footstep_conversions.cpp
Go to the documentation of this file.
1 // -*- mode: c++ -*-
2 /*********************************************************************
3  * Software License Agreement (BSD License)
4  *
5  * Copyright (c) 2015, JSK Lab
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/o2r other materials provided
17  * with the distribution.
18  * * Neither the name of the JSK Lab nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *********************************************************************/
35 
38 
39 namespace jsk_footstep_planner
40 {
41  jsk_footstep_msgs::Footstep footstepFromEigenPose(Eigen::Affine3f pose)
42  {
43  jsk_footstep_msgs::Footstep footstep;
44  tf::poseEigenToMsg(pose, footstep.pose);
45  return footstep;
46  }
47  jsk_footstep_msgs::Footstep footstepFromEigenPose(Eigen::Affine3d pose)
48  {
49  jsk_footstep_msgs::Footstep footstep;
50  tf::poseEigenToMsg(pose, footstep.pose);
51  return footstep;
52  }
53 
54  visualization_msgs::Marker footstepToMarker(const jsk_footstep_msgs::Footstep& footstep,
55  const std_msgs::Header& header)
56  {
57  visualization_msgs::Marker marker;
58  marker.header = header;
59  marker.type = visualization_msgs::Marker::CUBE;
60  marker.scale = footstep.dimensions;
61  marker.color.a = 1.0;
62  marker.pose = footstep.pose;
63  if (footstep.leg == jsk_footstep_msgs::Footstep::LEFT) {
64  marker.color.g = 1.0;
65  }
66  else {
67  marker.color.r = 1.0;
68  }
69  return marker;
70  }
71 
72  visualization_msgs::MarkerArray footstepArrayToMarkerArray(const jsk_footstep_msgs::FootstepArray& footstep_array)
73  {
74  visualization_msgs::MarkerArray marker_array;
75  for (size_t i = 0; i < footstep_array.footsteps.size(); i++) {
76  jsk_footstep_msgs::Footstep footstep = footstep_array.footsteps[i];
77  visualization_msgs::Marker marker = footstepToMarker(footstep, footstep_array.header);
78  marker_array.markers.push_back(marker);
79  }
80  return marker_array;
81  }
82 }
marker_array
void poseEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Pose &m)
visualization_msgs::MarkerArray footstepArrayToMarkerArray(const jsk_footstep_msgs::FootstepArray &footstep_array)
jsk_footstep_msgs::Footstep footstepFromEigenPose(Eigen::Affine3f pose)
visualization_msgs::Marker footstepToMarker(const jsk_footstep_msgs::Footstep &footstep, const std_msgs::Header &header)


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Fri May 14 2021 02:51:52