Classes
class	Bits2LatLon
class	LatLon2Bits
class	OutlierRejection
class	RosbagReader
struct	wait_until_ms
struct	watchdog
Functions
template<class Iterator >
void	binaryToHex (const Iterator &start, const Iterator &end, std::string *data)
template<class Iterator , class Stream >
void	binaryToHex (const Iterator &start, const Iterator &end, Stream &data)
std::string	chomp (std::string &main, const char token= ',')
template<class VectorType , class Packable >
bool	decodePackable (const std::vector< VectorType > &binary, Packable *data)
std::pair< double, double >	deg2meter (double difflat, double difflon, double lat)
template<class Point , class Iterator >
void	disableAxisToVector (Point &point, const Iterator &vec)
Eigen::Vector3d	ecef2geodetic (const Eigen::Vector3d &xyz)
Eigen::Vector3d	ecef2ned (const Eigen::Vector3d &xyz, const Eigen::Vector3d &geo)
template<class Packable >
void	encodePackable (const Packable &data, std::vector< char > *binary)
template<class T >
void	eulerZYXFromQuaternion (const T &q, double &roll, double &pitch, double &yaw)
template<class T , class V >
void	eulerZYXFromQuaternion (const T &q, V &vect)
void	eulerZYXFromQuaternion (const geometry_msgs::Quaternion &q, double &roll, double &pitch, double &yaw)
Eigen::Vector3d	geodetic2ecef (const Eigen::Vector3d &geo)
unsigned char	getChecksum (const unsigned char *const data, size_t len)
template<class Derived >
std::pair< int, int >	getMatrixParam (const ros::NodeHandle &nh, const std::string &name, const Eigen::MatrixBase< Derived > &matrix)
template<class Derived >
std::pair< int, int >	getMatrixParam_fixedsize (const ros::NodeHandle &nh, const std::string &name, const Eigen::MatrixBase< Derived > &matrix)
template<class Derived >
std::pair< int, int >	getMatrixParam_variablesize (const ros::NodeHandle &nh, const std::string &name, const Eigen::MatrixBase< Derived > &matrix)
template<class Iterator >
void	hexToBinary (const std::string &data, const Iterator &start, const Iterator &end)
template<class IteratorIn , class OutVector >
void	hexToBinary (const IteratorIn &instart, const IteratorIn &inend, OutVector *out)
template<class Model >
void	loadDynamicsParams (const ros::NodeHandle &nh, Model &model)
template<class Derived >
void	matrixExtender (const ros::NodeHandle &nh, const std::string &name, Eigen::MatrixBase< Derived > &matrix)
std::pair< double, double >	meter2deg (double x, double y, double lat)
double	mpdlat (double lat)
double	mpdlon (double lat)
Eigen::Vector3d	ned2ecef (const Eigen::Vector3d &ned, const Eigen::Vector3d &geo)
Eigen::Matrix3d	nedrot (const Eigen::Vector3d &geo)
	Returns the rotation matrix between ECEF and NED frame.
template<class Point , class Iterator >
void	nedToVector (const Point &point, Iterator &vec, int offset=0)
Eigen::Matrix3d	nwurot (const Eigen::Vector3d &geo)
	Returns the rotation matrix between ECEF and NWU frame.
template<class Point , class Iterator >
void	pointToVector (const Point &point, Iterator &vec, int offset=0)
template<class T >
void	quaternionFromEulerZYX (double roll, double pitch, double yaw, Eigen::Quaternion< T > &q)
template<class T >
void	quaternionFromEulerZYX (double roll, double pitch, double yaw, T &q)
template<class Point , class Iterator >
void	rpyToVector (const Point &point, Iterator &vec, int offset=0)
void	sleep (size_t ms)
std::string	time_signature ()
template<class MyType >
std::string	to_string (MyType value)
double	unix_time ()
std::string	unix_time_string (bool microseconds=false)
template<class Point , class Iterator >
void	vectorToDisableAxis (const Iterator &vec, Point &point)
template<class Point , class Iterator >
void	vectorToNED (const Iterator &vec, Point &point, int offset=0)
template<class Point , class Iterator >
void	vectorToPoint (const Iterator &vec, Point &point, int offset=0)
template<class Point , class Iterator >
void	vectorToRPY (const Iterator &vec, Point &point, int offset=0)
template<class Derived , class XmlRpcVal >
Eigen::MatrixBase< Derived > ::Scalar	xmlRpcConvert (XmlRpcVal &data, bool intType)
Variables
static const double	a = 6378137
	Semi-major axis of the local geodetic datum ellipsoid.
static const double	b = a*(1-f)
	Semi-minor axis of the local geodetic datum ellipsoid.
static const double	deg2rad = M_PI/180
	Constants for quick projection.
static const double	ecsq = (aa - bb)/(b*b)
	Secondary eccentricity squared.
static const double	esq = 2f-ff
	First eccentricity squared.
static const double	f = 1/298.257223563
	Flattening of the local geodetic datum ellipsoid.
static const double	rad2deg = 180/M_PI
static const double	radius = 6378137
static const double	ratio = 0.99664719

Detailed Description

Todo:: Add Vincenty formula: http://en.wikipedia.org/wiki/Vincenty's_formulae

Function Documentation

template<class Iterator >

void labust::tools::binaryToHex	(	const Iterator &	start,
		const Iterator &	end,
		std::string *	data
	)		`[inline]`

The function converts a binary range into a hex string representation. NOTE: this will work robustly for char nad uint8_t types. For other types the outcome might not be what you expect.

Parameters:

start	The iterator pointing to the start of the binary vector
end	The iterator pointing to the end of the binary vector
data	Pointer to the string where to store the hex representation

Definition at line 99 of file StringUtilities.hpp.

template<class Iterator , class Stream >

void labust::tools::binaryToHex	(	const Iterator &	start,
		const Iterator &	end,
		Stream &	data
	)		`[inline]`

The function converts a binary range into a hex string representation. NOTE: this will work robustly for char nad uint8_t types. For other types the outcome might not be what you expect.

Parameters:

start	The iterator pointing to the start of the binary vector
end	The iterator pointing to the end of the binary vector
data	Pointer to the output stream.

Definition at line 120 of file StringUtilities.hpp.

std::string labust::tools::chomp	(	std::string &	main,
		const char	token = `','`
	)		`[inline]`

The function split the string into two parts separated by a delimiter.

Parameters:

main	The string that will be split.
token	Split delimiter character.

Returns:: The string before the delimiter.

Definition at line 50 of file StringUtilities.hpp.

template<class VectorType , class Packable >

bool labust::tools::decodePackable	(	const std::vector< VectorType > &	binary,
		Packable *	data
	)		`[inline]`

Decodes all messages that have a pack/unpack interface.

Definition at line 68 of file packer.h.

std::pair<double,double> labust::tools::deg2meter	(	double	difflat,
		double	difflon,
		double	lat
	)		`[inline]`

The function converts degrees to meters.

Parameters:

difflat	North distance in degrees.
difflon	East distance in degrees.
lat	Latitude position in decimal degrees.

Returns:: Returns the latitude and longitude distance in relative meters.

Definition at line 81 of file GeoUtilities.hpp.

template<class Point , class Iterator >

void labust::tools::disableAxisToVector	(	Point &	point,
		const Iterator &	vec
	)

Definition at line 128 of file conversions.hpp.

Eigen::Vector3d labust::tools::ecef2geodetic ( const Eigen::Vector3d & xyz ) [inline]

Converts the geocentric ECEF coordinates into WGS84 geodetic coordinates.

Parameters:

x	Geocentric position in meters.
y	Geocentric position in meters.
z	Geocentric position in meters.

Returns:: Geodetic coordinates in decimal degrees and altitude in meters.

Definition at line 149 of file GeoUtilities.hpp.

Eigen::Vector3d labust::tools::ecef2ned	(	const Eigen::Vector3d &	xyz,
		const Eigen::Vector3d &	geo
	)		`[inline]`

Converts the geocentric ECEF coordinates into local NED coordinates.

Definition at line 230 of file GeoUtilities.hpp.

template<class Packable >

void labust::tools::encodePackable	(	const Packable &	data,
		std::vector< char > *	binary
	)		`[inline]`

Encodes all messages that have a pack/unpack interface.

Definition at line 53 of file packer.h.

template<class T >

void labust::tools::eulerZYXFromQuaternion	(	const T &	q,
		double &	roll,
		double &	pitch,
		double &	yaw
	)

Definition at line 166 of file conversions.hpp.

template<class T , class V >

void labust::tools::eulerZYXFromQuaternion	(	const T &	q,
		V &	vect
	)

Definition at line 181 of file conversions.hpp.

void labust::tools::eulerZYXFromQuaternion	(	const geometry_msgs::Quaternion &	q,
		double &	roll,
		double &	pitch,
		double &	yaw
	)		`[inline]`

Definition at line 196 of file conversions.hpp.

Eigen::Vector3d labust::tools::geodetic2ecef ( const Eigen::Vector3d & geo ) [inline]

Converts the WGS84 geodetic coordinates into geocentric ECEF coordinates

Parameters:

geo	Geodetic latitude, longitude in decimal degrees and altitude in meters. Internally, the vector must be (longitude,latitude,altitude).

Returns:: ECEF coordinates in meters

Definition at line 129 of file GeoUtilities.hpp.

unsigned char labust::tools::getChecksum	(	const unsigned char *const	data,
		size_t	len
	)		`[inline]`

The function returns the checksum of a byte array.

Parameters:

data	Address of the range start.
len	Length of the range.

Returns:: XOR checksum of the given range.

Definition at line 83 of file StringUtilities.hpp.

template<class Derived >

std::pair<int,int> labust::tools::getMatrixParam	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		const Eigen::MatrixBase< Derived > &	matrix
	)		`[inline]`

Reads a vector or matrix list and populates the supplied vector or matrix.

Todo:: Derive one function for variable and fixed size.

Definition at line 195 of file MatrixLoader.hpp.

template<class Derived >

std::pair<int,int> labust::tools::getMatrixParam_fixedsize	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		const Eigen::MatrixBase< Derived > &	matrix
	)

Reads a vector or matrix list and populates the supplied vector or matrix.

Definition at line 59 of file MatrixLoader.hpp.

template<class Derived >

std::pair<int,int> labust::tools::getMatrixParam_variablesize	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		const Eigen::MatrixBase< Derived > &	matrix
	)

Reads a vector or matrix list and populates the supplied vector or matrix.

Definition at line 118 of file MatrixLoader.hpp.

template<class Iterator >

void labust::tools::hexToBinary	(	const std::string &	data,
		const Iterator &	start,
		const Iterator &	end
	)		`[inline]`

The function converts a binary range into a hex string representation. NOTE: this will work robustly for char nad uint8_t types. For other types the outcome might not be what you expect.

Parameters:

start	The iterator pointing to the start of the binary vector
end	The iterator pointing to the end of the binary vector
data	Pointer to the string where to store the hex representation

Definition at line 140 of file StringUtilities.hpp.

template<class IteratorIn , class OutVector >

void labust::tools::hexToBinary	(	const IteratorIn &	instart,
		const IteratorIn &	inend,
		OutVector *	out
	)		`[inline]`

The function converts a binary range into a hex string representation. NOTE: this will work robustly for char nad uint8_t types. For other types the outcome might not be what you expect.

