tuw Namespace Reference

Classes
class	Command
class	Figure
class	GridMap
class	LayeredFigure
class	LayeredMaps
class	Line2D
class	LineSegment2D
class	LineSegment2DDetector
class	LineSegment2DDetectorParameter
class	Point2D
class	Polar2D
class	Pose2D
class	WorldScopedMaps

Typedefs
using	CommandConstPtr = std::shared_ptr< Command const >
using	CommandPtr = std::shared_ptr< Command >
	Prototype. More...
using	FigureConstPtr = std::shared_ptr< Figure const >
using	FigurePtr = std::shared_ptr< Figure >
	Prototype. More...
using	LayeredFigureConstPtr = std::shared_ptr< const LayeredFigure >
using	LayeredFigurePtr = std::shared_ptr< LayeredFigure >
using	LayeredMapsCostPtr = std::shared_ptr< const LayeredMaps >
using	LayeredMapsPtr = std::shared_ptr< LayeredMaps >
using	Line2DConstPtr = std::shared_ptr< Line2D const >
using	Line2DPtr = std::shared_ptr< Line2D >
	Prototype. More...
using	LineSegment2DConstPtr = std::shared_ptr< LineSegment2D const >
using	LineSegment2DDetectorConstPtr = std::shared_ptr< LineSegment2DDetector const >
using	LineSegment2DDetectorParameterConstPtr = std::shared_ptr< LineSegment2DDetectorParameter const >
using	LineSegment2DDetectorParameterPtr = std::shared_ptr< LineSegment2DDetectorParameter >
	Prototype. More...
using	LineSegment2DDetectorPtr = std::shared_ptr< LineSegment2DDetector >
	Prototype. More...
using	LineSegment2DPtr = std::shared_ptr< LineSegment2D >
	Prototype. More...
using	Point2DConstPtr = std::shared_ptr< Point2D const >
using	Point2DPtr = std::shared_ptr< Point2D >
using	Polar2DConstPtr = std::shared_ptr< Polar2D const >
using	Polar2DPtr = std::shared_ptr< Polar2D >
	Prototype. More...
using	Pose2DConstPtr = std::shared_ptr< Pose2D const >
using	Pose2DPtr = std::shared_ptr< Pose2D >
typedef cv::Matx< double, 3, 3 >	Tf2D
using	WorldScopedMapsConstPtr = std::shared_ptr< WorldScopedMaps const >
using	WorldScopedMapsPtr = std::shared_ptr< WorldScopedMaps >
	Prototype. More...

Enumerations
enum	DistributionType { NORMAL_DISTRIBUTION = 0, UNIFORM_DISTRIBUTION = 1, GRID_DISTRIBUTION = 2 }

Functions
double	angle_difference (double alpha0, double angle1)
double	angle_normalize (double angle, double min_angle=-M_PI, double max_angle=+M_PI)
cv::Vec< double, 3 >	append (const cv::Vec< double, 2 > &src, double value=1.0)
cv::Vec< double, 4 >	append (const cv::Vec< double, 3 > &src, double value=1.0)
template<typename Quaternion >
void	EulerPitchToQuaternion (double pitch, Quaternion &q)
template<typename Quaternion >
void	EulerToQuaternion (double pitch, double roll, double yaw, const Quaternion &q)
template<typename Quaternion >
void	EulerToQuaternion (double roll, const Quaternion &q)
template<typename Quaternion >
void	EulerYawToQuaternion (double yaw, Quaternion &q)
std::string	format (const cv::Mat_< double > &m)
std::string	format (const cv::Mat_< float > &m)
std::string	format (const cv::Mat_< int > &m)
std::string	format (const cv::Mat_< int8_t > &m)
std::string	format (const cv::Matx33d &m)
template<typename Quaternion >
void	QuaternionToEuler (const Quaternion &q, double &roll, double &pitch, double &yaw)
template<typename Quaternion >
void	QuaternionToPitch (const Quaternion &q, double &pitch)
template<typename Quaternion >
void	QuaternionToRoll (const Quaternion &q, double &roll)
template<typename Quaternion >
void	QuaternionToYaw (const Quaternion &q, double &yaw)

Variables
static std::map< DistributionType, std::string >	DistributionTypeName

Typedef Documentation

CommandConstPtr

using tuw::CommandConstPtr = typedef std::shared_ptr< Command const>

Definition at line 11 of file command.h.

CommandPtr

using tuw::CommandPtr = typedef std::shared_ptr< Command >

Prototype.

Definition at line 10 of file command.h.

FigureConstPtr

using tuw::FigureConstPtr = typedef std::shared_ptr< Figure const>

Definition at line 11 of file figure.h.

FigurePtr

using tuw::FigurePtr = typedef std::shared_ptr< Figure >

Prototype.

Definition at line 10 of file figure.h.

LayeredFigureConstPtr

using tuw::LayeredFigureConstPtr = typedef std::shared_ptr< const LayeredFigure >

Definition at line 77 of file layered_figure.h.

LayeredFigurePtr

using tuw::LayeredFigurePtr = typedef std::shared_ptr< LayeredFigure >

Definition at line 76 of file layered_figure.h.

LayeredMapsCostPtr

using tuw::LayeredMapsCostPtr = typedef std::shared_ptr< const LayeredMaps >

Definition at line 74 of file layered_maps.h.

LayeredMapsPtr

using tuw::LayeredMapsPtr = typedef std::shared_ptr< LayeredMaps >

Definition at line 73 of file layered_maps.h.

Line2DConstPtr

using tuw::Line2DConstPtr = typedef std::shared_ptr< Line2D const>

Definition at line 10 of file line2d.h.

Line2DPtr

using tuw::Line2DPtr = typedef std::shared_ptr< Line2D >

Prototype.

Definition at line 9 of file line2d.h.

LineSegment2DConstPtr

using tuw::LineSegment2DConstPtr = typedef std::shared_ptr< LineSegment2D const>

Definition at line 10 of file linesegment2d.h.

LineSegment2DDetectorConstPtr

using tuw::LineSegment2DDetectorConstPtr = typedef std::shared_ptr< LineSegment2DDetector const>

Definition at line 33 of file linesegment2d_detector.h.

LineSegment2DDetectorParameterConstPtr

using tuw::LineSegment2DDetectorParameterConstPtr = typedef std::shared_ptr< LineSegment2DDetectorParameter const>

Definition at line 11 of file linesegment2d_detector.h.

LineSegment2DDetectorParameterPtr

using tuw::LineSegment2DDetectorParameterPtr = typedef std::shared_ptr< LineSegment2DDetectorParameter >

Prototype.

Definition at line 10 of file linesegment2d_detector.h.

LineSegment2DDetectorPtr

using tuw::LineSegment2DDetectorPtr = typedef std::shared_ptr< LineSegment2DDetector >

Prototype.

Definition at line 32 of file linesegment2d_detector.h.

LineSegment2DPtr

using tuw::LineSegment2DPtr = typedef std::shared_ptr< LineSegment2D >

Prototype.

Definition at line 9 of file linesegment2d.h.

Point2DConstPtr

using tuw::Point2DConstPtr = typedef std::shared_ptr< Point2D const>

Definition at line 14 of file point2d.h.

Point2DPtr

using tuw::Point2DPtr = typedef std::shared_ptr< Point2D >

Definition at line 13 of file point2d.h.

Polar2DConstPtr

using tuw::Polar2DConstPtr = typedef std::shared_ptr< Polar2D const>

Definition at line 10 of file polar2d.h.

Polar2DPtr

using tuw::Polar2DPtr = typedef std::shared_ptr< Polar2D >

Prototype.

Definition at line 9 of file polar2d.h.

Pose2DConstPtr

using tuw::Pose2DConstPtr = typedef std::shared_ptr< Pose2D const>

Definition at line 11 of file pose2d.h.

Pose2DPtr

using tuw::Pose2DPtr = typedef std::shared_ptr< Pose2D >

Definition at line 10 of file pose2d.h.

Tf2D

typedef cv::Matx<double, 3, 3> tuw::Tf2D

Definition at line 10 of file utils.h.

WorldScopedMapsConstPtr

using tuw::WorldScopedMapsConstPtr = typedef std::shared_ptr< WorldScopedMaps const>

Definition at line 11 of file world_scoped_maps.h.

WorldScopedMapsPtr

using tuw::WorldScopedMapsPtr = typedef std::shared_ptr< WorldScopedMaps >

Prototype.

Definition at line 10 of file world_scoped_maps.h.

Enumeration Type Documentation

DistributionType

enum tuw::DistributionType

Enumerator
NORMAL_DISTRIBUTION
UNIFORM_DISTRIBUTION
GRID_DISTRIBUTION

Definition at line 16 of file tuw_geometry.h.

Function Documentation

angle_difference()

double tuw::angle_difference ( double  alpha0, double  angle1  )

inline

computes the angle difference between two angles by taking into account the circular space

Parameters

alpha0
angle1

Returns

difference

Definition at line 59 of file utils.h.

angle_normalize()

double tuw::angle_normalize ( double  angle, double  min_angle = -M_PI, double  max_angle = +M_PI  )

inline

normalizes an angle between min_angle and max_angle but max_angle - min_angle >= 2PI

Parameters

angle	to normalize
min_angle
max_angle

Returns

normalize angle

Definition at line 43 of file utils.h.

append() [1/2]

cv::Vec<double, 3> tuw::append ( const cv::Vec< double, 2 > &  src, double  value = 1.0  )

inline

creates a new vector by adding a single component usable to homogeneous vectors

Parameters

src	to normalize
value

Returns

extended vector

Definition at line 19 of file utils.h.

append() [2/2]

cv::Vec<double, 4> tuw::append ( const cv::Vec< double, 3 > &  src, double  value = 1.0  )

inline

creates a new vector by adding a single component usable to homogeneous vectors

Parameters

src	to normalize
value

Returns

extended vector

Definition at line 31 of file utils.h.

EulerPitchToQuaternion()

template<typename Quaternion >

void tuw::EulerPitchToQuaternion	(	double	pitch,
		Quaternion &	q
	)

Euler Pitch to Quaternion roation arount Y

See also

https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

Definition at line 69 of file utils.h.

EulerToQuaternion() [1/2]

template<typename Quaternion >

void tuw::EulerToQuaternion	(	double	pitch,
		double	roll,
		double	yaw,
		const Quaternion &	q
	)

Euler to Quaternion

See also

https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

Definition at line 118 of file utils.h.

EulerToQuaternion() [2/2]

template<typename Quaternion >

void tuw::EulerToQuaternion	(	double	roll,
		const Quaternion &	q
	)

Euler Roll to Quaternion roation arount X

See also

https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

Definition at line 86 of file utils.h.

EulerYawToQuaternion()

template<typename Quaternion >

void tuw::EulerYawToQuaternion	(	double	yaw,
		Quaternion &	q
	)

Euler Yaw to Quaternion rotation around Z

See also

https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

Definition at line 102 of file utils.h.

format() [1/5]

std::string tuw::format

(

const cv::Mat_< double > &

m

)

Definition at line 45 of file utils.cpp.

format() [2/5]

std::string tuw::format

(

const cv::Mat_< float > &

m

)

Definition at line 33 of file utils.cpp.

format() [3/5]

std::string tuw::format

(

const cv::Mat_< int > &

m

)

Definition at line 22 of file utils.cpp.

format() [4/5]

std::string tuw::format

(

const cv::Mat_< int8_t > &

m

)

Definition at line 11 of file utils.cpp.

format() [5/5]

std::string tuw::format

(

const cv::Matx33d &

m

)

Definition at line 57 of file utils.cpp.

QuaternionToEuler()

template<typename Quaternion >

void tuw::QuaternionToEuler	(	const Quaternion &	q,
		double &	roll,
		double &	pitch,
		double &	yaw
	)

Quaternion to euler angles

See also

https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

Definition at line 179 of file utils.h.

QuaternionToPitch()

template<typename Quaternion >

void tuw::QuaternionToPitch	(	const Quaternion &	q,
		double &	pitch
	)

Quaternion to an euler pitch angle

See also

https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

Definition at line 151 of file utils.h.

QuaternionToRoll()

template<typename Quaternion >

void tuw::QuaternionToRoll	(	const Quaternion &	q,
		double &	roll
	)

Quaternion to an euler roll angle

See also

https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

Definition at line 139 of file utils.h.

QuaternionToYaw()

template<typename Quaternion >

void tuw::QuaternionToYaw	(	const Quaternion &	q,
		double &	yaw
	)

Quaternion to an euler yaw angle

See also

https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

Definition at line 166 of file utils.h.

Variable Documentation

DistributionTypeName

std::map<DistributionType, std::string> tuw::DistributionTypeName

static

Definition at line 21 of file tuw_geometry.h.