Namespaces | Classes | Functions
mrpt_bridge Namespace Reference

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

Namespaces

 GPS
 
 image
 
 imu
 
 point_cloud
 
 range
 
 stereo_image
 

Classes

class  MapHdl
 the map class is implemented as singeleton use map::instance ()->ros2mrpt ... More...
 

Functions

bool check_field (const sensor_msgs::PointField &input_field, std::string check_name, const sensor_msgs::PointField **output)
 
void convert (const ros::Time &src, mrpt::system::TTimeStamp &des)
 
bool convert (const sensor_msgs::LaserScan &_msg, const mrpt::poses::CPose3D &_pose, CObservation2DRangeScan &_obj)
 
bool convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, CObservationBeaconRanges &_obj)
 
void convert (const mrpt::system::TTimeStamp &src, ros::Time &des)
 
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 CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg)
 
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)
 
bool convert (const CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg, geometry_msgs::Pose &_pose)
 
bool convert (const CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg, geometry_msgs::Pose &_pose)
 
void convert (mrpt_msgs::NetworkOfPoses &ros_graph, const mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph)
 
bool copy (const sensor_msgs::PointCloud2 &msg, CSimplePointsMap &obj)
 
bool copy (const CSimplePointsMap &obj, const std_msgs::Header &msg_header, sensor_msgs::PointCloud2 &msg)
 
void get_float_from_field (const sensor_msgs::PointField *field, const unsigned char *data, float &output)
 
void mrptToROSLoggerCallback (const std::string &msg, const VerbosityLevel level, const std::string &loggerName, const mrpt::system::TTimeStamp timestamp)
 callback that is called by MRPT mrpt::utils::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...
 
void mrptToROSLoggerCallback_mrpt_15 (const std::string &msg, const VerbosityLevel level, const std::string &loggerName, const mrpt::system::TTimeStamp timestamp, void *userParam)
 
mrpt::math::TPose3D p2t (const mrpt::poses::CPose3D &p)
 
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)
 
bool convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, mrpt::slam::CObservationBeaconRanges &_obj)
 
bool convert (const mrpt::slam::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
 
bool convert (const mrpt::slam::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)
 
bool convert (const sensor_msgs::LaserScan &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservation2DRangeScan &_obj)
 
bool convert (const mrpt::obs::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg)
 
bool convert (const mrpt::obs::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg, geometry_msgs::Pose &_pose)
 
Maps, Occupancy Grid Maps: ROS <-> MRPT
bool convert (const nav_msgs::OccupancyGrid &src, COccupancyGridMap2D &des)
 
bool convert (const COccupancyGridMap2D &src, nav_msgs::OccupancyGrid &msg, const std_msgs::Header &header)
 
bool convert (const COccupancyGridMap2D &src, nav_msgs::OccupancyGrid &msg)
 
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)
 
mrpt::poses::CPose3D & convert (const tf::Transform &_src, mrpt::poses::CPose3D &_des)
 
mrpt::math::CMatrixDouble33 & convert (const tf::Matrix3x3 &_src, mrpt::math::CMatrixDouble33 &_des)
 
mrpt::poses::CPose2D & convert (const geometry_msgs::Pose &_src, mrpt::poses::CPose2D &_des)
 
mrpt::poses::CPose3D & convert (const geometry_msgs::Pose &_src, mrpt::poses::CPose3D &_des)
 
mrpt::poses::CPose3DPDFGaussian & convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPose3DPDFGaussian &_des)
 
mrpt::poses::CPose3DPDFGaussianInf & convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPose3DPDFGaussianInf &_des)
 
mrpt::poses::CPosePDFGaussian & convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPosePDFGaussian &_des)
 
mrpt::poses::CPosePDFGaussianInf & convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPosePDFGaussianInf &_des)
 
mrpt::poses::CQuaternionDoubleconvert (const geometry_msgs::Quaternion &_src, mrpt::poses::CQuaternionDouble &_des)
 
sensor_msgs::PointCloud2: ROS <-> MRPT
bool copy (const sensor_msgs::PointCloud2 &msg, mrpt::maps::CSimplePointsMap &obj)
 
bool copy (const mrpt::maps::CSimplePointsMap &obj, const std_msgs::Header &msg_header, sensor_msgs::PointCloud2 &msg)
 
