmpty	(	const ::std::string &	str,
		const ::std::string &	suffix
	)

If str is nonempty, returns str + suffix, otherwise empty string.

Parameters

[in]	str	The main string.
[in]	suffix	The string's suffix.

Returns

The possibly suffixed string.

bind_front()

template<class F , class... Args>

auto cras::bind_front	(	F &&	f,
		Args &&...	args
	)

Definition at line 48 of file functional.hpp.

cleanTypeName()

::std::string cras::cleanTypeName

(

const ::std::string &

typeName

)

Remove not-so-nice parts of demangled C++ type names.

Parameters

[in]

typeName

Name of a demangled C++ type.

Returns

A better name.

contains() [1/2]

bool cras::contains	(	const ::std::string &	str,
		char	c
	)

Check whether str contains character c.

Parameters

[in]	str	The string to search in.
[in]	c	The character to search.

Returns

Whether str contains character c.

contains() [2/2]

bool cras::contains	(	const ::std::string &	str,
		const ::std::string &	needle
	)

Check whether str contains substring needle.

Parameters

[in]	str	The string to search in.
[in]	needle	The substring to search.

Returns

Whether str contains substring needle.

convert() [1/13]

bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, ::XmlRpc::XmlRpcValue &  v, bool  = false, ::std::list<::std::string > *  errors = nullptr  )

inline

Convert XmlRpcValue x to value v.

Parameters

[in]	x	The XmlRpcValue to convert.
[out]	v	The value to convert to.
[in,out]	errors	If non-null, any conversion error messages will be stored here.

Returns

True if the conversion succeeded. If skipNonConvertible is true, conversion will succeed if at least one contained value succeeded converting (if converting to a container type).

Definition at line 53 of file xmlrpc_value_utils.hpp.

convert() [2/13]

bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, bool &  v, bool  = false, ::std::list<::std::string > *  errors = nullptr  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 61 of file xmlrpc_value_utils.hpp.

convert() [3/13]

bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, int &  v, bool  = false, ::std::list<::std::string > *  errors = nullptr  )

inline

Definition at line 87 of file xmlrpc_value_utils.hpp.

convert() [4/13]

LONG_MAX USHRT_MAX ULONG_LONG_MAX bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, double &  v, bool  = false, ::std::list<::std::string > *  errors = nullptr  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 133 of file xmlrpc_value_utils.hpp.

convert() [5/13]

bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, std::string &  v, bool  = false, ::std::list<::std::string > *  errors = nullptr  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 179 of file xmlrpc_value_utils.hpp.

convert() [6/13]

template<typename T >

bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, ::std::map<::std::string, T > &  v, bool  skipNonConvertible = false, ::std::list<::std::string > *  errors = nullptr  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

convert() [7/13]

template<typename T >

bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, ::std::unordered_map<::std::string, T > &  v, bool  skipNonConvertible = false, ::std::list<::std::string > *  errors = nullptr  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

convert() [8/13]

template<typename T >

bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, ::std::vector< T > &  v, bool  skipNonConvertible = false, ::std::list<::std::string > *  errors = nullptr  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

convert() [9/13]

template<typename T >

bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, ::std::list< T > &  v, bool  skipNonConvertible = false, ::std::list<::std::string > *  errors = nullptr  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

convert() [10/13]

template<typename T >

bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, ::std::set< T > &  v, bool  skipNonConvertible = false, ::std::list<::std::string > *  errors = nullptr  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

convert() [11/13]

template<typename T >

bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, ::std::unordered_set< T > &  v, bool  skipNonConvertible = false, ::std::list<::std::string > *  errors = nullptr  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

convert() [12/13]

template<typename T , size_t N>

bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, ::std::array< T, N > &  v, bool  skipNonConvertible = false, ::std::list<::std::string > *  errors = nullptr  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 258 of file xmlrpc_value_utils.hpp.

convert() [13/13]

bool cras::convert ( const ::XmlRpc::XmlRpcValue &  x, ::dynamic_reconfigure::Config &  v, bool  skipNonConvertible, ::std::list<::std::string > *  errors  )

inline

Definition at line 309 of file xmlrpc_value_utils.hpp.

copyChannelData()

void cras::copyChannelData	(	const ::cras::Cloud &	in,
		::cras::Cloud &	out,
		const ::std::string &	fieldName
	)

Copy data belonging to the given field from in cloud to out cloud.

Parameters

[in]	in	The input cloud.
[out]	out	The ouptut cloud. It has to be resized to contain at least that many points as the input cloud. It also has to have the given field present already.
[in]	fieldName	Name of the field whose data should be copied.

Exceptions

std::runtime_error	If the output cloud is smaller (in nr. of points) than the input cloud.
std::runtime_error	If the given field doesn't exist in either of the clouds.

DEFINE_CONVERTING_GET_PARAM() [1/4]

cras::DEFINE_CONVERTING_GET_PARAM	(	::tf2::Vector3	,
		::std::vector< double >	,
		""	,
		[] (const ::std::vector< double > &v) { if(v.size() !=3) throw ::std::runtime_error(::cras::format("Cannot load %s parameter from an array of length %lu", "tf2::Vector3", v.size()));return ::tf2::Vector3(v[0], v[1], v[2]);}
	)

Definition at line 24 of file param_utils/get_param_specializations/tf2.hpp.

DEFINE_CONVERTING_GET_PARAM() [2/4]

cras::DEFINE_CONVERTING_GET_PARAM	(	::Eigen::Vector3d	,
		::std::vector< double >	,
		""	,
		[] (const ::std::vector< double > &v){ checkSize(v, 3, "vector");return ::Eigen::Vector3d(v.data());}
	)

Definition at line 31 of file param_utils/get_param_specializations/eigen.hpp.

DEFINE_CONVERTING_GET_PARAM() [3/4]

cras::DEFINE_CONVERTING_GET_PARAM	(	::Eigen::Vector4d	,
		::std::vector< double >	,
		""	,
		[] (const ::std::vector< double > &v){ checkSize(v, 4, "vector");return ::Eigen::Vector4d(v.data());}
	)

Definition at line 37 of file param_utils/get_param_specializations/eigen.hpp.

DEFINE_CONVERTING_GET_PARAM() [4/4]

cras::DEFINE_CONVERTING_GET_PARAM	(	::geometry_msgs::Quaternion	,
		::std::vector< double >	,
		""	,
		[] (const ::std::vector< double > &v) { if(v.size() !=3 &&v.size() !=4) throw ::std::runtime_error(::cras::format("Cannot load %s parameter from an array of length %lu", "geometry_msgs::Quaternion", v.size()));::geometry_msgs::Quaternion m;if(v.size()==4) { m.x=v[0];m.y=v[1];m.z=v[2];m.w=v[3];} else { ::tf2::Quaternion q;q.setRPY(v[0], v[1], v[2]);m.x=q.getX();m.y=q.getY();m.z=q.getZ();m.w=q.getW();} return m;}
	)

Definition at line 38 of file geometry_msgs.hpp.

DEFINE_INTEGRAL_CONVERT() [1/3]

cras::DEFINE_INTEGRAL_CONVERT	(	short	,
		int	,
		SHRT_MIN	,
		SHRT_MAX
	)

DEFINE_INTEGRAL_CONVERT() [2/3]

LONG_MAX cras::DEFINE_INTEGRAL_CONVERT	(	long	long,
		int	,
		LONG_LONG_MIN	,
		LONG_LONG_MAX
	)

DEFINE_INTEGRAL_CONVERT() [3/3]

LONG_MAX USHRT_MAX cras::DEFINE_INTEGRAL_CONVERT	(	unsigned	long,
		int	,
		0	,
		ULONG_MAX
	)

demangle()

::std::string cras::demangle

(

const ::std::string &

mangled

)

Demangle the given mangle C++ type identifier.

Parameters

[in]

mangled

The mangled name.

Returns

The demangled name if demangling succeeded. Otherwise, return mangled.

endsWith()

bool cras::endsWith	(	const ::std::string &	str,
		const ::std::string &	suffix
	)

Check whether suffix is a suffix of str.

Parameters

[in]	str	The string to be searched in.
[in]	suffix	The string to be found in str.

Returns

Whether suffix is a suffix of str.

format() [1/4]

inline ::std::string cras::format	(	const char *	format,
		::va_list	args
	)

printf-like support working with std::string and automatically managing memory.

Parameters

[in]	format	The printf-like format string.
[in]	args	Arguments of the format string.

Returns

The formatted string.

Definition at line 223 of file string_utils.hpp.

format() [2/4]

inline ::std::string cras::format	(	const char *	format,
			...
	)

printf-like support working with std::string and automatically managing memory.

Parameters

[in]	format	The printf-like format string.
[in]	...	Arguments of the format string.

Returns

The formatted string.

Definition at line 255 of file string_utils.hpp.

format() [3/4]

inline ::std::string cras::format	(	::std::string	format,
			...
	)

printf-like support working with std::string and automatically managing memory.

Parameters

[in]	format	The printf-like format string.
[in]	...	Arguments of the format string.

Returns

The formatted string.

Definition at line 270 of file string_utils.hpp.

format() [4/4]

inline ::std::string cras::format	(	::std::string	format,
		::va_list	args
	)

printf-like support working with std::string and automatically managing memory.

Parameters

[in]	format	The printf-like format string.
[in]	args	Arguments of the format string.

Returns

The formatted string.

Definition at line 285 of file string_utils.hpp.

frequency() [1/2]

double cras::frequency	(	const ::ros::Rate &	rate,
		bool	maxCycleTimeMeansZero = false
	)

Return the frequency represented by the given rate.

Parameters

[in]	rate	The rate to convert.
[in]	maxCycleTimeMeansZero	If true, return 0 frequency in case the rate's cycle time is the maximum duration.

Returns

The frequency.

frequency() [2/2]

double cras::frequency	(	const ::ros::WallRate &	rate,
		bool	maxCycleTimeMeansZero = false
	)

Return the frequency represented by the given rate.

Parameters

[in]	rate	The rate to convert.
[in]	maxCycleTimeMeansZero	If true, return 0 frequency in case the rate's cycle time is the maximum duration.

Returns

The frequency.

from_chars() [1/4]

::cras::from_chars_result cras::from_chars ( const char *  first, const char *  last, float &  value, ::cras::chars_format  fmt = ::cras::chars_format::general  )

noexcept

Convert the given string to its best float representation. The behavior is similar to std::from_chars(), i.e. no leading space of plus sign is allowed.

Parameters

[in]	first	Pointer to first char of the string.
[in]	last	Pointer to last char of the string.
[out]	value	The parsed value (valid only if parsing succeeded, i.e. ec in the result is 0).
[in]	fmt	Bitmask of cras::chars_format values that specify the format rules with which the value should be interpreted. Not all formats have to be supported.

Returns

Struct containing the error code ec - 0 on success, std::errc::invalid_argument if no number could be parsed, and std::errc::result_out_of_range if a numeric value was parsed but did not fit into a float. It is implementation specific, whether result_out_of_range or 0/inf will be returned for too small/large values. ptr points to the first character that was not parsed as a part of the numeric value.

from_chars() [2/4]

::cras::from_chars_result cras::from_chars ( const char *  first, const char *  last, double &  value, ::cras::chars_format  fmt = ::cras::chars_format::general  )

noexcept

Convert the given string to its best double representation. The behavior is similar to std::from_chars(), i.e. no leading space of plus sign is allowed.

Parameters

[in]	first	Pointer to first char of the string.
[in]	last	Pointer to last char of the string.
[out]	value	The parsed value (valid only if parsing succeeded, i.e. ec in the result is 0).
[in]	fmt	Bitmask of cras::chars_format values that specify the format rules with which the value should be interpreted. Not all formats have to be supported.

Returns

Struct containing the error code ec - 0 on success, std::errc::invalid_argument if no number could be parsed, and std::errc::result_out_of_range if a numeric value was parsed but did not fit into a double. It is implementation specific, whether result_out_of_range or 0/inf will be returned for too small/large values. ptr points to the first character that was not parsed as a part of the numeric value.

from_chars() [3/4]

inline ::cras::from_chars_result cras::from_chars ( const ::std::string &  string, float &  value, ::cras::chars_format  fmt = ::cras::chars_format::general  )

noexcept

Convert the given string to its best float representation. The behavior is similar to std::from_chars(), i.e. no leading space of plus sign is allowed.

Parameters

[in]	string	The string to convert.
[out]	value	The parsed value (valid only if parsing succeeded, i.e. ec in the result is 0).
[in]	fmt	Bitmask of cras::chars_format values that specify the format rules with which the value should be interpreted. Not all formats have to be supported.

Returns

Struct containing the error code ec - 0 on success, std::errc::invalid_argument if no number could be parsed, and std::errc::result_out_of_range if a numeric value was parsed but did not fit into a float. It is implementation specific, whether result_out_of_range or 0/inf will be returned for too small/large values. ptr points to the first character that was not parsed as a part of the numeric value.

Definition at line 75 of file from_chars.h.

from_chars() [4/4]

inline ::cras::from_chars_result cras::from_chars ( const ::std::string &  string, double &  value, ::cras::chars_format  fmt = ::cras::chars_format::general  )

noexcept

Convert the given string to its best double representation. The behavior is similar to std::from_chars(), i.e. no leading space of plus sign is allowed.

Parameters

[in]	string	The string to convert.
[out]	value	The parsed value (valid only if parsing succeeded, i.e. ec in the result is 0).
[in]	fmt	Bitmask of cras::chars_format values that specify the format rules with which the value should be interpreted. Not all formats have to be supported.

Returns

Struct containing the error code ec - 0 on success, std::errc::invalid_argument if no number could be parsed, and std::errc::result_out_of_range if a numeric value was parsed but did not fit into a double. It is implementation specific, whether result_out_of_range or 0/inf will be returned for too small/large values. ptr points to the first character that was not parsed as a part of the numeric value.

Definition at line 93 of file from_chars.h.

getField() [1/2]

::sensor_msgs::PointField& cras::getField	(	::cras::Cloud &	cloud,
		const ::std::string &	fieldName
	)

Return the sensor_msgs::PointField with the given name.

Parameters

[in]	cloud	Cloud to extract the field from.
[in]	fieldName	Name of the field.

Returns

Reference to the field.

Exceptions

std::runtime_error

if the field doesn't exist.

getField() [2/2]

const ::sensor_msgs::PointField& cras::getField	(	const ::cras::Cloud &	cloud,
		const ::std::string &	fieldName
	)

Return the sensor_msgs::PointField with the given name.

Parameters

[in]	cloud	Cloud to extract the field from.
[in]	fieldName	Name of the field.

Returns

Reference to the field.

