00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2010, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Christian Connette 00036 *********************************************************************/ 00037 00038 #ifndef EBAND_CONVERSIONS_AND_TYPES_H_ 00039 #define EBAND_CONVERSIONS_AND_TYPES_H_ 00040 00041 #include <ros/ros.h> 00042 00043 // msgs 00044 #include <geometry_msgs/PoseStamped.h> 00045 #include <geometry_msgs/Pose.h> 00046 #include <geometry_msgs/Pose2D.h> 00047 00048 // transforms 00049 #include <angles/angles.h> 00050 #include <tf/tf.h> 00051 #include <tf/transform_listener.h> 00052 #include <tf/transform_datatypes.h> 00053 00054 // costmap & geometry 00055 #include <costmap_2d/costmap_2d_ros.h> 00056 00057 00058 namespace eband_local_planner{ 00059 00060 00061 // typedefs 00062 00064 struct Bubble 00065 { 00066 geometry_msgs::PoseStamped center; 00067 double expansion; 00068 }; 00069 00070 enum AddAtPosition {add_front, add_back}; 00071 00072 00073 // functions 00074 00080 void PoseToPose2D(const geometry_msgs::Pose pose, geometry_msgs::Pose2D& pose2D); 00081 00082 00088 void Pose2DToPose(geometry_msgs::Pose& pose, const geometry_msgs::Pose2D pose2D); 00089 00090 00100 bool transformGlobalPlan(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan, 00101 const costmap_2d::Costmap2DROS& costmap, const std::string& global_frame, 00102 std::vector<geometry_msgs::PoseStamped>& transformed_plan, std::vector<int>& start_end_counts_from_end); 00103 00104 }; 00105 #endif 00106