MRPT \rightarrow ROS conversions
tf::Matrix3x3convert (const mrpt::math::CMatrixDouble33 &_src, tf::Matrix3x3 &_des)
 
tf::Transformconvert (const mrpt::poses::CPose3D &_src, tf::Transform &_des)
 
tf::Transformconvert (const mrpt::math::TPose3D &_src, tf::Transform &_des)
 
tf::Transformconvert (const mrpt::poses::CPose2D &_src, tf::Transform &_des)
 
tf::Transformconvert (const mrpt::math::TPose2D &_src, tf::Transform &_des)
 
geometry_msgs::Poseconvert (const mrpt::poses::CPose3D &_src, geometry_msgs::Pose &_des)
 
geometry_msgs::Poseconvert (const mrpt::math::TPose2D &_src, geometry_msgs::Pose &_des)
 
geometry_msgs::Poseconvert (const mrpt::poses::CPose2D &_src, geometry_msgs::Pose &_des)
 
geometry_msgs::PoseWithCovarianceconvert (const mrpt::poses::CPose3DPDFGaussian &_src, geometry_msgs::PoseWithCovariance &_des)
 
geometry_msgs::PoseWithCovarianceconvert (const mrpt::poses::CPose3DPDFGaussianInf &_src, geometry_msgs::PoseWithCovariance &_des)
 
tf::Transformconvert (const mrpt::poses::CPose3DPDFGaussian &_src, tf::Transform &_des)
 
geometry_msgs::PoseWithCovarianceconvert (const mrpt::poses::CPosePDFGaussian &_src, geometry_msgs::PoseWithCovariance &_des)
 
geometry_msgs::PoseWithCovarianceconvert (const mrpt::poses::CPosePDFGaussianInf &_src, geometry_msgs::PoseWithCovariance &_des)
 
geometry_msgs::Quaternionconvert (const mrpt::poses::CQuaternionDouble &_src, geometry_msgs::Quaternion &_des)
 

Detailed Description

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

ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationGPS.h

ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationIMU.h

ROS message : http://docs.ros.org/api/sensor_msgs/html/msg/Range.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationRange.h

Function Documentation

◆ check_field()

bool mrpt_bridge::check_field ( const sensor_msgs::PointField &  input_field,
std::string  check_name,
const sensor_msgs::PointField **  output 
)
inline

Definition at line 23 of file point_cloud2.cpp.

◆ convert() [1/62]

void mrpt_bridge::convert ( const ros::Time src,
mrpt::system::TTimeStamp &  des 
)

converts ros time to mrpt time

Parameters
srcros time
desmrpt time

Definition at line 13 of file time.cpp.

◆ convert() [2/62]

bool mrpt_bridge::convert ( const sensor_msgs::LaserScan _msg,
const mrpt::poses::CPose3D &  _pose,
CObservation2DRangeScan &  _obj 
)

Definition at line 22 of file laser_scan.cpp.

◆ convert() [3/62]

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

Definition at line 24 of file beacon.cpp.

◆ convert() [4/62]

void mrpt_bridge::convert ( const mrpt::system::TTimeStamp &  src,
ros::Time des 
)

converts mrpt time to ros time

Parameters
srcros time
desmrpt time

Definition at line 20 of file time.cpp.

◆ convert() [5/62]

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() [6/62]

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

Definition at line 30 of file landmark.cpp.

◆ convert() [7/62]

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

◆ convert() [8/62]

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

Definition at line 33 of file network_of_poses.cpp.

◆ convert() [9/62]

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

Definition at line 99 of file network_of_poses.cpp.

◆ convert() [10/62]

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

Definition at line 109 of file network_of_poses.cpp.

◆ convert() [11/62]

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

Definition at line 184 of file network_of_poses.cpp.

◆ convert() [12/62]

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

Definition at line 59 of file beacon.cpp.

◆ convert() [13/62]

bool mrpt_bridge::convert ( const sensor_msgs::LaserScan _msg,
const mrpt::poses::CPose3D &  _pose,
mrpt::obs::CObservation2DRangeScan &  _obj 
)

ROS->MRPT: Takes a sensor_msgs::LaserScan and the relative pose of the laser wrt base_link and builds a CObservation2DRangeScan

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

◆ convert() [14/62]

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() [15/62]

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() [16/62]

bool mrpt_bridge::convert ( const CObservation2DRangeScan &  _obj,
sensor_msgs::LaserScan _msg 
)

Definition at line 66 of file laser_scan.cpp.

◆ convert() [17/62]

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() [18/62]

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 laser wrt base_link and builds a ObservationRangeBearing

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

◆ convert() [19/62]

bool mrpt_bridge::convert ( const mrpt::obs::CObservation2DRangeScan &  _obj,
sensor_msgs::LaserScan _msg 
)

MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::LaserScan

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

◆ convert() [20/62]

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

Definition at line 195 of file network_of_poses.cpp.

◆ convert() [21/62]

bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBeacon _msg,
const mrpt::poses::CPose3D &  _pose,
mrpt::slam::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() [22/62]

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

Definition at line 71 of file landmark.cpp.

◆ convert() [23/62]

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() [24/62]

tf::Matrix3x3 & mrpt_bridge::convert ( const mrpt::math::CMatrixDouble33 &  _src,
tf::Matrix3x3 _des 
)

Convert: [MRPT] Matrix [ROS] Matrix

Definition at line 58 of file pose.cpp.

◆ convert() [25/62]

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

Definition at line 243 of file network_of_poses.cpp.

◆ convert() [26/62]

tf::Transform & mrpt_bridge::convert ( const mrpt::poses::CPose3D &  _src,
tf::Transform _des 
)

Convert: [MRPT] CPose3D [ROS] Transform

Definition at line 113 of file pose.cpp.

◆ convert() [27/62]

bool mrpt_bridge::convert ( const mrpt::obs::CObservation2DRangeScan &  _obj,
sensor_msgs::LaserScan _msg,
geometry_msgs::Pose _pose 
)

MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::LaserScan + the relative pose of the laser wrt base_link

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

◆ convert() [28/62]

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() [29/62]

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

Definition at line 253 of file network_of_poses.cpp.

◆ convert() [30/62]

tf::Transform & mrpt_bridge::convert ( const mrpt::math::TPose3D &  _src,
tf::Transform _des 
)

Convert: [MRPT] TPose3D [ROS] Transform

Definition at line 371 of file pose.cpp.

◆ convert() [31/62]

tf::Transform & mrpt_bridge::convert ( const mrpt::poses::CPose2D &  _src,
tf::Transform _des 
)

Convert: [MRPT] CPose2D [ROS] Transform

Definition at line 377 of file pose.cpp.

◆ convert() [32/62]

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

◆ convert() [33/62]

tf::Transform & mrpt_bridge::convert ( const mrpt::math::TPose2D &  _src,
tf::Transform _des 
)

Convert: [MRPT] TPose2D [ROS] Transform

Definition at line 382 of file pose.cpp.

◆ convert() [34/62]

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() [35/62]

bool mrpt_bridge::convert ( const mrpt::slam::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() [36/62]

geometry_msgs::Pose & mrpt_bridge::convert ( const mrpt::poses::CPose3D &  _src,
geometry_msgs::Pose _des 
)

Convert: [MRPT] CPose3D [ROS] Pose

Definition at line 138 of file pose.cpp.

◆ convert() [37/62]

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

Definition at line 87 of file beacon.cpp.

◆ convert() [38/62]

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() [39/62]

geometry_msgs::Pose & mrpt_bridge::convert ( const mrpt::math::TPose2D &  _src,
geometry_msgs::Pose _des 
)

Convert: [MRPT] TPose2D [ROS] Pose

Convert: MRPT's TPose2D (x,y,yaw) -> ROS's Pose

Definition at line 186 of file pose.cpp.

◆ convert() [40/62]

bool mrpt_bridge::convert ( const CObservation2DRangeScan &  _obj,
sensor_msgs::LaserScan _msg,
geometry_msgs::Pose _pose 
)

Definition at line 92 of file laser_scan.cpp.

◆ convert() [41/62]

geometry_msgs::Pose & mrpt_bridge::convert ( const mrpt::poses::CPose2D &  _src,
geometry_msgs::Pose _des 
)

Convert: [MRPT] CPose2D (x,y,yaw) [ROS] Pose

Convert: MRPT's CPose2D (x,y,yaw) -> ROS's Pose

Definition at line 157 of file pose.cpp.

◆ convert() [42/62]

bool mrpt_bridge::convert ( const mrpt::slam::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() [43/62]

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert ( const mrpt::poses::CPose3DPDFGaussian &  _src,
geometry_msgs::PoseWithCovariance _des 
)

Convert: [MRPT] CPose3DPDFGaussian [ROS] PoseWithCovariance

Definition at line 72 of file pose.cpp.