Exceptions

std::runtime_error

if the field doesn't exist.

getParam() [1/8]

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

ResultType cras::getParam ( const ::ros::NodeHandle &  node, const ::std::string &  name, const ::cras::optional< ResultType > &  defaultValue = ResultType(), const ::std::string &  unit = "", const ::cras::GetParamOptions< ResultType, ParamServerType > &  options = {}  )

inline

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.

Returns

The loaded parameter value.

Definition at line 110 of file node_utils.hpp.

getParam() [2/8]

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

ResultType cras::getParam ( const ::ros::NodeHandle &  node, const ::std::string &  name, const ResultType &  defaultValue = ResultType(), const ::std::string &  unit = "", const ::cras::GetParamOptions< ResultType, ParamServerType > &  options = {}  )

inline

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.

Returns

The loaded parameter value.

Definition at line 139 of file node_utils.hpp.

getParam() [3/8]

inline ::std::string cras::getParam	(	const ::ros::NodeHandle &	node,
		const ::std::string &	name,
		const ::cras::optional< const char *> &	defaultValue,
		const ::std::string &	unit = "",
		const ::cras::GetParamOptions<::std::string > &	options = {}
	)

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.

Returns

The loaded parameter value.

Definition at line 210 of file node_utils.hpp.

getParam() [4/8]

inline ::std::string cras::getParam	(	const ::ros::NodeHandle &	node,
		const ::std::string &	name,
		const char *	defaultValue,
		const ::std::string &	unit = "",
		const ::cras::GetParamOptions< std::string > &	options = {}
	)

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.

Returns

The loaded parameter value.

Definition at line 232 of file node_utils.hpp.

getParam() [5/8]

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

ResultType cras::getParam ( const ::cras::GetParamAdapter &  param, const ::std::string &  name, const ::cras::optional< ResultType > &  defaultValue = ResultType(), const ::std::string &  unit = "", const ::cras::GetParamOptions< ResultType, ParamServerType > &  options = {}, const ::cras::LogHelper *const  logger = nullptr  )

inline

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	param	The parameter adapter from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.
[in]	logger	The LogHelper used for printing messages. If nullptr, no messages are printed.

Returns

The loaded parameter value.

Definition at line 335 of file param_utils.hpp.

getParam() [6/8]

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

ResultType cras::getParam ( const ::cras::GetParamAdapter &  param, const ::std::string &  name, const ResultType &  defaultValue = ResultType(), const ::std::string &  unit = "", const ::cras::GetParamOptions< ResultType, ParamServerType > &  options = {}, const ::cras::LogHelper *const  logger = nullptr  )

inline

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	param	The parameter adapter from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.
[in]	logger	The LogHelper used for printing messages. If nullptr, no messages are printed.

Returns

The loaded parameter value.

Definition at line 365 of file param_utils.hpp.

getParam() [7/8]

inline ::std::string cras::getParam	(	const ::cras::GetParamAdapter &	param,
		const ::std::string &	name,
		const ::cras::optional< const char *> &	defaultValue,
		const ::std::string &	unit = "",
		const ::cras::GetParamOptions<::std::string > &	options = {},
		const ::cras::LogHelper *const	logger = nullptr
	)

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	param	The parameter adapter from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.
[in]	logger	The LogHelper used for printing messages. If nullptr, no messages are printed.

Returns

The loaded parameter value.

Definition at line 441 of file param_utils.hpp.

getParam() [8/8]

inline ::std::string cras::getParam	(	const ::cras::GetParamAdapter &	param,
		const ::std::string &	name,
		const char *	defaultValue,
		const ::std::string &	unit = "",
		const ::cras::GetParamOptions<::std::string > &	options = {},
		const ::cras::LogHelper *const	logger = nullptr
	)

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	param	The parameter adapter from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.
[in]	logger	The LogHelper used for printing messages. If nullptr, no messages are printed.

Returns

The loaded parameter value.

Definition at line 463 of file param_utils.hpp.

getParamVerbose() [1/8]

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

GetParamResult<ResultType> cras::getParamVerbose ( const ::ros::NodeHandle &  node, const ::std::string &  name, const ::cras::optional< ResultType > &  defaultValue = ResultType(), const ::std::string &  unit = "", const ::cras::GetParamOptions< ResultType, ParamServerType > &  options = {}  )

inline

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.

Returns

A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 51 of file node_utils.hpp.

getParamVerbose() [2/8]

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

GetParamResult<ResultType> cras::getParamVerbose ( const ::ros::NodeHandle &  node, const ::std::string &  name, const ResultType &  defaultValue = ResultType(), const ::std::string &  unit = "", const ::cras::GetParamOptions< ResultType, ParamServerType > &  options = {}  )

inline

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.

Returns

A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 80 of file node_utils.hpp.

getParamVerbose() [3/8]

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

inline ::cras::GetParamResult<ResultType> cras::getParamVerbose	(	const ::cras::GetParamAdapter &	param,
		const ::std::string &	name,
		const ::cras::optional< ResultType > &	defaultValue = ResultType(),
		const ::std::string &	unit = "",
		const ::cras::GetParamOptions< ResultType, ParamServerType > &	options = {},
		const ::cras::LogHelper *const	logger = nullptr
	)

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

Overloads defining conversion to various types can be defined in several forms. You can either overload cras::convert() that converts the XmlRpcValue to an intermediate value, or you can make the intermediate value autoconvertible to the result type, or you can create a specialization of DefaultToResultFn and DefaultParamServerType, or you can overload getParamVerbose() itself.

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	param	The parameter adapter from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.
[in]	logger	The LogHelper used for printing messages. If nullptr, no messages are printed.

Returns

A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 95 of file param_utils.hpp.

getParamVerbose() [4/8]

GetParamResult<::std::string> cras::getParamVerbose ( const ::ros::NodeHandle &  node, const ::std::string &  name, const ::cras::optional< const char *> &  defaultValue, const ::std::string &  unit = "", const ::cras::GetParamOptions<::std::string > &  options = {}  )

inline

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.

Returns

A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 165 of file node_utils.hpp.

getParamVerbose() [5/8]

GetParamResult<::std::string> cras::getParamVerbose ( const ::ros::NodeHandle &  node, const ::std::string &  name, const char *  defaultValue, const ::std::string &  unit = "", const ::cras::GetParamOptions<::std::string > &  options = {}  )

inline

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.

Returns

A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 187 of file node_utils.hpp.

getParamVerbose() [6/8]

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

inline ::cras::GetParamResult<ResultType> cras::getParamVerbose	(	const ::cras::GetParamAdapter &	param,
		const ::std::string &	name,
		const ResultType &	defaultValue = ResultType(),
		const ::std::string &	unit = "",
		const ::cras::GetParamOptions< ResultType, ParamServerType > &	options = {},
		const ::cras::LogHelper *const	logger = nullptr
	)

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	param	The parameter adapter from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.
[in]	logger	The LogHelper used for printing messages. If nullptr, no messages are printed.

Returns

A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 304 of file param_utils.hpp.

getParamVerbose() [7/8]

inline ::cras::GetParamResult<::std::string> cras::getParamVerbose	(	const ::cras::GetParamAdapter &	param,
		const ::std::string &	name,
		const ::cras::optional< const char *> &	defaultValue,
		const ::std::string &	unit = "",
		const ::cras::GetParamOptions<::std::string > &	options = {},
		const ::cras::LogHelper *const	logger = nullptr
	)

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	param	The parameter adapter from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.
[in]	logger	The LogHelper used for printing messages. If nullptr, no messages are printed.

Returns

A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 392 of file param_utils.hpp.

getParamVerbose() [8/8]

inline ::cras::GetParamResult<::std::string> cras::getParamVerbose	(	const ::cras::GetParamAdapter &	param,
		const ::std::string &	name,
		const char *	defaultValue,
		const ::std::string &	unit = "",
		const ::cras::GetParamOptions<::std::string > &	options = {},
		const ::cras::LogHelper *const	logger = nullptr
	)

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	param	The parameter adapter from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.
[in]	logger	The LogHelper used for printing messages. If nullptr, no messages are printed.

Returns

A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 417 of file param_utils.hpp.

getPitch() [1/2]

double cras::getPitch

(

const ::tf2::Quaternion &

quat

)

Get pitch from the given quaternion.

Parameters

[in]

quat

The quaternion to convert.

Returns

Pitch in radians.

getPitch() [2/2]

double cras::getPitch

(

const ::geometry_msgs::Quaternion &

quat

)

Get pitch from the given quaternion.

Parameters

[in]

quat

The quaternion to convert.

Returns

Pitch in radians.

getRoll() [1/2]

double cras::getRoll

(

const ::tf2::Quaternion &

quat

)

Get roll from the given quaternion.

Parameters

[in]

quat

The quaternion to convert.

Returns

Roll in radians.

getRoll() [2/2]

double cras::getRoll

(

const ::geometry_msgs::Quaternion &

quat

)

Get roll from the given quaternion.

Parameters

[in]

quat

The quaternion to convert.

Returns

Roll in radians.

getRPY() [1/2]

void cras::getRPY	(	const ::tf2::Quaternion &	quat,
		double &	roll,
		double &	pitch,
		double &	yaw
	)

Get roll, pitch and yaw from the given quaternion.

Parameters

[in]	quat	The quaternion to convert.
[out]	roll	Roll in radians.
[out]	pitch	Pitch in radians.
[out]	yaw	Yaw in radians.

getRPY() [2/2]

void cras::getRPY	(	const ::geometry_msgs::Quaternion &	quat,
		double &	roll,
		double &	pitch,
		double &	yaw
	)

Get roll, pitch and yaw from the given quaternion.

Parameters

[in]	quat	The quaternion to convert.
[out]	roll	Roll in radians.
[out]	pitch	Pitch in radians.
[out]	yaw	Yaw in radians.

getThreadName()

std::string cras::getThreadName

(

)

Get the OS name of the current thread.

Returns

Name of the thread (up to 15 characters).

Note

This function is actually pretty fast. It can be called more than 1 million times per second.

getTypeName() [1/2]

template<typename T >

inline ::std::string cras::getTypeName

(

)

Get a human-readable name of T.

Template Parameters

T	Type to get info about.

Returns

Human-readable name.

Definition at line 41 of file type_utils.hpp.

getTypeName() [2/2]

::std::string cras::getTypeName

(

const ::std::type_info &

typeInfo

)

Get a human-readable name of a type represented by the given typeinfo.

Parameters

[in]

typeInfo

Info about the type.

Returns

Human-readable name.

getYaw() [1/2]

double cras::getYaw

(

const ::tf2::Quaternion &

quat

)

Get yaw from the given quaternion.

Parameters

[in]

quat

The quaternion to convert.

Returns

Yaw in radians.

getYaw() [2/2]

double cras::getYaw

(

const ::geometry_msgs::Quaternion &

quat

)

Get yaw from the given quaternion.

Parameters

[in]

quat

The quaternion to convert.

Returns

Yaw in radians.

hasField()

bool cras::hasField	(	const ::cras::Cloud &	cloud,
		const ::std::string &	fieldName
	)

Return true if the cloud contains a field with the given name.

Parameters

[in]	cloud	The cloud to search.
[in]	fieldName	Name of the field.

Returns

Whether the field is there or not.

isNodeletUnloading()

bool cras::isNodeletUnloading

(

const ::nodelet::Nodelet &

nodelet

)

Tells whether the nodelet is currently being unloaded (with some pending callbacks still running).

Parameters

[in]

nodelet

The nodelet to check.

Returns

Whether the nodelet is being unloaded.

Note

Be sure to not call this function after the nodelet has finished unloading and its destructor has finished.

isSetIntersectionEmpty()

template<typename T >

bool cras::isSetIntersectionEmpty	(	const ::std::set< T > &	set1,
		const ::std::set< T > &	set2
	)

Test whether the two given sets have empty intersection.

Template Parameters

T	Type of the elements in the sets.

Parameters

[in]	set1	First set to test.
[in]	set2	Second set to test.

Returns

Whether the intersection of set1 and set2 is empty.

Definition at line 26 of file set_utils.hpp.

join()

template<typename T >

::std::string cras::join	(	const T &	strings,
		const ::std::string &	delimiter
	)

Return a string that is a concatenation of elements of strings delimited by delimiter.

Template Parameters

T	An iterable type (must support size() and foreach).

Parameters

[in]	strings	The elements to put into a string.
[in]	delimiter	Delimiter put between elements.

Returns

The concatenated string.

Definition at line 486 of file string_utils.hpp.

logLevelToRosgraphMsgLevel()

int8_t cras::logLevelToRosgraphMsgLevel

(

::ros::console::Level

rosLevel

)

Convert the given rosconsole logging level to rosgraph_msgs::Log level constant.

Parameters

[in]

rosLevel

The rosconsole logging level.

Returns

The rosgraph_msgs::Log level constant.

make_shared_from_fast_pool()

template<typename T , class... Args>

::boost::shared_ptr<T> cras::make_shared_from_fast_pool

(

Args &&...

args

)

Make a shared instance of an object from Boost fast pool (suitable for e.g. elements of a std::list or single object allocations).

Template Parameters

T	Type of the object to allocate.
Args	Constructor argument types.

Parameters

[in]

args

Constructor arguments.

Returns

The shared instance.

Note

Usage in ROS code: msg = cras::make_shared_from_fast_pool<sensor_msgs::PointCloud2>();

Definition at line 32 of file pool_allocator.hpp.

make_shared_from_pool()

template<typename T , class... Args>

::boost::shared_ptr<T> cras::make_shared_from_pool

(

Args &&...

args

)

Make a shared instance of an object from Boost pool (suitable for e.g. elements of a std::vector or allocations of multiple objects at once).

Template Parameters

T	Type of the object to allocate.
Args	Constructor argument types.

Parameters

[in]

args

Constructor arguments.

Returns

The shared instance.

Note

Usage in ROS code: msg = cras::make_shared_from_pool<sensor_msgs::PointCloud2>();

Definition at line 49 of file pool_allocator.hpp.

nodeParams()

inline ::cras::BoundParamHelperPtr cras::nodeParams	(	const ::ros::NodeHandle &	node,
		const ::std::string &	ns = ""
	)

Returns a param helper structure "bound" to the given node handle, so that it is not needed to specify the node handle in the subsequent getParam() calls.

Parameters

[in]	node	The node to bind to.
[in]	ns	If nonempty, returns just the parameters in the given namespace.

Returns

The bound param helper.

Definition at line 248 of file node_utils.hpp.

nowFallbackToWall()

::ros::Time cras::nowFallbackToWall

(

)

Return current ROS time if it has already been initialized, or current wall time.

Returns

Current time.

numPoints()

size_t cras::numPoints ( const ::cras::Cloud &  cloud )

inline

Return the number of points the given pointcloud contains.

Parameters

[in]

cloud

The cloud to examine.

Returns

The number of points.

Definition at line 68 of file cloud.hpp.

outputByteBuffer() [1/2]

uint8_t* cras::outputByteBuffer	(	allocator_t	allocator,
		const uint8_t *	bytes,
		size_t	length
	)

Allocate enough bytes using the given allocator and copy the given bytes into the buffer.

Parameters

[in]	allocator	The allocator to use.
[in]	bytes	The bytes to copy into the allocated buffer.
[in]	length	Length of bytes.

Returns

Pointer to the allocated buffer.

outputByteBuffer() [2/2]

uint8_t* cras::outputByteBuffer	(	allocator_t	allocator,
		const std::vector< uint8_t > &	bytes
	)

Allocate enough bytes using the given allocator and copy the given bytes into the buffer.

Parameters

[in]	allocator	The allocator to use.
[in]	bytes	The bytes to copy into the allocated buffer.

Returns

Pointer to the allocated buffer.

outputRosMessage()

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

uint8_t* cras::outputRosMessage	(	allocator_t	allocator,
		const Message &	msg
	)

Allocate enough bytes using the given allocator and serialize the given message into it.

Parameters

[in]	allocator	The allocator to use.
[in]	msg	The message to serialize.

Returns

Pointer to the allocated buffer.

Definition at line 81 of file c_api.h.

outputString() [1/2]

char* cras::outputString	(	allocator_t	allocator,
		const char *	string,
		size_t	length
	)

Allocate enough bytes using the given allocator and copy the given string into the buffer (including null termination byte).

Parameters

[in]	allocator	The allocator to use.
[in]	string	The zero-terminated string to copy into the allocated buffer.
[in]	length	Length of the string to copy including the null termination character.

Returns

Pointer to the allocated buffer.

outputString() [2/2]

char* cras::outputString	(	allocator_t	allocator,
		const std::string &	string
	)

Allocate enough bytes using the given allocator and copy the given string into the buffer (including null termination byte).

Parameters

[in]	allocator	The allocator to use.
[in]	string	The string to copy into the allocated buffer.

Returns

Pointer to the allocated buffer.

paramsForNodeHandle()

inline ::cras::BoundParamHelperPtr cras::paramsForNodeHandle

(

const ::ros::NodeHandle &

node

)

Returns a param helper structure "bound" to the given node handle, so that it is not needed to specify the node handle in the subsequent getParam() calls.

Parameters

[in]

node

The node to bind to.

Returns

The bound param helper.

Definition at line 264 of file node_utils.hpp.

parseDouble() [1/2]

double cras::parseDouble

(

const ::std::string &

string

)

Parse the given string to a double.

Parameters

[in]

string

The string to parse.

Returns

The corresponding double value.

Exceptions

std::invalid_argument

If the string does not represent a double value or if there are excess characters other than whitespace.

parseDouble() [2/2]

double cras::parseDouble ( const char *  string )

inline

Parse the given string to a double.

Parameters

[in]

string

The string to parse.

Returns

The corresponding double value.

Exceptions

std::invalid_argument

If the string does not represent a double value or if there are excess characters other than whitespace.

Definition at line 725 of file string_utils.hpp.

parseFloat() [1/2]

float cras::parseFloat

(

const ::std::string &

string

)

Parse the given string to a float.

Parameters

[in]

string

The string to parse.

Returns

The corresponding float value.

Exceptions

std::invalid_argument

If the string does not represent a float value or if there are excess characters other than whitespace.

parseFloat() [2/2]

float cras::parseFloat ( const char *  string )

inline

Parse the given string to a float.

Parameters

[in]

string

The string to parse.

Returns

The corresponding float value.

Exceptions

std::invalid_argument

If the string does not represent a float value or if there are excess characters other than whitespace.

Definition at line 704 of file string_utils.hpp.

parseInt16() [1/2]

int16_t cras::parseInt16

(

const std::string &

string

)

Parse the given string to a 16-bit int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 16-bit int value.

Exceptions

std::invalid_argument

If the string does not represent a 16-bit int value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

parseInt16() [2/2]

int16_t cras::parseInt16 ( const char *  string )

inline

Parse the given string to a 16-bit int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 16-bit int value.

Exceptions

std::invalid_argument

If the string does not represent a 16-bit int value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

Definition at line 568 of file string_utils.hpp.

parseInt32() [1/2]

int32_t cras::parseInt32

(

const std::string &

string

)

Parse the given string to a 32-bit int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 32-bit int value.

Exceptions

std::invalid_argument

If the string does not represent a 32-bit int value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

parseInt32() [2/2]

int32_t cras::parseInt32 ( const char *  string )

inline

Parse the given string to a 32-bit int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 32-bit int value.

Exceptions

std::invalid_argument

If the string does not represent a 32-bit int value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

Definition at line 614 of file string_utils.hpp.

parseInt64() [1/2]

int64_t cras::parseInt64

(

const std::string &

string

)

Parse the given string to a 64-bit int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 64-bit int value.

Exceptions

std::invalid_argument

If the string does not represent a 64-bit int value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

parseInt64() [2/2]

int64_t cras::parseInt64 ( const char *  string )

inline

Parse the given string to a 64-bit int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 64-bit int value.

Exceptions

std::invalid_argument

If the string does not represent a 64-bit int value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

Definition at line 660 of file string_utils.hpp.

parseInt8() [1/2]

int8_t cras::parseInt8

(

const std::string &

string

)

Parse the given string to a 8-bit int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 8-bit int value.

Exceptions

std::invalid_argument

If the string does not represent a 8-bit int value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

parseInt8() [2/2]

int8_t cras::parseInt8 ( const char *  string )

inline

Parse the given string to a 8-bit int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 8-bit int value.

Exceptions

std::invalid_argument

If the string does not represent a 8-bit int value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

Definition at line 522 of file string_utils.hpp.

parseUInt16() [1/2]

uint16_t cras::parseUInt16

(

const std::string &

string

)

Parse the given string to a 16-bit unsigned int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 16-bit uint value.

Exceptions

std::invalid_argument

If the string does not represent a 16-bit uint value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

parseUInt16() [2/2]

uint16_t cras::parseUInt16 ( const char *  string )

inline

Parse the given string to a 16-bit unsigned int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 16-bit uint value.

Exceptions

std::invalid_argument

If the string does not represent a 16-bit uint value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

Definition at line 591 of file string_utils.hpp.

parseUInt32() [1/2]

uint32_t cras::parseUInt32

(

const std::string &

string

)

Parse the given string to a 32-bit unsigned int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 32-bit uint value.

Exceptions

std::invalid_argument

If the string does not represent a 32-bit uint value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

parseUInt32() [2/2]

uint32_t cras::parseUInt32 ( const char *  string )

inline

Parse the given string to a 32-bit unsigned int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 32-bit uint value.

Exceptions

std::invalid_argument

If the string does not represent a 32-bit uint value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

Definition at line 637 of file string_utils.hpp.

parseUInt64() [1/2]

uint64_t cras::parseUInt64

(

const std::string &

string

)

Parse the given string to a 64-bit unsigned int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 64-bit uint value.

Exceptions

std::invalid_argument

If the string does not represent a 64-bit uint value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

parseUInt64() [2/2]

uint64_t cras::parseUInt64 ( const char *  string )

inline

Parse the given string to a 64-bit unsigned int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 64-bit uint value.

Exceptions

std::invalid_argument

If the string does not represent a 64-bit uint value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

Definition at line 683 of file string_utils.hpp.

parseUInt8() [1/2]

uint8_t cras::parseUInt8

(

const std::string &

string

)

Parse the given string to a 8-bit unsigned int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 8-bit uint value.

Exceptions

std::invalid_argument

If the string does not represent a 8-bit uint value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

parseUInt8() [2/2]

uint8_t cras::parseUInt8 ( const char *  string )

inline

Parse the given string to a 8-bit unsigned int.

Parameters

[in]

string

The string to parse.

Returns

The corresponding 8-bit uint value.

Exceptions

std::invalid_argument

If the string does not represent a 8-bit uint value or if there are excess characters other than whitespace.

Note

This function supports hexadecimal numbers starting with 0x/0X, binary numbers with 0b/0B and octal with 0.

Definition at line 545 of file string_utils.hpp.

prependIfNonEmpty()

::std::string cras::prependIfNonEmpty	(	const ::std::string &	str,
		const ::std::string &	prefix
	)

If str is nonempty, returns prefix + str, otherwise empty string.

Parameters

[in]	str	The main string.
[in]	prefix	The string's prefix.

Returns

The possibly prefixed string.

quoteIfStringType()

template<typename T , ::std::enable_if_t<!::cras::is_string<::std::decay_t< T >>::value, bool > = true>

inline ::std::string cras::quoteIfStringType	(	const ::std::string &	s,
		const T &
	)

Put s in double quotes if T is a string type (std::string or char*).

Template Parameters

T	The type to check.

Parameters

[in]

s

The input string.

Returns

Either s in double quotes if T is a string type, or just s.

Definition at line 297 of file string_utils.hpp.

registerCloudChannelType()

void cras::registerCloudChannelType	(	const ::std::string &	channelPrefix,
		::cras::CloudChannelType	type
	)

Register the given pointcloud channel prefix with the given type. This registration will be used by transformWithChannels() when called without an explicit channel list.

Parameters

[in]	channelPrefix	Prefix of the channel. E.g. normal_ for registering type of normal_x,normal_y,normal_z.
[in]	type	Type of the channel.

remainingTime() [1/2]

::ros::Duration cras::remainingTime	(	const ::ros::Time &	query,
		double	timeout
	)

Return remaining time to timeout from the query time.

Parameters

[in]	query	The query time, e.g. of a TF.
[in]	timeout	Maximum time to wait from the query time onwards.

Returns

The remaining time.

remainingTime() [2/2]

::ros::Duration cras::remainingTime	(	const ::ros::Time &	query,
		const ::ros::Duration &	timeout
	)

Return remaining time to timeout from the query time.

Parameters

[in]	query	The query time, e.g. of a TF.
[in]	timeout	Maximum time to wait from the query time onwards.

Returns

The remaining time.

removePrefix()

::std::string cras::removePrefix	(	const ::std::string &	str,
		const ::std::string &	prefix,
		bool *	hadPrefix = nullptr
	)

Remove prefix from start of str if it contains it, otherwise return str unchanged.

Parameters

[in]	str	The string to work on.
[in]	prefix	The prefix to find.
[in]	hadPrefix	If non-null, will contain information whether str starts with prefix.

Returns

If str starts with prefix, it will return str with prefix removed. Otherwise, str will be returned unchanged.

removeSuffix()

::std::string cras::removeSuffix	(	const ::std::string &	str,
		const ::std::string &	suffix,
		bool *	hadSuffix = nullptr
	)

Remove suffix from end of str if it contains it, otherwise return str unchanged.

Parameters

[in]	str	The string to work on.
[in]	suffix	The suffix to find.
[in]	hadSuffix	If non-null, will contain information whether str ends with suffix.

Returns

If str ends with suffix, it will return str with suffix removed. Otherwise, str will be returned unchanged.

replace() [1/2]

::std::string cras::replace	(	const ::std::string &	str,
		const ::std::string &	from,
		const ::std::string &	to,
		const ::cras::ReplacePosition &	where = ::cras::ReplacePosition::EVERYWHERE
	)

Replace all occurrences of from in str with to.

Parameters

[in]	str	The string to replace in.
[in]	from	The string to replace.
[in]	to	The replacement.
[in]	where	Where to do the replacement.

Returns

str with all occurrences of from replaced with to.

replace() [2/2]

void cras::replace	(	::std::string &	str,
		const ::std::string &	from,
		const ::std::string &	to,
		const ::cras::ReplacePosition &	where = ::cras::ReplacePosition::EVERYWHERE
	)

Replace all occurrences of from in str with to.

Parameters

[in,out]	str	The string to replace in.
[in]	from	The string to replace.
[in]	to	The replacement.
[in]	where	Where to do the replacement.

rosgraphMsgLevelToLogLevel()

::ros::console::Level cras::rosgraphMsgLevelToLogLevel

(

uint8_t

msgLevel

)

Convert the given rosgraph_msgs::Log level constant to rosconsole logging level.

Parameters

[in]

msgLevel

A rosgraph_msgs::Log level constant.

Returns

The rosconsole logging level.

safeRate()

::ros::Rate cras::safeRate

(

double

frequency

)

Return a rate representing the given frequency. If the frequency is zero or too small, return min/max representable rate.

Parameters

[in]

frequency

The frequency to convert.

Returns

The corresponding Rate object.

safeWallRate()

::ros::WallRate cras::safeWallRate

(

double

frequency

)

Return a rate representing the given frequency. If the frequency is zero or too small, return min/max representable rate.

Parameters

[in]

frequency

The frequency to convert.

Returns

The corresponding Rate object.

setThreadName()

void cras::setThreadName

(

const std::string &

name

)

Set the OS name of the current thread.

Parameters

[in]

name

The name to set.

Note

The name will be automatically shortened to be 15 chars max.

This function is actually pretty fast. It can be called more than 1 million times per second.

sizeOfPointField() [1/2]

size_t cras::sizeOfPointField

(

int

datatype

)

Return the size (in bytes) of a sensor_msgs::PointField datatype.

Parameters

[in]

datatype

The datatype (one of sensor_msgs::PointField::(U?INT(8|16|32)|FLOAT(32|64)) constants).

Returns

Size of the datatype in bytes.

Exceptions

std::runtime_error

if wrong datatype is passed.

sizeOfPointField() [2/2]

size_t cras::sizeOfPointField

(

const ::sensor_msgs::PointField &

field

)

Return the size (in bytes) of the data represented by the sensor_msgs::PointField.

Parameters

[in]

field

The pointfield specification.

Returns

Size of the data.

Exceptions

std::runtime_error

if wrong datatype is passed.

split()

::std::vector<::std::string> cras::split	(	const ::std::string &	str,
		const ::std::string &	delimiter,
		int	maxSplits = -1
	)

Split the given string by the given delimiter.

Parameters

[in]	str	The string to split.
[in]	delimiter	The delimiter used for splitting.
[in]	maxSplits	If >= 0, defines the maximum number of splits.

Returns

A vector of parts of the original string.

startsWith()

bool cras::startsWith	(	const ::std::string &	str,
		const ::std::string &	prefix
	)

Check whether prefix is a prefix of str.

Parameters

[in]	str	The string to be searched in.
[in]	prefix	The string to be found in str.

Returns

Whether prefix is a prefix of str.

strip() [1/2]

void cras::strip	(	::std::string &	s,
		const char &	c = ' '
	)

Strip c from the beginning and end of the given string (if it is there).

Parameters

[in,out]	s	The string from which c should be removed.
[in]	c	The character to remove.

strip() [2/2]

::std::string cras::strip	(	const ::std::string &	s,
		const char &	c = ' '
	)

Return a copy of the given string with c removed from its beginning and end (if it was there).

Parameters

[in]	s	The string from which c should be removed.
[in]	c	The character to remove.

Returns

The string without c at the beginning and end.

stripLeading() [1/2]

void cras::stripLeading	(	::std::string &	s,
		const char &	c = ' '
	)

Strip c from the start of the given string (if there is one).

Parameters

[in,out]	s	The string from which c should be removed.
[in]	c	The character to remove.

stripLeading() [2/2]

::std::string cras::stripLeading	(	const ::std::string &	s,
		const char &	c = ' '
	)

Return a copy of the given string with c removed from its start (if there is one).

Parameters

[in]	s	The string from which c should be removed.
[in]	c	The character to remove.

Returns

The string without c at the start.

stripLeadingSlash() [1/2]

void cras::stripLeadingSlash	(	::std::string &	s,
		bool	warn = false
	)

Strip leading slash from the given string (if there is one).

Parameters

[in,out]	s	The string from which slash should be removed.
[in]	warn	If true, issue a ROS warning if the string contained the leading slash.

stripLeadingSlash() [2/2]

::std::string cras::stripLeadingSlash	(	const ::std::string &	s,
		bool	warn = false
	)

Return a copy of the given string with leading slash removed (if there is one).

Parameters

[in]	s	The string from which slash should be removed.
[in]	warn	If true, issue a ROS warning if the string contained the leading slash.

Returns

The string without leading slash.

stripTrailing() [1/2]

void cras::stripTrailing	(	::std::string &	s,
		const char &	c = ' '
	)

Strip c from the end of the given string (if there is one).

Parameters

[in,out]	s	The string from which c should be removed.
[in]	c	The character to remove.

stripTrailing() [2/2]

::std::string cras::stripTrailing	(	const ::std::string &	s,
		const char &	c = ' '
	)

Return a copy of the given string with c removed from its end (if there is one).

Parameters

[in]	s	The string from which c should be removed.
[in]	c	The character to remove.

Returns

The string without c at the end.

to_cstring()

constexpr const char* cras::to_cstring

(

const ::XmlRpc::XmlRpcValue::Type &

value

)

Return a string representation of the XmlRpcValue type.

Parameters

[in]

value

The value to get type of.

Returns

The string representation of the XmlRpcValue type.

Definition at line 33 of file xmlrpc_value_traits.hpp.

to_string() [1/24]

inline ::std::string cras::to_string

(

const ::XmlRpc::XmlRpcValue &

value

)

Definition at line 18 of file xmlrpc.hpp.

to_string() [2/24]

inline ::std::string cras::to_string

(

const ::tf2::Vector3 &

value

)

Definition at line 21 of file string_utils/tf2.hpp.

to_string() [3/24]

template<typename Scalar , int Rows, int Cols, int Options, int MaxRows, int MaxCols>

inline ::std::string cras::to_string

(

const ::Eigen::Matrix< Scalar, Rows, Cols, Options, MaxRows, MaxCols > &

value

)

Definition at line 21 of file string_utils/eigen.hpp.

to_string() [4/24]

inline ::std::string cras::to_string

(

const ::tf2::Quaternion &

value

)

Definition at line 26 of file string_utils/tf2.hpp.

to_string() [5/24]

template<typename Derived , int Dim>

inline ::std::string cras::to_string

(

const ::Eigen::RotationBase< Derived, Dim > &

value

)

Definition at line 29 of file string_utils/eigen.hpp.

to_string() [6/24]

template<typename T , typename ::std::enable_if_t< ::std::is_same< T, ::ros::Time >::value||::std::is_same< T, ::ros::WallTime >::value||::std::is_same< T, ::ros::SteadyTime >::value||::std::is_same< T, ::ros::Duration >::value||::std::is_same< T, ::ros::WallDuration >::value > * = nullptr>

inline ::std::string cras::to_string

(

const T &

value

)

Definition at line 32 of file string_utils/ros.hpp.

to_string() [7/24]

inline ::std::string cras::to_string

(

const ::tf2::Matrix3x3 &

value

)

Definition at line 36 of file string_utils/tf2.hpp.

to_string() [8/24]

template<typename Scalar , int Dim, int Mode, int Options>

inline ::std::string cras::to_string

(

const ::Eigen::Transform< Scalar, Dim, Mode, Options > &

value

)

Definition at line 37 of file string_utils/eigen.hpp.

to_string() [9/24]

inline ::std::string cras::to_string

(

const ::tf2::Transform &

value

)

Definition at line 44 of file string_utils/tf2.hpp.

to_string() [10/24]

template<typename M , ::std::enable_if_t<::ros::message_traits::IsMessage< M >::value > * = nullptr>

std::string cras::to_string ( const M &  msg )

inline

Definition at line 51 of file string_utils/ros.hpp.

to_string() [11/24]

template<>

inline ::std::string cras::to_string

(

const ::XmlRpc::XmlRpcValue::Type &

value

)

Definition at line 60 of file xmlrpc_value_traits.hpp.

to_string() [12/24]

template<typename T >

decltype(::std::to_string(::std::declval<T>())) cras::to_string ( const T &  value )

inline

Convert the given value to a string representation.

Template Parameters

T	Type of the value.

Parameters

[in]

value

The value to convert.

Returns

The string representation.

Definition at line 321 of file string_utils.hpp.

to_string() [13/24]

template<typename T >

decltype(static_cast<::std::string>(::std::declval<T>())) cras::to_string ( const T &  value )

inline

Convert the given value to a string representation.

Template Parameters

T	Type of the value.

Parameters

[in]

value

The value to convert.

Returns

The string representation.

Definition at line 333 of file string_utils.hpp.

to_string() [14/24]

inline ::std::string cras::to_string

(

const double &

value

)

Definition at line 341 of file string_utils.hpp.

to_string() [15/24]

inline ::std::string cras::to_string

(

const float &

value

)

Definition at line 346 of file string_utils.hpp.

to_string() [16/24]

inline ::std::string cras::to_string

(

const long double &

value

)

Definition at line 351 of file string_utils.hpp.

to_string() [17/24]

inline ::std::string cras::to_string

(

const char *

value

)

Definition at line 356 of file string_utils.hpp.

to_string() [18/24]

inline ::std::string cras::to_string

(

char *

value

)

Definition at line 361 of file string_utils.hpp.

to_string() [19/24]

template<int I>

inline ::std::string cras::to_string

(

const char

value[I]

)

Definition at line 367 of file string_utils.hpp.

to_string() [20/24]

inline ::std::string cras::to_string

(

const bool &

value

)

Definition at line 378 of file string_utils.hpp.

to_string() [21/24]

inline ::std::string cras::to_string

(

const ::std::string &

value

)

Definition at line 383 of file string_utils.hpp.

to_string() [22/24]

template<typename K , typename V >

inline ::std::string cras::to_string

(

const ::std::map< K, V > &

value

)

to_string() [23/24]

template<typename K , typename V >

inline ::std::string cras::to_string

(

const ::std::unordered_map< K, V > &

value

)

to_string() [24/24]

template<typename T , size_t N>

inline ::std::string cras::to_string

(

const ::std::array< T, N > &

value

)

Definition at line 440 of file string_utils.hpp.

toEigen() [1/3]

::Eigen::Translation3d cras::toEigen

(

const ::urdf::Vector3 &

position

)

URDF Vector3 to Eigen translation.

Parameters

[in]

position

The vector to convert.

Returns

The corresponding Eigen translation.

toEigen() [2/3]

::Eigen::Quaterniond cras::toEigen

(

const ::urdf::Rotation &

rotation

)

Convert URDF rotation to Eigen quaternion.

Parameters

[in]

rotation

The rotation to convert.

Returns

The corresponding Eigen quaternion.

toEigen() [3/3]

::Eigen::Isometry3d cras::toEigen

(

const ::urdf::Pose &

pose

)

Convert URDF pose to Eigen transform.

Parameters

[in]

pose

The pose to convert.

Returns

The corresponding Eigen transform.

toLower()

::std::string cras::toLower

(

const ::std::string &

str

)

Convert all characters in the given string to lower case.

Parameters

[in]

str

The input string.

Returns

A copy of the input string with all characters lower case. The string does not necessarily be of the same length as the input string (but it will be 99% of the cases).

toUpper()

::std::string cras::toUpper

(

const ::std::string &

str

)

Convert all characters in the given string to upper case.

Parameters

[in]

str

The input string.

Returns

A copy of the input string with all characters upper case. The string does not necessarily be of the same length as the input string (but it will be 99% of the cases).

toURDF() [1/4]

::urdf::Vector3 cras::toURDF

(

const ::Eigen::Translation3d &

translation

)

Convert Eigen translation to URDF Vector3.

Parameters

[in]

translation

The translation to convert.

Returns

The corresponding URDF Vector3.

toURDF() [2/4]

::urdf::Vector3 cras::toURDF

(

const ::Eigen::Vector3d &

vector

)

Convert Eigen vector to URDF Vector3.

Parameters

[in]

vector

The vector to convert.

Returns

The corresponding URDF Vector3.

toURDF() [3/4]

::urdf::Rotation cras::toURDF

(

const ::Eigen::Quaterniond &

rotation

)

Convert Eigen quaternion to URDF Rotation.

Parameters

[in]

rotation

The quaternion to convert.

Returns

The corresponding URDF Rotation.

toURDF() [4/4]

::urdf::Pose cras::toURDF

(

const ::Eigen::Isometry3d &

pose

)

Convert Eigen isometry to URDF Pose.

Parameters

[in]

pose

The pose to convert.

Returns

The corresponding URDF Pose.

transformChannel()

void cras::transformChannel	(	::sensor_msgs::PointCloud2 &	cloud,
		const ::geometry_msgs::Transform &	transform,
		const ::std::string &	channelPrefix,
		::cras::CloudChannelType	type
	)

Transform the given channel in the given cloud using the given transform.

Parameters

[in,out]	cloud	The cloud.
[in]	transform	The transform to apply.
[in]	channelPrefix	Prefix of the channel.
[in]	type	Type of the channel.

transformOnlyChannels()

::sensor_msgs::PointCloud2& cras::transformOnlyChannels	(	const ::sensor_msgs::PointCloud2 &	in,
		::sensor_msgs::PointCloud2 &	out,
		const ::geometry_msgs::TransformStamped &	tf,
		const ::std::unordered_map<::std::string, ::cras::CloudChannelType > &	channels
	)

Copy the selected channels from in cloud to out and transform them using the given transform.

Parameters

[in]	in	The input cloud.
[out]	out	The output cloud (can not be the same as input).
[in]	tf	The transform to apply.
[in]	channels	A map of channel prefix-channel type of channels that should be transformed. No other channels will be present in the output cloud.

Returns

out.

transformOnlyXYZ()

::sensor_msgs::PointCloud2& cras::transformOnlyXYZ	(	const ::sensor_msgs::PointCloud2 &	in,
		::sensor_msgs::PointCloud2 &	out,
		const ::geometry_msgs::TransformStamped &	tf
	)

Copy only the XYZ channel from in cloud to out and transform it using the given transform.

Parameters

[in]	in	The input cloud.
[out]	out	The output cloud (can not be the same as input).
[in]	tf	The transform to apply.

Returns

out.

transformWithChannels() [1/4]

::sensor_msgs::PointCloud2& cras::transformWithChannels	(	const ::sensor_msgs::PointCloud2 &	in,
		::sensor_msgs::PointCloud2 &	out,
		const ::geometry_msgs::TransformStamped &	tf
	)

Copy in cloud to out and transform channels using the given transform. The list of channels to be transformed consists of the XYZ channel, vp_, normal_ and all channels registered by registerCloudChannelType().

Parameters

[in]	in	The input cloud.
[out]	out	The output cloud (can be the same as input).
[in]	tf	The transform to apply.

Returns

out.

transformWithChannels() [2/4]

::sensor_msgs::PointCloud2& cras::transformWithChannels	(	const ::sensor_msgs::PointCloud2 &	in,
		::sensor_msgs::PointCloud2 &	out,
		const ::geometry_msgs::TransformStamped &	tf,
		const ::std::unordered_map<::std::string, ::cras::CloudChannelType > &	channels
	)

Copy in cloud to out and transform channels using the given transform. Only the channels passed in channels will be transformed, according to their type.

Parameters

[in]	in	The input cloud.
[out]	out	The output cloud (can be the same as input).
[in]	tf	The transform to apply.
[in]	channels	A map of channel prefix-channel type of channels that should be transformed.

Returns

out.

transformWithChannels() [3/4]

::sensor_msgs::PointCloud2& cras::transformWithChannels	(	const ::sensor_msgs::PointCloud2 &	in,
		::sensor_msgs::PointCloud2 &	out,
		const ::tf2_ros::Buffer &	tfBuffer,
		const ::std::string &	targetFrame
	)

Copy in cloud to out and transform channels using the given transform. The list of channels to be transformed consists of the XYZ channel, vp_, normal_ and all channels registered by registerCloudChannelType().

Parameters

[in]	in	The input cloud.
[out]	out	The output cloud (can be the same as input).
[in]	tfBuffer	The TF buffer.
[in]	targetFrame	The frame to transform to.

Returns

out.

Exceptions

tf2::TransformException

No exceptions thrown from lookupTransform() will be catched.

transformWithChannels() [4/4]

::sensor_msgs::PointCloud2& cras::transformWithChannels	(	const ::sensor_msgs::PointCloud2 &	in,
		::sensor_msgs::PointCloud2 &	out,
		const ::tf2_ros::Buffer &	tfBuffer,
		const ::std::string &	targetFrame,
		const ::std::unordered_map<::std::string, ::cras::CloudChannelType > &	channels
	)

Copy in cloud to out and transform channels using the given transform. Only the channels passed in channels will be transformed, according to their type.

Parameters

[in]	in	The input cloud.
[out]	out	The output cloud (can be the same as input).
[in]	tfBuffer	The TF buffer.
[in]	targetFrame	The frame to transform to.
[in]	channels	A map of channel prefix-channel type of channels that should be transformed.

Returns

out.

Exceptions

tf2::TransformException

No exceptions thrown from lookupTransform() will be catched.

unregisterCloudChannelType()

void cras::unregisterCloudChannelType

(

const ::std::string &

channelPrefix

)

Unregister a cloud channel type registered earlier with registerCloudChannelType().

Parameters

[in]

channelPrefix

Prefix of the channel.

Variable Documentation

int

LONG_MAX USHRT_MAX cras::int

Definition at line 123 of file xmlrpc_value_utils.hpp.

LONG_MIN

cras::LONG_MIN

Definition at line 123 of file xmlrpc_value_utils.hpp.

paramHelper

const ParamHelper cras::paramHelper(::std::make_shared<::cras::NodeLogHelper >())

Static variable that serves as the singleton for getting node parameters.