navigation_utility.h
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
3  *
4  * Redistribution and use in source and binary forms, with or without
5  * modification, are permitted provided that the following conditions
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8  * 1. Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
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11  * 2. Redistributions in binary form must reproduce the above
12  * copyright notice, this list of conditions and the following
13  * disclaimer in the documentation and/or other materials provided
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20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
21  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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32  *
33  * navigation_utility.h
34  *
35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
40 
41 #ifndef MBF_UTILITY__NAVIGATION_UTILITY_H_
42 #define MBF_UTILITY__NAVIGATION_UTILITY_H_
43 
44 #include <geometry_msgs/PoseStamped.h>
45 #include <ros/duration.h>
46 #include <ros/time.h>
47 #include <string>
48 #include <tf2/convert.h>
49 #include <tf2_ros/buffer.h>
51 
52 #include "mbf_utility/types.h"
53 
54 namespace mbf_utility
55 {
56 
66 bool transformPoint(const TF &tf,
67  const std::string &target_frame,
68  const ros::Duration &timeout,
69  const geometry_msgs::PointStamped &in,
70  geometry_msgs::PointStamped &out);
71 
81 bool transformPose(const TF &tf,
82  const std::string &target_frame,
83  const ros::Duration &timeout,
84  const geometry_msgs::PoseStamped &in,
85  geometry_msgs::PoseStamped &out);
86 
96 bool getRobotPose(const TF &tf,
97  const std::string &robot_frame,
98  const std::string &global_frame,
99  const ros::Duration &timeout,
100  geometry_msgs::PoseStamped &robot_pose);
107 double distance(const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2);
108 
115 double angle(const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2);
116 
117 } /* namespace mbf_utility */
118 
119 #endif /* navigation_utility.h */
double angle(const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2)
computes the smallest angle between two poses.
bool transformPoint(const TF &tf, const std::string &target_frame, const ros::Duration &timeout, const geometry_msgs::PointStamped &in, geometry_msgs::PointStamped &out)
Transforms a point from one frame into another.
bool getRobotPose(const TF &tf, const std::string &robot_frame, const std::string &global_frame, const ros::Duration &timeout, geometry_msgs::PoseStamped &robot_pose)
Computes the robot pose.
double distance(const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2)
Computes the Euclidean-distance between two poses.
bool transformPose(const TF &tf, const std::string &target_frame, const ros::Duration &timeout, const geometry_msgs::PoseStamped &in, geometry_msgs::PoseStamped &out)
Transforms a pose from one frame into another.


mbf_utility
Author(s): Sebastian Pütz
autogenerated on Fri Nov 6 2020 03:56:22