Parameters:

start	The iterator pointing to the start of the binary vector
end	The iterator pointing to the end of the binary vector
data	Pointer to the string where to store the hex representation

Definition at line 165 of file StringUtilities.hpp.

template<class Model >

void labust::tools::loadDynamicsParams	(	const ros::NodeHandle &	nh,
		Model &	model
	)

The function loads and configures the dynamics parameters from the supplied ROS node handle.

Definition at line 66 of file DynamicsLoader.hpp.

template<class Derived >

void labust::tools::matrixExtender	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		Eigen::MatrixBase< Derived > &	matrix
	)		`[inline]`

The extender expands a diagonal vector representation of the matrix into a full rank diagonal matrix.

Definition at line 51 of file DynamicsLoader.hpp.

std::pair<double,double> labust::tools::meter2deg	(	double	x,
		double	y,
		double	lat
	)		`[inline]`

The function converts meters to relative degrees.

Parameters:

x	North distance in meters.
y	East distance in meters.
lat	Latitude position in decimal degrees.

Returns:: Returns the relative angles of the distances.

Definition at line 94 of file GeoUtilities.hpp.

double labust::tools::mpdlat ( double lat ) [inline]

The function calculates meters per latitude degree. The conversion was taken from: http://en.wikipedia.org/wiki/Geographic_coordinate_system#Cartesian_coordinates

Definition at line 59 of file GeoUtilities.hpp.

double labust::tools::mpdlon ( double lat ) [inline]

The function calculates meters per longitude degree. The conversion was taken from: http://en.wikipedia.org/wiki/Geographic_coordinate_system#Cartesian_coordinates

Definition at line 68 of file GeoUtilities.hpp.

Eigen::Vector3d labust::tools::ned2ecef	(	const Eigen::Vector3d &	ned,
		const Eigen::Vector3d &	geo
	)		`[inline]`

Converts the local NED coordinates into geocentric ECEF coordinates.

Definition at line 240 of file GeoUtilities.hpp.

Eigen::Matrix3d labust::tools::nedrot ( const Eigen::Vector3d & geo ) [inline]

Returns the rotation matrix between ECEF and NED frame.

Definition at line 174 of file GeoUtilities.hpp.

template<class Point , class Iterator >

void labust::tools::nedToVector	(	const Point &	point,
		Iterator &	vec,
		int	offset = `0`
	)

The function offers mapping from NED structure to a vector.

Definition at line 73 of file conversions.hpp.

Eigen::Matrix3d labust::tools::nwurot ( const Eigen::Vector3d & geo ) [inline]

Returns the rotation matrix between ECEF and NWU frame.

Definition at line 201 of file GeoUtilities.hpp.

template<class Point , class Iterator >

void labust::tools::pointToVector	(	const Point &	point,
		Iterator &	vec,
		int	offset = `0`
	)

The class offers mapping from a XYZ structure to a vector.

Definition at line 51 of file conversions.hpp.

template<class T >

void labust::tools::quaternionFromEulerZYX	(	double	roll,
		double	pitch,
		double	yaw,
		Eigen::Quaternion< T > &	q
	)

Definition at line 139 of file conversions.hpp.

template<class T >

void labust::tools::quaternionFromEulerZYX	(	double	roll,
		double	pitch,
		double	yaw,
		T &	q
	)

Definition at line 154 of file conversions.hpp.

template<class Point , class Iterator >

void labust::tools::rpyToVector	(	const Point &	point,
		Iterator &	vec,
		int	offset = `0`
	)

The function offers mapping from RPY structure to a vector.

Definition at line 95 of file conversions.hpp.

void labust::tools::sleep ( size_t ms ) [inline]

The function suspends the system for the specified amount of milliseconds.

Parameters:

ms	The amount of milliseconds to sleep.

Definition at line 97 of file TimingTools.hpp.

std::string labust::tools::time_signature ( ) [inline]

The function generates a string format time signatures. Useful for creating time stamped filenames.

Returns:: String based time signature.

Definition at line 64 of file TimingTools.hpp.

template<class MyType >

std::string labust::tools::to_string ( MyType value ) [inline]

The function converts different types into string if a output operator is defined for the type.

Parameters:

value Value which to convert into a string.

Template Parameters:

MyType Type of the converted object.

Returns:: Returns the converted object in a string.

Definition at line 68 of file StringUtilities.hpp.

double labust::tools::unix_time ( ) [inline]

The function to calculate the UNIX time.

Returns:: Number of decimal seconds since 01.01.1970.

Definition at line 50 of file TimingTools.hpp.

std::string labust::tools::unix_time_string ( bool microseconds = false ) [inline]

The function returns the unix_time in a string format.

Parameters:

microseconds True if we wish to display the microseconds.

Returns:: UNIX time in string format.

Definition at line 85 of file TimingTools.hpp.

template<class Point , class Iterator >

void labust::tools::vectorToDisableAxis	(	const Iterator &	vec,
		Point &	point
	)

The class offers mapping from auv_msgs disable_axis structure to a vector.

Definition at line 117 of file conversions.hpp.

template<class Point , class Iterator >

void labust::tools::vectorToNED	(	const Iterator &	vec,
		Point &	point,
		int	offset = `0`
	)

The class offers mapping to a RPY structure from a vector.

Definition at line 84 of file conversions.hpp.

template<class Point , class Iterator >

void labust::tools::vectorToPoint	(	const Iterator &	vec,
		Point &	point,
		int	offset = `0`
	)

The class offers mapping from a XYZ structure to a vector.

Definition at line 62 of file conversions.hpp.

template<class Point , class Iterator >

void labust::tools::vectorToRPY	(	const Iterator &	vec,
		Point &	point,
		int	offset = `0`
	)

The class offers mapping to a NED structure from a vector.

Definition at line 106 of file conversions.hpp.

template<class Derived , class XmlRpcVal >

Eigen::MatrixBase<Derived>::Scalar labust::tools::xmlRpcConvert	(	XmlRpcVal &	data,
		bool	intType
	)		`[inline]`

Definition at line 49 of file MatrixLoader.hpp.

Variable Documentation

const double labust::tools::a = 6378137 [static]

Semi-major axis of the local geodetic datum ellipsoid.

Constants and full WGS84<->ECEF<->NED conversions.

Conversion references: 1. USER’s HANDBOOK ON DATUM TRANSFORMATIONS INVOLVING WGS 84 2. J. Zhu, "Conversion of Earth-centered Earth-fixed coordinates to geodetic coordinates," IEEE Transactions on Aerospace and Electronic Systems, vol. 30, pp. 957-961, 1994 3. http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates

Definition at line 112 of file GeoUtilities.hpp.

const double labust::tools::b = a*(1-f) [static]

Semi-minor axis of the local geodetic datum ellipsoid.

Definition at line 116 of file GeoUtilities.hpp.

const double labust::tools::deg2rad = M_PI/180 [static]

Constants for quick projection.

Definition at line 49 of file GeoUtilities.hpp.

const double labust::tools::ecsq = (a*a - b*b)/(b*b) [static]

Secondary eccentricity squared.

Definition at line 120 of file GeoUtilities.hpp.

const double labust::tools::esq = 2*f-f*f [static]

First eccentricity squared.

Definition at line 118 of file GeoUtilities.hpp.

const double labust::tools::f = 1/298.257223563 [static]

Flattening of the local geodetic datum ellipsoid.

Definition at line 114 of file GeoUtilities.hpp.

const double labust::tools::rad2deg = 180/M_PI [static]

Definition at line 50 of file GeoUtilities.hpp.

const double labust::tools::radius = 6378137 [static]

Definition at line 51 of file GeoUtilities.hpp.

const double labust::tools::ratio = 0.99664719 [static]

Definition at line 52 of file GeoUtilities.hpp.

Classes

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation