Classes | Typedefs | Functions
swri_route_util Namespace Reference

Classes

struct  DistanceReport
 
struct  ObstacleData
 
class  Route
 
class  RoutePoint
 
struct  SpeedForCurvatureParameters
 
struct  SpeedForObstaclesParameters
 

Typedefs

typedef boost::shared_ptr< Route const > RouteConstPtr
 
typedef boost::shared_ptr< RouteRoutePtr
 

Functions

static void addItem (mcm::KeyValueArray &m, const std::string &key, const std::string &value)
 
static double estimateCurvature (const Route &route, const size_t index, double filter_size)
 
bool extractSubroute (Route &sub_route, const Route &route, const marti_nav_msgs::RoutePosition &start, const marti_nav_msgs::RoutePosition &end)
 
void fillOrientations (Route &route, const tf::Vector3 &up=tf::Vector3(0.0, 0.0, 1.0))
 
void generateObstacleData (std::vector< ObstacleData > &obstacle_data, const swri_transform_util::Transform g_route_from_obs, const marti_nav_msgs::ObstacleArray &obstacles_msg)
 
void generateObstacleData (std::vector< ObstacleData > &obstacle_data, const swri_transform_util::Transform g_route_from_obs, const marti_nav_msgs::TrackedObjectArray &obstacles_msg)
 
void generateObstacleData (std::vector< ObstacleData > &obstacle_data, const stu::Transform g_route_from_obs, const mnm::ObstacleArray &obstacles_msg)
 
void generateObstacleData (std::vector< ObstacleData > &obstacle_data, const stu::Transform g_route_from_obs, const mnm::TrackedObjectArray &obstacles_msg)
 
bool interpolateRoutePosition (RoutePoint &point, const Route &route, const marti_nav_msgs::RoutePosition &position, bool allow_extrapolation)
 
bool interpolateRoutePosition (RoutePoint &dst, const Route &route, const mnm::RoutePosition &position, bool allow_extrapolation)
 
static void interpolateRouteSegment (RoutePoint &dst, const RoutePoint &p0, const RoutePoint &p1, double distance)
 
static geometry_msgs::Point makePoint (const double x, const double y)
 
void markerForRouteSpeeds (visualization_msgs::Marker &marker, const Route &route, const marti_nav_msgs::RouteSpeedArray &speeds, double scale)
 
void markerForRouteSpeeds (vm::Marker &m, const Route &route, const mnm::RouteSpeedArray &speeds, double scale)
 
static double maxSpeedForCurvature (double curvature, const SpeedForCurvatureParameters &params)
 
static void msgFromPoint (marti_nav_msgs::RoutePoint &dst, const RoutePoint &src)
 
static void nearestDistanceToLineSegment (double &min_distance_from_line, double &min_distance_on_line, const tf::Vector3 &p0, const tf::Vector3 &p1, const tf::Vector3 &p, bool extrapolate_start, bool extrapolate_end)
 
bool normalizeRoutePosition (marti_nav_msgs::RoutePosition &normalized_position, const Route &route, const marti_nav_msgs::RoutePosition &position)
 
bool normalizeRoutePosition (mnm::RoutePosition &normalized_position, const Route &route, const mnm::RoutePosition &position)
 
static void pointFromMsg (RoutePoint &dst, const marti_nav_msgs::RoutePoint &src)
 
bool projectOntoRoute (marti_nav_msgs::RoutePosition &position, const Route &route, const tf::Vector3 &point, bool extrapolate_before_start, bool extrapolate_past_end)
 
bool projectOntoRoute (mnm::RoutePosition &position, const Route &route, const tf::Vector3 &point, bool extrapolate_before_start, bool extrapolate_past_end)
 
bool projectOntoRouteWindow (marti_nav_msgs::RoutePosition &position, const Route &route, const tf::Vector3 &point, const marti_nav_msgs::RoutePosition &window_start, const marti_nav_msgs::RoutePosition &window_end)
 
bool projectOntoRouteWindow (mnm::RoutePosition &position, const Route &route, const tf::Vector3 &point, const mnm::RoutePosition &window_start, const mnm::RoutePosition &window_end)
 
void projectToXY (Route &route)
 
bool routeDistance (double &distance, const marti_nav_msgs::RoutePosition &start, const marti_nav_msgs::RoutePosition &end, const Route &route)
 
bool routeDistance (double &distance, const mnm::RoutePosition &start, const mnm::RoutePosition &end, const Route &route)
 
bool routeDistances (std::vector< double > &distances, const marti_nav_msgs::RoutePosition &start, const std::vector< marti_nav_msgs::RoutePosition > &ends, const Route &route)
 
bool routeDistances (std::vector< double > &distances, const mnm::RoutePosition &start, const std::vector< mnm::RoutePosition > &ends, const Route &route)
 
void speedsForCurvature (marti_nav_msgs::RouteSpeedArray &speeds, const Route &route, const SpeedForCurvatureParameters &parameters)
 
void speedsForCurvature (mnm::RouteSpeedArray &speeds, const Route &route, const SpeedForCurvatureParameters &parameters)
 
void speedsForObstacles (marti_nav_msgs::RouteSpeedArray &speeds, std::vector< DistanceReport > &reports, const Route &route, const marti_nav_msgs::RoutePosition &route_position, const std::vector< ObstacleData > &obstacles, const SpeedForObstaclesParameters &parameters)
 
void speedsForObstacles (mnm::RouteSpeedArray &speeds, std::vector< DistanceReport > &reports, const Route &route, const mnm::RoutePosition &route_position, const std::vector< ObstacleData > &obstacles, const SpeedForObstaclesParameters &p)
 
void transform (Route &route, const swri_transform_util::Transform &transform, const std::string &target_frame)
 

Typedef Documentation

Definition at line 171 of file route.h.

Definition at line 170 of file route.h.

Function Documentation

static void swri_route_util::addItem ( mcm::KeyValueArray &  m,
const std::string &  key,
const std::string &  value 
)
static

Definition at line 45 of file route_speeds.cpp.

static double swri_route_util::estimateCurvature ( const Route route,
const size_t  index,
double  filter_size 
)
static

Definition at line 190 of file route_speeds.cpp.

bool swri_route_util::extractSubroute ( Route sub_route,
const Route route,
const marti_nav_msgs::RoutePosition &  start,
const marti_nav_msgs::RoutePosition &  end 
)

Definition at line 727 of file util.cpp.

void swri_route_util::fillOrientations ( Route route,
const tf::Vector3 up = tf::Vector3(0.0, 0.0, 1.0) 
)

Definition at line 61 of file util.cpp.

void swri_route_util::generateObstacleData ( std::vector< ObstacleData > &  obstacle_data,
const swri_transform_util::Transform  g_route_from_obs,
const marti_nav_msgs::ObstacleArray &  obstacles_msg 
)
void swri_route_util::generateObstacleData ( std::vector< ObstacleData > &  obstacle_data,
const swri_transform_util::Transform  g_route_from_obs,
const marti_nav_msgs::TrackedObjectArray &  obstacles_msg 
)
void swri_route_util::generateObstacleData ( std::vector< ObstacleData > &  obstacle_data,
const stu::Transform  g_route_from_obs,
const mnm::ObstacleArray &  obstacles_msg 
)

Definition at line 291 of file route_speeds.cpp.

void swri_route_util::generateObstacleData ( std::vector< ObstacleData > &  obstacle_data,
const stu::Transform  g_route_from_obs,
const mnm::TrackedObjectArray &  obstacles_msg 
)

Definition at line 328 of file route_speeds.cpp.

bool swri_route_util::interpolateRoutePosition ( RoutePoint point,
const Route route,
const marti_nav_msgs::RoutePosition &  position,
bool  allow_extrapolation 
)
bool swri_route_util::interpolateRoutePosition ( RoutePoint dst,
const Route route,
const mnm::RoutePosition &  position,
bool  allow_extrapolation 
)

Definition at line 542 of file util.cpp.

static void swri_route_util::interpolateRouteSegment ( RoutePoint dst,
const RoutePoint p0,
const RoutePoint p1,
double  distance 
)
static

Definition at line 458 of file util.cpp.

static geometry_msgs::Point swri_route_util::makePoint ( const double  x,
const double  y 
)
static

Definition at line 38 of file visualization.cpp.

void swri_route_util::markerForRouteSpeeds ( visualization_msgs::Marker &  marker,
const Route route,
const marti_nav_msgs::RouteSpeedArray &  speeds,
double  scale 
)
void swri_route_util::markerForRouteSpeeds ( vm::Marker &  m,
const Route route,
const mnm::RouteSpeedArray &  speeds,
double  scale 
)

Definition at line 47 of file visualization.cpp.

static double swri_route_util::maxSpeedForCurvature ( double  curvature,
const SpeedForCurvatureParameters params 
)
static

Definition at line 223 of file route_speeds.cpp.

static void swri_route_util::msgFromPoint ( marti_nav_msgs::RoutePoint &  dst,
const RoutePoint src 
)
static

Definition at line 71 of file route.cpp.

static void swri_route_util::nearestDistanceToLineSegment ( double &  min_distance_from_line,
double &  min_distance_on_line,
const tf::Vector3 p0,
const tf::Vector3 p1,
const tf::Vector3 p,
bool  extrapolate_start,
bool  extrapolate_end 
)
static

Definition at line 183 of file util.cpp.

bool swri_route_util::normalizeRoutePosition ( marti_nav_msgs::RoutePosition &  normalized_position,
const Route route,
const marti_nav_msgs::RoutePosition &  position 
)
bool swri_route_util::normalizeRoutePosition ( mnm::RoutePosition &  normalized_position,
const Route route,
const mnm::RoutePosition &  position 
)

Definition at line 492 of file util.cpp.

static void swri_route_util::pointFromMsg ( RoutePoint dst,
const marti_nav_msgs::RoutePoint &  src 
)
static

Definition at line 43 of file route.cpp.

bool swri_route_util::projectOntoRoute ( marti_nav_msgs::RoutePosition &  position,
const Route route,
const tf::Vector3 point,
bool  extrapolate_before_start,
bool  extrapolate_past_end 
)
bool swri_route_util::projectOntoRoute ( mnm::RoutePosition &  position,
const Route route,
const tf::Vector3 point,
bool  extrapolate_before_start,
bool  extrapolate_past_end 
)

Definition at line 220 of file util.cpp.

bool swri_route_util::projectOntoRouteWindow ( marti_nav_msgs::RoutePosition &  position,
const Route route,
const tf::Vector3 point,
const marti_nav_msgs::RoutePosition &  window_start,
const marti_nav_msgs::RoutePosition &  window_end 
)
bool swri_route_util::projectOntoRouteWindow ( mnm::RoutePosition &  position,
const Route route,
const tf::Vector3 point,
const mnm::RoutePosition &  window_start,
const mnm::RoutePosition &  window_end 
)

Definition at line 307 of file util.cpp.

void swri_route_util::projectToXY ( Route route)

Definition at line 52 of file util.cpp.

bool swri_route_util::routeDistance ( double &  distance,
const marti_nav_msgs::RoutePosition &  start,
const marti_nav_msgs::RoutePosition &  end,
const Route route 
)
bool swri_route_util::routeDistance ( double &  distance,
const mnm::RoutePosition &  start,
const mnm::RoutePosition &  end,
const Route route 
)

Definition at line 604 of file util.cpp.

bool swri_route_util::routeDistances ( std::vector< double > &  distances,
const marti_nav_msgs::RoutePosition &  start,
const std::vector< marti_nav_msgs::RoutePosition > &  ends,
const Route route 
)
bool swri_route_util::routeDistances ( std::vector< double > &  distances,
const mnm::RoutePosition &  start,
const std::vector< mnm::RoutePosition > &  ends,
const Route route 
)

Definition at line 642 of file util.cpp.

void swri_route_util::speedsForCurvature ( marti_nav_msgs::RouteSpeedArray &  speeds,
const Route route,
const SpeedForCurvatureParameters parameters 
)
void swri_route_util::speedsForCurvature ( mnm::RouteSpeedArray &  speeds,
const Route route,
const SpeedForCurvatureParameters parameters 
)

Definition at line 243 of file route_speeds.cpp.

void swri_route_util::speedsForObstacles ( marti_nav_msgs::RouteSpeedArray &  speeds,
std::vector< DistanceReport > &  reports,
const Route route,
const marti_nav_msgs::RoutePosition &  route_position,
const std::vector< ObstacleData > &  obstacles,
const SpeedForObstaclesParameters parameters 
)
void swri_route_util::speedsForObstacles ( mnm::RouteSpeedArray &  speeds,
std::vector< DistanceReport > &  reports,
const Route route,
const mnm::RoutePosition &  route_position,
const std::vector< ObstacleData > &  obstacles,
const SpeedForObstaclesParameters p 
)

Definition at line 365 of file route_speeds.cpp.

void swri_route_util::transform ( Route route,
const swri_transform_util::Transform transform,
const std::string &  target_frame 
)

Definition at line 41 of file util.cpp.



swri_route_util
Author(s):
autogenerated on Tue Apr 6 2021 02:50:48