Namespaces | Functions
mrpt_bridge Namespace Reference

File includes methods for converting CNetworkOfPoses*DInf <=> NetworkOfPoses message types. More...

Namespaces

 image
 

Functions

bool convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, CObservationBeaconRanges &_obj)
 
bool convert (const mrpt_msgs::ObservationRangeBearing &_msg, const mrpt::poses::CPose3D &_pose, CObservationBearingRange &_obj)
 
bool convert (const CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
 
bool convert (const marker_msgs::MarkerDetection &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBearingRange &_obj)
 
bool convert (const marker_msgs::MarkerDetection &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBeaconRanges &_obj)
 
bool convert (const CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg)
 
bool convert (const CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)
 
void convert ([[maybe_unused]] const mrpt::graphs::CNetworkOfPoses3DInf &mrpt_graph, [[maybe_unused]] mrpt_msgs::NetworkOfPoses &ros_graph)
 
bool convert (const CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg, geometry_msgs::Pose &_pose)
 
void convert ([[maybe_unused]] const mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph, [[maybe_unused]] mrpt_msgs::NetworkOfPoses &ros_graph)
 
void convert ([[maybe_unused]] const mrpt_msgs::NetworkOfPoses &ros_graph, [[maybe_unused]] mrpt::graphs::CNetworkOfPoses3DInf &mrpt_graph)
 
void convert ([[maybe_unused]] mrpt_msgs::NetworkOfPoses &ros_graph, [[maybe_unused]] const mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph)
 
void mrptToROSLoggerCallback (const std::string &msg, const mrpt::system::VerbosityLevel level, [[maybe_unused]] const std::string &loggerName, [[maybe_unused]] const mrpt::system::TTimeStamp timestamp)
 callback that is called by MRPT mrpt::system::COuputLogger to redirect log messages to ROS logger. This function has to be inline, otherwise option log4j.logger.ros.package_name will be taken from mrpt_bridge instead of the package from which macro is actually called. More...
 
mrpt::system::VerbosityLevel rosLoggerLvlToMRPTLoggerLvl (log4cxx::LevelPtr lvl)
 function that converts ROS verbosity level log4cxx::Level to MRPT equivalent MRPT's VerbosityLevel More...
 
ObservationRangeBeacon: ROS <-> MRPT
bool convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBeaconRanges &_obj)
 
bool convert (const mrpt::obs::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
 
bool convert (const mrpt::obs::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)
 
LaserScan: ROS <-> MRPT
bool convert (const mrpt_msgs::ObservationRangeBearing &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBearingRange &_obj)
 
bool convert (const mrpt::obs::CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg)
 
bool convert (const mrpt::obs::CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg, geometry_msgs::Pose &_pose)
 
ROS \rightarrow MRPT conversions
void convert (const mrpt::graphs::CNetworkOfPoses2D &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 Convert [MRPT] CNetworkOfPoses*D [ROS] NetworkOfPoses. More...
 
void convert (const mrpt::graphs::CNetworkOfPoses3D &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 
void convert (const mrpt::graphs::CNetworkOfPoses2DInf &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 
void convert (const mrpt::graphs::CNetworkOfPoses3DInf &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 
void convert (const mrpt::graphs::CNetworkOfPoses2DInf_NA &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 
void convert (const mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 
void convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses2DInf &mrpt_graph)
 
void convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses3DInf &mrpt_graph)
 
void convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses2DInf_NA &mrpt_graph)
 
void convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph)
 

Detailed Description

File includes methods for converting CNetworkOfPoses*DInf <=> NetworkOfPoses message types.

Function Documentation

◆ convert() [1/28]

bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBeacon &  _msg,
const mrpt::poses::CPose3D &  _pose,
CObservationBeaconRanges &  _obj 
)

Definition at line 23 of file beacon.cpp.

◆ convert() [2/28]

void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses2D &  mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)

Convert [MRPT] CNetworkOfPoses*D [ROS] NetworkOfPoses.

Convert [ROS] NetworkOfPoses [MRPT] CNetworkOfPoses*DInf.

Parameters
[in]mrpt_graphMRPT graph representation
[out]ros_graphROS graph representation
[in]mrpt_graphROS graph representation
[out]ros_graphMRPT graph representation

◆ convert() [3/28]

bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBearing &  _msg,
const mrpt::poses::CPose3D &  _pose,
CObservationBearingRange &  _obj 
)

Definition at line 29 of file landmark.cpp.

◆ convert() [4/28]

void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses3D &  mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)

◆ convert() [5/28]

void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses2DInf &  mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)

Definition at line 26 of file network_of_poses.cpp.

◆ convert() [6/28]

void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses3DInf &  mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)

◆ convert() [7/28]

void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses2DInf_NA &  mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)

Definition at line 100 of file network_of_poses.cpp.

◆ convert() [8/28]

void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses3DInf_NA &  mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)

◆ convert() [9/28]

bool mrpt_bridge::convert ( const CObservationBeaconRanges &  _obj,
mrpt_msgs::ObservationRangeBeacon &  _msg 
)

Definition at line 58 of file beacon.cpp.

◆ convert() [10/28]

bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBeacon &  _msg,
const mrpt::poses::CPose3D &  _pose,
mrpt::obs::CObservationBeaconRanges &  _obj 
)

ROS->MRPT: Takes a mrpt_msgs::ObservationRangeBeacon and the relative pose of the range sensor wrt base_link and builds a CObservationBeaconRanges

Returns
true on sucessful conversion, false on any error.
See also
mrpt2ros

◆ convert() [11/28]

bool mrpt_bridge::convert ( const marker_msgs::MarkerDetection &  _msg,
const mrpt::poses::CPose3D &  _pose,
mrpt::obs::CObservationBearingRange &  _obj 
)

Definition at line 27 of file marker_msgs.cpp.

◆ convert() [12/28]

bool mrpt_bridge::convert ( const marker_msgs::MarkerDetection &  _msg,
const mrpt::poses::CPose3D &  _pose,
mrpt::obs::CObservationBeaconRanges &  _obj 
)

Definition at line 58 of file marker_msgs.cpp.

◆ convert() [13/28]

bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBearing &  _msg,
const mrpt::poses::CPose3D &  _pose,
mrpt::obs::CObservationBearingRange &  _obj 
)

ROS->MRPT: Takes a mrpt_msgs::CObservationBearingRange and the relative pose of the sensor wrt base_link and builds a ObservationRangeBearing

Returns
true on sucessful conversion, false on any error.
See also
mrpt2ros

◆ convert() [14/28]

bool mrpt_bridge::convert ( const CObservationBearingRange &  _obj,
mrpt_msgs::ObservationRangeBearing &  _msg 
)

Definition at line 71 of file landmark.cpp.

◆ convert() [15/28]

void mrpt_bridge::convert ( const mrpt_msgs::NetworkOfPoses &  ros_graph,
mrpt::graphs::CNetworkOfPoses2DInf &  mrpt_graph 
)

Definition at line 185 of file network_of_poses.cpp.

◆ convert() [16/28]

bool mrpt_bridge::convert ( const mrpt::obs::CObservationBeaconRanges &  _obj,
mrpt_msgs::ObservationRangeBeacon &  _msg 
)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt

◆ convert() [17/28]

void mrpt_bridge::convert ( const mrpt_msgs::NetworkOfPoses &  ros_graph,
mrpt::graphs::CNetworkOfPoses3DInf &  mrpt_graph 
)

◆ convert() [18/28]

bool mrpt_bridge::convert ( const mrpt::obs::CObservationBearingRange &  _obj,
mrpt_msgs::ObservationRangeBearing &  _msg 
)

MRPT->ROS: Takes a CObservationBearingRange and outputs range data in mrpt_msgs::ObservationRangeBearing

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt

◆ convert() [19/28]

void mrpt_bridge::convert ( const mrpt_msgs::NetworkOfPoses &  ros_graph,
mrpt::graphs::CNetworkOfPoses2DInf_NA &  mrpt_graph 
)

Definition at line 241 of file network_of_poses.cpp.

◆ convert() [20/28]

void mrpt_bridge::convert ( const mrpt_msgs::NetworkOfPoses &  ros_graph,
mrpt::graphs::CNetworkOfPoses3DInf_NA &  mrpt_graph 
)

◆ convert() [21/28]

bool mrpt_bridge::convert ( const mrpt::obs::CObservationBeaconRanges &  _obj,
mrpt_msgs::ObservationRangeBeacon &  _msg,
geometry_msgs::Pose &  _pose 
)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon + the relative pose of the range sensor wrt base_link

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt

◆ convert() [22/28]

bool mrpt_bridge::convert ( const CObservationBeaconRanges &  _obj,
mrpt_msgs::ObservationRangeBeacon &  _msg,
geometry_msgs::Pose &  _pose 
)

Definition at line 86 of file beacon.cpp.

◆ convert() [23/28]

bool mrpt_bridge::convert ( const mrpt::obs::CObservationBearingRange &  _obj,
mrpt_msgs::ObservationRangeBearing &  _msg,
geometry_msgs::Pose &  _pose 
)

MRPT->ROS: Takes a CObservationBearingRange and outputs range data in mrpt_msgs::ObservationRangeBearing + the relative pose of the range sensor wrt base_link

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt

◆ convert() [24/28]

void mrpt_bridge::convert ( [[maybe_unused] ] const mrpt::graphs::CNetworkOfPoses3DInf &  mrpt_graph,
[[maybe_unused] ] mrpt_msgs::NetworkOfPoses &  ros_graph 
)

Definition at line 91 of file network_of_poses.cpp.

◆ convert() [25/28]

bool mrpt_bridge::convert ( const CObservationBearingRange &  _obj,
mrpt_msgs::ObservationRangeBearing &  _msg,
geometry_msgs::Pose &  _pose 
)

Definition at line 100 of file landmark.cpp.

◆ convert() [26/28]

void mrpt_bridge::convert ( [[maybe_unused] ] const mrpt::graphs::CNetworkOfPoses3DInf_NA &  mrpt_graph,
[[maybe_unused] ] mrpt_msgs::NetworkOfPoses &  ros_graph 
)

Definition at line 174 of file network_of_poses.cpp.

◆ convert() [27/28]

void mrpt_bridge::convert ( [[maybe_unused] ] const mrpt_msgs::NetworkOfPoses &  ros_graph,
[[maybe_unused] ] mrpt::graphs::CNetworkOfPoses3DInf &  mrpt_graph 
)

Definition at line 232 of file network_of_poses.cpp.

◆ convert() [28/28]

void mrpt_bridge::convert ( [[maybe_unused] ] mrpt_msgs::NetworkOfPoses &  ros_graph,
[[maybe_unused] ] const mrpt::graphs::CNetworkOfPoses3DInf_NA &  mrpt_graph 
)

Definition at line 296 of file network_of_poses.cpp.

◆ mrptToROSLoggerCallback()

void mrpt_bridge::mrptToROSLoggerCallback ( const std::string &  msg,
const mrpt::system::VerbosityLevel  level,
[[maybe_unused] ] const std::string &  loggerName,
[[maybe_unused] ] const mrpt::system::TTimeStamp  timestamp 
)
inline

callback that is called by MRPT mrpt::system::COuputLogger to redirect log messages to ROS logger. This function has to be inline, otherwise option log4j.logger.ros.package_name will be taken from mrpt_bridge instead of the package from which macro is actually called.

Definition at line 70 of file utils.h.

◆ rosLoggerLvlToMRPTLoggerLvl()

mrpt::system::VerbosityLevel mrpt_bridge::rosLoggerLvlToMRPTLoggerLvl ( log4cxx::LevelPtr  lvl)
inline

function that converts ROS verbosity level log4cxx::Level to MRPT equivalent MRPT's VerbosityLevel

Definition at line 29 of file utils.h.


mrpt_bridge
Author(s): Markus Bader , Raphael Zack
autogenerated on Thu May 12 2022 02:26:47