◆ convert() [44/62]

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

Definition at line 102 of file landmark.cpp.

◆ convert() [45/62]

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert ( const mrpt::poses::CPose3DPDFGaussianInf &  _src,
geometry_msgs::PoseWithCovariance _des 
)

Convert: [MRPT] CPose3DPDFGaussianInf [ROS] PoseWithCovariance

Definition at line 102 of file pose.cpp.

◆ convert() [46/62]

tf::Transform & mrpt_bridge::convert ( const mrpt::poses::CPose3DPDFGaussian &  _src,
tf::Transform _des 
)

Convert: [MRPT] CPose3DPDFGaussian [ROS] Transform

Definition at line 66 of file pose.cpp.

◆ convert() [47/62]

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert ( const mrpt::poses::CPosePDFGaussian &  _src,
geometry_msgs::PoseWithCovariance _des 
)

Convert: [MRPT] CPosePDFGaussian (x,y,yaw) [ROS] PoseWithCovariance

Definition at line 231 of file pose.cpp.

◆ convert() [48/62]

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert ( const mrpt::poses::CPosePDFGaussianInf &  _src,
geometry_msgs::PoseWithCovariance _des 
)

Convert: [MRPT] CPosePDFGaussianInf (x,y,yaw) [ROS] PoseWithCovariance

Definition at line 265 of file pose.cpp.

◆ convert() [49/62]

geometry_msgs::Quaternion & mrpt_bridge::convert ( const mrpt::poses::CQuaternionDouble _src,
geometry_msgs::Quaternion _des 
)

Convert: [MRPT] CQuaternionDouble [ROS] Quaternion

Definition at line 348 of file pose.cpp.

◆ convert() [50/62]

bool mrpt_bridge::convert ( const nav_msgs::OccupancyGrid src,
COccupancyGridMap2D &  des 
)

converts ros msg to mrpt object

Returns
true on sucessful conversion, false on any error.
Parameters
src
des

I hope the data is allways aligned

I hope the data is allways aligned

Definition at line 102 of file map.cpp.

◆ convert() [51/62]

mrpt::poses::CPose3D & mrpt_bridge::convert ( const tf::Transform _src,
mrpt::poses::CPose3D &  _des 
)

Convert: [ROS] CPose3D [MRPT] Transform

Definition at line 125 of file pose.cpp.

◆ convert() [52/62]

mrpt::math::CMatrixDouble33 & mrpt_bridge::convert ( const tf::Matrix3x3 _src,
mrpt::math::CMatrixDouble33 &  _des 
)

Convert: [ROS] Matrix [MRPT] Matrix

Definition at line 50 of file pose.cpp.

◆ convert() [53/62]

bool mrpt_bridge::convert ( const COccupancyGridMap2D &  src,
nav_msgs::OccupancyGrid msg,
const std_msgs::Header header 
)

converts mrpt object to ros msg and updates the msg header

Returns
true on sucessful conversion, false on any error.
Parameters
src
des
header

Definition at line 136 of file map.cpp.

◆ convert() [54/62]

mrpt::poses::CPose2D & mrpt_bridge::convert ( const geometry_msgs::Pose _src,
mrpt::poses::CPose2D &  _des 
)

Convert: [ROS] Pose [MRPT] CPose2D

Definition at line 214 of file pose.cpp.

◆ convert() [55/62]

mrpt::poses::CPose3D & mrpt_bridge::convert ( const geometry_msgs::Pose _src,
mrpt::poses::CPose3D &  _des 
)

Convert: [ROS] Pose [MRPT] CPose3D

Definition at line 359 of file pose.cpp.

◆ convert() [56/62]

bool mrpt_bridge::convert ( const COccupancyGridMap2D &  src,
nav_msgs::OccupancyGrid msg 
)

converts mrpt object to ros msg

Returns
true on sucessful conversion, false on any error.
Parameters
src
des
header

I hope the data is allways aligned

I hope the data is allways aligned

Definition at line 144 of file map.cpp.

◆ convert() [57/62]

mrpt::poses::CPose3DPDFGaussian & mrpt_bridge::convert ( const geometry_msgs::PoseWithCovariance _src,
mrpt::poses::CPose3DPDFGaussian &  _des 
)

Convert: [ROS] PoseWithCovariance [MRPT] CPose3DPDFGaussian

Definition at line 276 of file pose.cpp.

