16 #include <geometry_msgs/Pose.h> 17 #include <mrpt/ros1bridge/time.h> 18 #include <mrpt/ros1bridge/pose.h> 19 #include <mrpt_msgs/ObservationRangeBearing.h> 23 #include <mrpt/obs/CObservationBearingRange.h> 31 const mrpt::poses::CPose3D& _pose, CObservationBearingRange& _obj)
34 _obj.timestamp = mrpt::ros1bridge::fromROS(_msg.header.stamp);
36 mrpt::poses::CPose3D cpose_obj;
40 _obj.maxSensorDistance = _msg.max_sensor_distance;
41 _obj.minSensorDistance = _msg.min_sensor_distance;
42 _obj.sensor_std_yaw = _msg.sensor_std_yaw;
43 _obj.sensor_std_pitch = _msg.sensor_std_pitch;
44 _obj.sensor_std_range = _msg.sensor_std_range;
49 mrpt::ros1bridge::fromROS(_msg.sensor_pose_on_robot));
53 _obj.setSensorPose(_pose);
56 ASSERT_(_msg.sensed_data.size() >= 1);
57 const size_t N = _msg.sensed_data.size();
59 _obj.sensedData.resize(N);
61 for (std::size_t i_mrpt = 0; i_mrpt < N; i_mrpt++)
63 _obj.sensedData[i_mrpt].range = _msg.sensed_data[i_mrpt].range;
64 _obj.sensedData[i_mrpt].landmarkID = _msg.sensed_data[i_mrpt].id;
65 _obj.sensedData[i_mrpt].yaw = _msg.sensed_data[i_mrpt].yaw;
66 _obj.sensedData[i_mrpt].pitch = _msg.sensed_data[i_mrpt].pitch;
72 const CObservationBearingRange& _obj,
75 _msg.header.stamp = mrpt::ros1bridge::toROS(_obj.timestamp);
77 _msg.sensor_pose_on_robot = mrpt::ros1bridge::toROS_Pose(_obj.sensorPose());
79 _msg.max_sensor_distance = _obj.maxSensorDistance;
80 _msg.min_sensor_distance = _obj.minSensorDistance;
81 _msg.sensor_std_yaw = _obj.sensor_std_yaw;
82 _msg.sensor_std_pitch = _obj.sensor_std_pitch;
83 _msg.sensor_std_range = _obj.sensor_std_range;
85 ASSERT_(_obj.sensedData.size() >= 1);
86 const size_t N = _obj.sensedData.size();
88 _msg.sensed_data.resize(N);
90 for (std::size_t i_msg = 0; i_msg < N; i_msg++)
92 _msg.sensed_data[i_msg].range = _obj.sensedData[i_msg].range;
93 _msg.sensed_data[i_msg].id = _obj.sensedData[i_msg].landmarkID;
94 _msg.sensed_data[i_msg].yaw = _obj.sensedData[i_msg].yaw;
95 _msg.sensed_data[i_msg].pitch = _obj.sensedData[i_msg].pitch;
101 const CObservationBearingRange& _obj,
105 _pose = mrpt::ros1bridge::toROS_Pose(_obj.sensorPose());
bool convert(const CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg, geometry_msgs::Pose &_pose)
File includes methods for converting CNetworkOfPoses*DInf <=> NetworkOfPoses message types...