PoseInfoContainer.h
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00001 //=================================================================================================
00002 // Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00013 //       group, TU Darmstadt nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef POSE_INFO_CONTAINER_H__
00030 #define POSE_INFO_CONTAINER_H__
00031 
00032 #include <tf/transform_datatypes.h>
00033 #include <geometry_msgs/PoseStamped.h>
00034 #include <geometry_msgs/PoseWithCovarianceStamped.h>
00035 
00036 #include <Eigen/Core>
00037 
00038 class PoseInfoContainer{
00039 public:
00040 
00041   void update(const Eigen::Vector3f& slamPose, const Eigen::Matrix3f& slamCov, const ros::Time& stamp, const std::string& frame_id);
00042 
00043   const geometry_msgs::PoseStamped& getPoseStamped() { return stampedPose_; };
00044   const geometry_msgs::PoseWithCovarianceStamped& getPoseWithCovarianceStamped() { return covPose_; };
00045   const tf::Transform& getTfTransform() { return poseTransform_; };
00046 
00047 protected:
00048   geometry_msgs::PoseStamped stampedPose_;
00049   geometry_msgs::PoseWithCovarianceStamped covPose_;
00050   tf::Transform poseTransform_;
00051 
00052 };
00053 
00054 #endif
00055 


hector_mapping
Author(s): Stefan Kohlbrecher
autogenerated on Mon Jun 27 2016 04:57:19