conversions.h
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00001 
00009 /*
00010  * Copyright (c) 2011, A. Hornung, University of Freiburg
00011  * All rights reserved.
00012  *
00013  * Redistribution and use in source and binary forms, with or without
00014  * modification, are permitted provided that the following conditions are met:
00015  *
00016  *     * Redistributions of source code must retain the above copyright
00017  *       notice, this list of conditions and the following disclaimer.
00018  *     * Redistributions in binary form must reproduce the above copyright
00019  *       notice, this list of conditions and the following disclaimer in the
00020  *       documentation and/or other materials provided with the distribution.
00021  *     * Neither the name of the University of Freiburg nor the names of its
00022  *       contributors may be used to endorse or promote products derived from
00023  *       this software without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00028  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00029  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00030  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00031  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00032  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00033  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00034  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00035  * POSSIBILITY OF SUCH DAMAGE.
00036  */
00037 
00038 #ifndef OCTOMAP_ROS_CONVERSIONS_H
00039 #define OCTOMAP_ROS_CONVERSIONS_H
00040 
00041 #include <octomap/octomap.h>
00042 
00043 #include <sensor_msgs/PointCloud2.h>
00044 #include <geometry_msgs/Point.h>
00045 #include <tf/transform_datatypes.h>
00046 
00047 namespace octomap {
00055   void pointsOctomapToPointCloud2(const point3d_list& points, sensor_msgs::PointCloud2& cloud);
00056 
00063   void pointCloud2ToOctomap(const sensor_msgs::PointCloud2& cloud, Pointcloud& octomapCloud);
00064 
00066   static inline geometry_msgs::Point pointOctomapToMsg(const point3d& octomapPt){
00067     geometry_msgs::Point pt;
00068     pt.x = octomapPt.x();
00069     pt.y = octomapPt.y();
00070     pt.z = octomapPt.z();
00071 
00072     return pt;
00073   }
00074 
00076   static inline octomap::point3d pointMsgToOctomap(const geometry_msgs::Point& ptMsg){
00077     return octomap::point3d(ptMsg.x, ptMsg.y, ptMsg.z);
00078   }
00079 
00081   static inline tf::Point pointOctomapToTf(const point3d& octomapPt){
00082     return tf::Point(octomapPt.x(), octomapPt.y(), octomapPt.z());
00083   }
00084 
00086   static inline octomap::point3d pointTfToOctomap(const tf::Point& ptTf){
00087     return point3d(ptTf.x(), ptTf.y(), ptTf.z());
00088   }
00089 
00091   static inline tf::Quaternion quaternionOctomapToTf(const octomath::Quaternion& octomapQ){
00092     return tf::Quaternion(octomapQ.x(), octomapQ.y(), octomapQ.z(), octomapQ.u());
00093   }
00094 
00096   static inline octomath::Quaternion quaternionTfToOctomap(const tf::Quaternion& qTf){
00097     return octomath::Quaternion(qTf.w(), qTf.x(), qTf.y(), qTf.z());
00098   }
00099 
00101   static inline tf::Pose poseOctomapToTf(const octomap::pose6d& octomapPose){
00102     return tf::Pose(quaternionOctomapToTf(octomapPose.rot()), pointOctomapToTf(octomapPose.trans()));
00103   }
00104 
00106   static inline octomap::pose6d poseTfToOctomap(const tf::Pose& poseTf){
00107     return octomap::pose6d(pointTfToOctomap(poseTf.getOrigin()), quaternionTfToOctomap(poseTf.getRotation()));
00108   }
00109 
00110 
00111 
00112 
00113 
00114 }
00115 
00116 
00117 #endif
00118 


octomap_ros
Author(s): Armin Hornung
autogenerated on Sat Jun 8 2019 20:07:37