Library for mapping/converting pcl::PointXYZINormal and toposens_msgs::TsPoint messages. More...

#include <mapping.h>

Public Member Functions
pcl::PointXYZINormal	convertToXYZINormal (toposens_msgs::TsPoint i)
	Converts a point from a TsPoint message to a standard PCL point (PointXYZINormal). More...

void	doTransform (pcl::PointXYZINormal &pt, Vector3f translation, Vector4f quaternion)

	Mapping ()=default

Detailed Description

Library for mapping/converting pcl::PointXYZINormal and toposens_msgs::TsPoint messages.

Definition at line 32 of file mapping.h.

Constructor & Destructor Documentation

toposens_pointcloud::Mapping::Mapping ( )

default

pcl::PointXYZINormal toposens_pointcloud::Mapping::convertToXYZINormal ( toposens_msgs::TsPoint i )

Converts a point from a TsPoint message to a standard PCL point (PointXYZINormal).

The normal is generated as a vector pointing from the detected point to the sensor origin with unit length.

Parameters

i	TsPoint to convert.

Definition at line 42 of file mapping.cpp.

void toposens_pointcloud::Mapping::doTransform	(	pcl::PointXYZINormal &	pt,
		Vector3f	translation,
		Vector4f	quaternion
	)

Performs a point translation and rotation to the target frame. The input point is updated after transformation

Parameters

pt	Input point that is to be transformed.
translation	translation vector.
quaternion	quaternion vector.

Definition at line 5 of file mapping.cpp.

The documentation for this class was generated from the following files: