Classes | Functions
mbf_utility Namespace Reference

Classes

struct  ExePathException
 
struct  GetPathException
 
struct  RecoveryException
 

Functions

double angle (const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2)
 computes the smallest angle between two poses. More...
 
double distance (const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2)
 Computes the Euclidean-distance between two poses. More...
 
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. More...
 
bool transformPoint (const TF &tf, const std::string &target_frame, const ros::Time &target_time, const ros::Duration &timeout, const geometry_msgs::PointStamped &in, const std::string &fixed_frame, geometry_msgs::PointStamped &out)
 Transforms a point from one frame into another. More...
 
bool transformPose (const TF &tf, const std::string &target_frame, const ros::Time &target_time, const ros::Duration &timeout, const geometry_msgs::PoseStamped &in, const std::string &fixed_frame, geometry_msgs::PoseStamped &out)
 Transforms a pose from one frame into another. More...
 

Function Documentation

◆ angle()

double mbf_utility::angle ( const geometry_msgs::PoseStamped &  pose1,
const geometry_msgs::PoseStamped &  pose2 
)

computes the smallest angle between two poses.

Parameters
pose1pose 1
pose2pose 2
Returns
smallest angle between pose 1 and pose 2.

Definition at line 182 of file navigation_utility.cpp.

◆ distance()

double mbf_utility::distance ( const geometry_msgs::PoseStamped &  pose1,
const geometry_msgs::PoseStamped &  pose2 
)

Computes the Euclidean-distance between two poses.

Parameters
pose1pose 1
pose2pose 2
Returns
Euclidean distance between pose 1 and pose 2.

Definition at line 172 of file navigation_utility.cpp.

◆ getRobotPose()

bool mbf_utility::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.

Parameters
tf_listenerTransformListener.
robot_frameframe of the robot.
global_frameglobal frame in which the robot is located.
timeoutTimeout for looking up the transformation.
robot_posethe computed rebot pose in the global frame.
Returns
true, if succeeded, false otherwise.

Definition at line 46 of file navigation_utility.cpp.

◆ transformPoint()

bool mbf_utility::transformPoint ( const TF tf,
const std::string &  target_frame,
const ros::Time target_time,
const ros::Duration timeout,
const geometry_msgs::PointStamped &  in,
const std::string &  fixed_frame,
geometry_msgs::PointStamped &  out 
)

Transforms a point from one frame into another.

Parameters
tf_listenerTransformListener.
target_frameTarget frame for the point.
target_timeTime, in that the frames should be used.
timeoutTimeout for looking up the transformation.
inPoint to transform.
fixed_frameFixed frame of the source and target frame.
outTransformed point.
Returns
true, if the transformation succeeded.

Definition at line 119 of file navigation_utility.cpp.

◆ transformPose()

bool mbf_utility::transformPose ( const TF tf,
const std::string &  target_frame,
const ros::Time target_time,
const ros::Duration timeout,
const geometry_msgs::PoseStamped &  in,
const std::string &  fixed_frame,
geometry_msgs::PoseStamped &  out 
)

Transforms a pose from one frame into another.

Parameters
tf_listenerTransformListener.
target_frameTarget frame for the pose.
target_timeTime, in that the frames should be used.
timeoutTimeout for looking up the transformation.
inPose to transform.
fixed_frameFixed frame of the source and target frame.
outTransformed pose.
Returns
true, if the transformation succeeded.

Definition at line 66 of file navigation_utility.cpp.



mbf_utility
Author(s): Sebastian Pütz
autogenerated on Wed May 27 2020 04:03:13