#include "ensenso_camera/ros2/namespace.h"
#include "ensenso_camera/ros2/time.h"
#include "ensenso_camera/ros2/geometry_msgs/pose.h"
#include "ensenso_camera/ros2/geometry_msgs/pose_stamped.h"
#include "ensenso_camera/ros2/geometry_msgs/transform.h"
#include "ensenso_camera/ros2/geometry_msgs/transform_stamped.h"
#include "ensenso_camera/ros2/tf2_geometry_msgs/tf2_geometry_msgs.h"
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Transform.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/buffer.h>
#include <string>
#include "nxLib.h"

Include dependency graph for pose_utilities.h:

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

Go to the source code of this file.

Namespaces
	tf2

Typedefs
using	PoseMsg = geometry_msgs::msg::Pose

using	StampedPoseMsg = geometry_msgs::msg::PoseStamped

using	StampedTransformMsg = geometry_msgs::msg::TransformStamped

using	Transform = tf2::Transform

using	TransformMsg = geometry_msgs::msg::Transform

Functions
void	tf2::convertMsg (PoseMsg const &pose, TransformMsg &transform)

void	tf2::convertMsg (StampedPoseMsg const &pose, StampedTransformMsg &transform)

void	tf2::convertMsg (StampedTransformMsg const &transform, StampedPoseMsg &pose)

void	tf2::convertMsg (TransformMsg const &transform, PoseMsg &pose)

Transform	fromMsg (PoseMsg const &pose)

Transform	fromMsg (StampedPoseMsg const &pose)

Transform	fromMsg (StampedTransformMsg const &transform)

Transform	fromMsg (TransformMsg const &transform)

StampedTransformMsg	fromTf (Transform const &transform, std::string parentFrame, std::string childFrame, ensenso::ros::Time timestamp)

Transform	getLatestTransform (tf2_ros::Buffer const &tfBuffer, std::string const &cameraFrame, std::string const &targetFrame)

bool	isIdentity (Transform const &transform)

bool	isValid (Transform const &transform)

bool	isValid (TransformMsg const &transform)

StampedPoseMsg	poseFromTransform (StampedTransformMsg const &transform)

PoseMsg	poseFromTransform (Transform const &transform)

StampedPoseMsg	stampedPoseFromNxLib (NxLibItem const &node, std::string const &parentFrame, ensenso::ros::Time timestamp)

Transform	transformFromNxLib (NxLibItem const &node)

StampedTransformMsg	transformFromPose (StampedPoseMsg const &pose, std::string const &childFrame)

void	writeTransformToNxLib (Transform const &transform, NxLibItem const &node)

Typedef Documentation

◆ PoseMsg

using PoseMsg = geometry_msgs::msg::Pose

Definition at line 24 of file pose_utilities.h.

◆ StampedPoseMsg

using StampedPoseMsg = geometry_msgs::msg::PoseStamped

Definition at line 25 of file pose_utilities.h.

◆ StampedTransformMsg

using StampedTransformMsg = geometry_msgs::msg::TransformStamped

Definition at line 23 of file pose_utilities.h.

◆ Transform

using Transform = tf2::Transform

Definition at line 21 of file pose_utilities.h.

◆ TransformMsg

using TransformMsg = geometry_msgs::msg::Transform

Definition at line 22 of file pose_utilities.h.

Function Documentation

◆ fromMsg() [1/4]

Transform fromMsg ( PoseMsg const & pose )

Create a tf transform from a pose msg.

Definition at line 217 of file pose_utilities.cpp.

◆ fromMsg() [2/4]

Transform fromMsg ( StampedPoseMsg const & pose )

Create a tf transform from a stamped pose msg.

Definition at line 198 of file pose_utilities.cpp.

◆ fromMsg() [3/4]

Transform fromMsg ( StampedTransformMsg const & transform )

Create a tf transform from a stamped transform msg.

Definition at line 190 of file pose_utilities.cpp.

◆ fromMsg() [4/4]

Transform fromMsg ( TransformMsg const & transform )

Create a tf transform from a transform msg.

Definition at line 209 of file pose_utilities.cpp.

◆ fromTf()

StampedTransformMsg fromTf	(	Transform const &	transform,
		std::string	parentFrame,
		std::string	childFrame,
		ensenso::ros::Time	timestamp
	)

Create a stamped geometry transform from a tf transform in combination with parent and child frame.

Definition at line 239 of file pose_utilities.cpp.

◆ getLatestTransform()

Transform getLatestTransform	(	tf2_ros::Buffer const &	tfBuffer,
		std::string const &	cameraFrame,
		std::string const &	targetFrame
	)

Return the latest transform from the given buffer. Returns an uninitialized tf transform if the lookup throws and prints a warning.

Definition at line 251 of file pose_utilities.cpp.

◆ isIdentity()

bool isIdentity ( Transform const & transform )

Check whether the given tf transform is an identity transformation.

Definition at line 55 of file pose_utilities.cpp.

◆ isValid() [1/2]

bool isValid ( Transform const & transform )

Check whether the given transform is valid, i.e. not containing NaNs.

An invalid transform is e.g. produced by converting an uninitialized transform msg to a tf transform.

Definition at line 32 of file pose_utilities.cpp.

◆ isValid() [2/2]

bool isValid ( TransformMsg const & transform )

Definition at line 50 of file pose_utilities.cpp.

◆ poseFromTransform() [1/2]

StampedPoseMsg poseFromTransform ( StampedTransformMsg const & transform )

Convert a stamped transform msg to a stamped pose msg, where the pose has the same rotation and translation as the transform.

Definition at line 182 of file pose_utilities.cpp.

◆ poseFromTransform() [2/2]

PoseMsg poseFromTransform ( Transform const & transform )

Convert a tf transform to a pose msg.

Definition at line 228 of file pose_utilities.cpp.

◆ stampedPoseFromNxLib()

StampedPoseMsg stampedPoseFromNxLib	(	NxLibItem const &	node,
		std::string const &	parentFrame,
		ensenso::ros::Time	timestamp
	)

Create a stamped pose msg from the given link described in the node.

Definition at line 159 of file pose_utilities.cpp.

◆ transformFromNxLib()

Transform transformFromNxLib ( NxLibItem const & node )

Convert the given NxLib transformation node to a tf transform.

Definition at line 144 of file pose_utilities.cpp.

◆ transformFromPose()

StampedTransformMsg transformFromPose	(	StampedPoseMsg const &	pose,
		std::string const &	childFrame
	)

Convert a stamped pose msg to a stamped transform msg that defines the child frame at the position of the given pose.

Definition at line 173 of file pose_utilities.cpp.

◆ writeTransformToNxLib()

void writeTransformToNxLib	(	Transform const &	transform,
		NxLibItem const &	node
	)

Convert the given tf transform to an NxLib transformation and write it into the given NxLib node.

Definition at line 70 of file pose_utilities.cpp.

Namespaces

Typedefs

Functions