utils.h File Reference

#include "tf/LinearMath/Transform.h"
#include "articulation_msgs/TrackMsg.h"
#include "articulation_msgs/ParamMsg.h"
#include <Eigen/Core>

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Namespaces
namespace	articulation_models
Defines
#define	PRINT_TRANSFORM(tf)
Typedefs
typedef Eigen::MatrixXd	articulation_models::M_CartesianJacobian
typedef Eigen::VectorXd	articulation_models::V_Configuration
Functions
bool	articulation_models::check_values (const tf::Vector3 &vec)
bool	articulation_models::check_values (const tf::Quaternion &vec)
bool	articulation_models::check_values (double v)
bool	articulation_models::check_values (float v)
geometry_msgs::Point	articulation_models::eigenToPoint (Eigen::VectorXd v)
articulation_msgs::TrackMsg	articulation_models::flipTrack (articulation_msgs::TrackMsg input, int corner=0)
double	articulation_models::getParam (std::vector< articulation_msgs::ParamMsg > &vec, std::string name)
bool	articulation_models::hasParam (std::vector< articulation_msgs::ParamMsg > &vec, std::string name)
int	articulation_models::openChannel (articulation_msgs::TrackMsg &track, std::string name, bool autocreate=true)
tf::Quaternion	articulation_models::orientationToQuaternion (geometry_msgs::Quaternion orientation)
Eigen::VectorXd	articulation_models::pointToEigen (geometry_msgs::Point p)
tf::Transform	articulation_models::poseToTransform (geometry_msgs::Pose pose)
tf::Vector3	articulation_models::positionToVector (geometry_msgs::Point position)
geometry_msgs::Quaternion	articulation_models::quaternionToOrientation (tf::Quaternion quat)
void	articulation_models::setParam (std::vector< articulation_msgs::ParamMsg > &vec, std::string name, double value, uint8_t type=articulation_msgs::ParamMsg::PRIOR)
void	articulation_models::setParamIfNotDefined (std::vector< articulation_msgs::ParamMsg > &vec, std::string name, double value, uint8_t type=articulation_msgs::ParamMsg::PRIOR)
geometry_msgs::Pose	articulation_models::transformToPose (tf::Transform transform)
geometry_msgs::Point	articulation_models::vectorToPosition (tf::Vector3 point)

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Define Documentation

#define PRINT_TRANSFORM

(

tf

)

Value:

"[ "<<tf.getOrigin().x() <<"; "<<tf.getOrigin().y() <<"; "<<tf.getOrigin().z() <<"]" << \
        "( "<<tf.getRotation().x() <<"; "<<tf.getRotation().y() <<"; "<<tf.getRotation().z()<<"; "<<tf.getRotation().w() <<") "

Definition at line 30 of file utils.h.