util.h
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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2016, Southwest Research Institute® (SwRI®)
00004 // All rights reserved.
00005 //
00006 // Redistribution and use in source and binary forms, with or without
00007 // modification, are permitted provided that the following conditions are met:
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00010 //     * Redistributions in binary form must reproduce the above copyright
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00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 #ifndef SWRI_ROUTE_UTIL_UTIL_H_
00030 #define SWRI_ROUTE_UTIL_UTIL_H_
00031 
00032 #include <marti_nav_msgs/RoutePosition.h>
00033 #include <swri_transform_util/transform.h>
00034 
00035 namespace swri_route_util
00036 {
00037 class Route;
00038 class RoutePoint;
00039 
00040 // Transform a route.  The route will be transformed in place using
00041 // the supplied transform.  Known property types that are affected by
00042 // the transform are expceted to be transformed properly.  The
00043 // frame_id of the transformed route will be set to the required
00044 // target_frame argument, because forgetting to up the frame_id has
00045 // caused difficult bugs several times.
00046 void transform(Route &route,
00047                const swri_transform_util::Transform &transform,
00048                const std::string &target_frame);
00049 
00050 
00051 // Project a route to the XY plane by setting the Z coordinate to zero.
00052 void projectToXY(Route &route);
00053 
00054 
00055 // Fill in the orientation of the route points using an estimate from
00056 // the route geometry and desired "up" direction.  This function
00057 // assumes the route is in a cartesian (e.g. not WGS84) frame.
00058 void fillOrientations(Route &route,
00059                       const tf::Vector3 &up=tf::Vector3(0.0, 0.0, 1.0));
00060 
00061 
00062 // Find the closest point on the route (as a route position) for a
00063 // given point.  If extrapolate_before_start and/or
00064 // extrapolate_past_end are true, the projection will consider the
00065 // first and last segments to extend infinitely (ONLY if the point is
00066 // nearest to either without extrapolation).  This function assumes
00067 // the route is in a cartesian (e.g. not WGS84) frame.
00068 bool projectOntoRoute(marti_nav_msgs::RoutePosition &position,
00069                       const Route &route,
00070                       const tf::Vector3 &point,
00071                       bool extrapolate_before_start,
00072                       bool extrapolate_past_end);
00073 
00074 
00075 // Find the closest position on a route for a given point, restricted
00076 // to a subset of the route.  The subset is defined by a start and end
00077 // position on the route.  This function assumes the route is in a
00078 // cartesian (e.g. not WGS84) frame.
00079 bool projectOntoRouteWindow(marti_nav_msgs::RoutePosition &position,
00080                             const Route &route,
00081                             const tf::Vector3 &point,
00082                             const marti_nav_msgs::RoutePosition &window_start,
00083                             const marti_nav_msgs::RoutePosition &window_end);
00084 
00085 
00086 // Normalize a route position.  A normalize route position is guaranteed to
00087 // have:
00088 //   - A valid id for a point in the route.
00089 //   
00090 //   - If the position is before the start of the route, the id will be
00091 //     first route point and the distance will be negative.
00092 
00093 //   - If the position is after the end of the route, the id will be the
00094 //     last route point and the distance will be positive.
00095 //
00096 //   - Otherwise, the position's id will be for the point that begins
00097 //     the segment containing the position, and the distance will be
00098 //     less than that length of that segment.
00099 //
00100 //  This function fails if the original position's id is not found in the
00101 // route.  This function assumes the route is in a cartesian (e.g. not
00102 // WGS84) frame.
00103 bool normalizeRoutePosition(marti_nav_msgs::RoutePosition &normalized_position,
00104                             const Route &route,
00105                             const marti_nav_msgs::RoutePosition &position);
00106 
00107 
00108 // Create a route point from a route position by interpolating between
00109 // the route's points as needed.  This function assumes the route is
00110 // in a cartesian (e.g. not WGS84) frame.
00111 bool interpolateRoutePosition(RoutePoint &point,
00112                               const Route &route,
00113                               const marti_nav_msgs::RoutePosition &position,
00114                               bool allow_extrapolation);
00115 
00116 // Return the distance between two route positions.  This function
00117 // works for routes defined in WGS84 or Euclidean spaces.
00118 bool routeDistance(
00119   double &distance,
00120   const marti_nav_msgs::RoutePosition &start,
00121   const marti_nav_msgs::RoutePosition &end,
00122   const Route &route);
00123 
00124 // Return the distances between a start route position and multiple
00125 // end route positions.  This function works for routes defined in
00126 // WGS84 or Euclidean spaces.  This function returns false if the
00127 // start point wasn't found in the route, in which case distances is
00128 // not modified.  If the function is true, the start point was found
00129 // and distances is guaranteed to be the same size as ends.  If an end
00130 // point is not found in the route, its distance is set to NaN.
00131 bool routeDistances(
00132   std::vector<double> &distances,
00133   const marti_nav_msgs::RoutePosition &start,
00134   const std::vector<marti_nav_msgs::RoutePosition> &ends,
00135   const Route &route);
00136 
00137 // Extracts a subroute from [start, end)
00138 bool extractSubroute(
00139   Route &sub_route,
00140   const Route &route,
00141   const marti_nav_msgs::RoutePosition &start,
00142   const marti_nav_msgs::RoutePosition &end);
00143 }  // namespace swri_route_util
00144 #endif  // SWRI_ROUTE_UTIL_UTIL_H_


swri_route_util
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autogenerated on Tue Oct 3 2017 03:19:53