◆ convert() [58/62]

mrpt::poses::CPose3DPDFGaussianInf & mrpt_bridge::convert ( const geometry_msgs::PoseWithCovariance _src,
mrpt::poses::CPose3DPDFGaussianInf &  _des 
)

Convert: [ROS] PoseWithCovariance [MRPT] CPose3DPDFGaussianInf

Definition at line 295 of file pose.cpp.

◆ convert() [59/62]

mrpt::poses::CPosePDFGaussian & mrpt_bridge::convert ( const geometry_msgs::PoseWithCovariance _src,
mrpt::poses::CPosePDFGaussian &  _des 
)

Convert: [ROS] PoseWithCovariance [MRPT] CPosePDFGaussian (x,y,yaw)

Definition at line 307 of file pose.cpp.

◆ convert() [60/62]

mrpt::poses::CPosePDFGaussianInf & mrpt_bridge::convert ( const geometry_msgs::PoseWithCovariance _src,
mrpt::poses::CPosePDFGaussianInf &  _des 
)

Convert: [ROS] PoseWithCovariance [MRPT] CPosePDFGaussianInf (x,y,yaw)

Definition at line 326 of file pose.cpp.

◆ convert() [61/62]

mrpt::poses::CQuaternionDouble & mrpt_bridge::convert ( const geometry_msgs::Quaternion _src,
mrpt::poses::CQuaternionDouble _des 
)

Convert: [ROS] Quaternion [MRPT] CQuaternionDouble

Definition at line 338 of file pose.cpp.

◆ convert() [62/62]

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

Definition at line 309 of file network_of_poses.cpp.

◆ copy() [1/4]

bool mrpt_bridge::copy ( const sensor_msgs::PointCloud2 msg,
mrpt::maps::CSimplePointsMap &  obj 
)

Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap CSimplePointsMap only contains (x,y,z) data, so sensor_msgs::PointCloud2::channels are ignored.

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

◆ copy() [2/4]

bool mrpt_bridge::copy ( const sensor_msgs::PointCloud2 msg,
CSimplePointsMap &  obj 
)

Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap

Returns
true on sucessful conversion, false on any error.

Definition at line 64 of file point_cloud2.cpp.

◆ copy() [3/4]

bool mrpt_bridge::copy ( const mrpt::maps::CSimplePointsMap &  obj,
const std_msgs::Header msg_header,
sensor_msgs::PointCloud2 msg 
)

Convert mrpt::slam::CSimplePointsMap -> sensor_msgs/PointCloud2 The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since CSimplePointsMap only contains (x,y,z) data, sensor_msgs::PointCloud2::channels will be empty.

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

◆ copy() [4/4]

bool mrpt_bridge::copy ( const CSimplePointsMap &  obj,
const std_msgs::Header msg_header,
sensor_msgs::PointCloud2 msg 
)

Convert mrpt::slam::CSimplePointsMap -> sensor_msgs/PointCloud2 The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since CSimplePointsMap only contains (x,y,z) data, sensor_msgs::PointCloud2::channels will be empty.

Returns
true on sucessful conversion, false on any error.

Definition at line 113 of file point_cloud2.cpp.

◆ get_float_from_field()

void mrpt_bridge::get_float_from_field ( const sensor_msgs::PointField *  field,
const unsigned char *  data,
float &  output 
)
inline

Definition at line 44 of file point_cloud2.cpp.

◆ mrptToROSLoggerCallback()

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

callback that is called by MRPT mrpt::utils::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 78 of file utils.h.

◆ mrptToROSLoggerCallback_mrpt_15()

void mrpt_bridge::mrptToROSLoggerCallback_mrpt_15 ( const std::string &  msg,
const VerbosityLevel  level,
const std::string &  loggerName,
const mrpt::system::TTimeStamp  timestamp,
void *  userParam 
)
inline

Definition at line 107 of file utils.h.

◆ p2t()

mrpt::math::TPose3D mrpt_bridge::p2t ( const mrpt::poses::CPose3D &  p)
inline

Definition at line 115 of file utils.h.

◆ rosLoggerLvlToMRPTLoggerLvl()

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 39 of file utils.h.



mrpt_bridge
Author(s): Markus Bader , Raphael Zack
autogenerated on Sun Nov 3 2019 03:36:19