#include <pose_helper.hpp>

Public Member Functions
double	calcAngularDistanceInRad (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)

double	calculateDistance (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)

bool	checkOrientationsAreApproxEquale (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2, const double orientationRadThreshold)

bool	checkPosesAreApproxEquale (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2, const double positionThreshold, const double orientationRadThreshold)

bool	checkPositionsAreApproxEquale (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2, const double positionThreshold)

bool	checkViewCenterPointsAreApproxEquale (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)

geometry_msgs::Pose	getCurrentCameraPose ()

geometry_msgs::Pose	getCurrentRobotPose ()

Static Public Member Functions
static boost::shared_ptr< PoseHelper >	getInstance ()

static void	resetInstance ()

Private Member Functions
double	calcDistPositionEucl (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)

double	calcDistPositionWithNBV (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)

Eigen::Vector3d	calculateViewCenterPoint (const geometry_msgs::Pose &pose)

Eigen::Quaterniond	convertPoseQuatToQuat (const geometry_msgs::Pose &pose)

Eigen::Vector3d	convertPositionToVec (const geometry_msgs::Pose &pose)

geometry_msgs::Pose	convertVecToPosition (const Eigen::Vector3d &vec)

geometry_msgs::Pose	getOriginPose ()

	PoseHelper ()

Static Private Member Functions
template<typename T >
static T	waitForParam (ros::NodeHandle n, std::string param)

Private Attributes
ros::ServiceClient	getCameraPoseServiceClient

ros::ServiceClient	getDistanceServiceClient

ros::ServiceClient	getRobotPoseServiceClient

Static Private Attributes
static int	distanceFuncParam

static boost::shared_ptr< PoseHelper >	instancePtr

static double	viewCenterOrientationRadDistanceThreshold

static double	viewCenterPositionDistanceThreshold

static double	viewPointDistance

Detailed Description

Definition at line 34 of file pose_helper.hpp.

Constructor & Destructor Documentation

directSearchWS::PoseHelper::PoseHelper ( )

private

Definition at line 69 of file pose_helper.cpp.

Member Function Documentation

double directSearchWS::PoseHelper::calcAngularDistanceInRad	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2
	)

Definition at line 99 of file pose_helper.cpp.

double directSearchWS::PoseHelper::calcDistPositionEucl	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2
	)

private

Definition at line 93 of file pose_helper.cpp.

double directSearchWS::PoseHelper::calcDistPositionWithNBV	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2
	)

private

Definition at line 77 of file pose_helper.cpp.

double directSearchWS::PoseHelper::calculateDistance	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2
	)

Definition at line 137 of file pose_helper.cpp.

Eigen::Vector3d directSearchWS::PoseHelper::calculateViewCenterPoint ( const geometry_msgs::Pose & pose )

private

Definition at line 107 of file pose_helper.cpp.

bool directSearchWS::PoseHelper::checkOrientationsAreApproxEquale	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2,
		const double	orientationRadThreshold
	)

Definition at line 164 of file pose_helper.cpp.

bool directSearchWS::PoseHelper::checkPosesAreApproxEquale	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2,
		const double	positionThreshold,
		const double	orientationRadThreshold
	)

Definition at line 153 of file pose_helper.cpp.

bool directSearchWS::PoseHelper::checkPositionsAreApproxEquale	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2,
		const double	positionThreshold
	)

Definition at line 159 of file pose_helper.cpp.

bool directSearchWS::PoseHelper::checkViewCenterPointsAreApproxEquale	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2
	)

Definition at line 145 of file pose_helper.cpp.

Eigen::Quaterniond directSearchWS::PoseHelper::convertPoseQuatToQuat ( const geometry_msgs::Pose & pose )

inlineprivate

Definition at line 69 of file pose_helper.hpp.

Eigen::Vector3d directSearchWS::PoseHelper::convertPositionToVec ( const geometry_msgs::Pose & pose )

inlineprivate

Definition at line 57 of file pose_helper.hpp.

geometry_msgs::Pose directSearchWS::PoseHelper::convertVecToPosition ( const Eigen::Vector3d & vec )

inlineprivate

Definition at line 61 of file pose_helper.hpp.

geometry_msgs::Pose directSearchWS::PoseHelper::getCurrentCameraPose ( )

Definition at line 126 of file pose_helper.cpp.

geometry_msgs::Pose directSearchWS::PoseHelper::getCurrentRobotPose ( )

Definition at line 115 of file pose_helper.cpp.

PoseHelperPtr directSearchWS::PoseHelper::getInstance ( )

static

Definition at line 28 of file pose_helper.cpp.

geometry_msgs::Pose directSearchWS::PoseHelper::getOriginPose ( )

inlineprivate

Definition at line 73 of file pose_helper.hpp.

void directSearchWS::PoseHelper::resetInstance ( )

static

Definition at line 36 of file pose_helper.cpp.

template<typename T >

T directSearchWS::PoseHelper::waitForParam	(	ros::NodeHandle	n,
		std::string	param
	)

staticprivate

Definition at line 57 of file pose_helper.cpp.

Member Data Documentation

int directSearchWS::PoseHelper::distanceFuncParam

staticprivate

Definition at line 39 of file pose_helper.hpp.

ros::ServiceClient directSearchWS::PoseHelper::getCameraPoseServiceClient

private

Definition at line 45 of file pose_helper.hpp.

ros::ServiceClient directSearchWS::PoseHelper::getDistanceServiceClient

private

Definition at line 43 of file pose_helper.hpp.

ros::ServiceClient directSearchWS::PoseHelper::getRobotPoseServiceClient

private

Definition at line 44 of file pose_helper.hpp.

PoseHelperPtr directSearchWS::PoseHelper::instancePtr

staticprivate

Definition at line 37 of file pose_helper.hpp.

double directSearchWS::PoseHelper::viewCenterOrientationRadDistanceThreshold

staticprivate

Definition at line 41 of file pose_helper.hpp.

double directSearchWS::PoseHelper::viewCenterPositionDistanceThreshold

staticprivate

Definition at line 40 of file pose_helper.hpp.

double directSearchWS::PoseHelper::viewPointDistance

staticprivate

Definition at line 38 of file pose_helper.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation