Namespaces
	uuid

Classes
class	AsyncMotionModel
	A motion model base class that provides node handles and a private callback queue. More...

class	AsyncPublisher
	A publisher base class that provides node handles attached to an internal callback queue serviced by a local thread (or threads) using a spinner. More...

class	AsyncSensorModel
	A sensor model base class that provides node handles and a private callback queue. More...

class	AutoDiffLocalParameterization
	Create a local parameterization with the Jacobians computed via automatic differentiation. More...

class	CallbackWrapper
	Object that wraps a generic function call so that it may be inserted into a ROS callback queue. More...

class	Constraint
	The Constraint interface definition. More...

class	DelayedThrottleFilter
	ROS console filter that prints messages with ROS_*_DELAYED_THROTTLE and allows to reset the last time the message was print, so the delayed and throttle conditions are computed from the initial state again. More...

class	Graph
	This is an interface definition describing the collection of constraints and variables that form the factor graph, a graphical model of a nonlinear least-squares problem. More...

class	GraphDeserializer
	Deserialize a graph. More...

class	LocalParameterization
	The LocalParameterization interface definition. More...

class	Loss
	The Loss function interface definition. More...

class	LossLoader
	Load a loss function using pluginlib::ClassLoader. More...

class	MessageBuffer
	A utility class that maintains a history of received messages, and allows a range of messages to be easily queried by timestamp. More...

class	MessageBufferStreamSink
	A Boost IOStreams sink device designed to write bytes directly from a ROS message byte array ('uint8[]') More...

class	MessageBufferStreamSource
	A Boost IOStreams source device designed to read bytes directly from a ROS message byte array ('uint8[]') More...

class	MotionModel
	The interface definition for motion model plugins in the fuse ecosystem. More...

class	Publisher
	The interface class for publisher plugins in the fuse ecosystem. More...

class	SensorModel
	The interface definition for sensor model plugins in the fuse ecosystem. More...

class	ThrottledCallback
	A throttled callback that encapsulates the logic to throttle a callback so it is only called after a given period in seconds (or more). The dropped calls can optionally be received in a dropped callback, that could be used to count the number of calls dropped. More...

class	TimestampManager
	A utility class that manages the set of timestamps that have been used to generate motion model constraints. More...

class	Transaction
	A transaction is a group of variable and constraint additions and subtractions that should all be processed at the same time. More...

class	TransactionDeserializer
	Deserialize a Transaction. More...

class	Variable
	The Variable interface definition. More...

Typedefs
using	BinaryInputArchive = boost::archive::binary_iarchive

using	BinaryOutputArchive = boost::archive::binary_oarchive

template<typename Scalar , int RowsAtCompileTime, int ColsAtCompileTime>
using	Matrix = Eigen::Matrix< Scalar, RowsAtCompileTime, ColsAtCompileTime, Eigen::RowMajor >

using	Matrix1d = Eigen::Matrix< double, 1, 1, Eigen::RowMajor >

using	Matrix2d = Eigen::Matrix< double, 2, 2, Eigen::RowMajor >

using	Matrix3d = Eigen::Matrix< double, 3, 3, Eigen::RowMajor >

using	Matrix4d = Eigen::Matrix< double, 4, 4, Eigen::RowMajor >

using	Matrix5d = Eigen::Matrix< double, 5, 5, Eigen::RowMajor >

using	Matrix6d = Eigen::Matrix< double, 6, 6, Eigen::RowMajor >

using	Matrix7d = Eigen::Matrix< double, 7, 7, Eigen::RowMajor >

using	Matrix8d = Eigen::Matrix< double, 8, 8, Eigen::RowMajor >

using	Matrix9d = Eigen::Matrix< double, 9, 9, Eigen::RowMajor >

using	MatrixXd = Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >

using	TextInputArchive = boost::archive::text_iarchive

using	TextOutputArchive = boost::archive::text_oarchive

template<class M >
using	ThrottledMessageCallback = ThrottledCallback< std::function< void(const typename M::ConstPtr &)> >
	Throttled callback for ROS messages. More...

using	TransactionCallback = std::function< void(Transaction::SharedPtr transaction)>
	The signature of the callback function that will be executed for every generated transaction object. More...

using	UUID = boost::uuids::uuid

using	Vector1d = Eigen::Matrix< double, 1, 1 >

using	Vector2d = Eigen::Matrix< double, 2, 1 >

using	Vector3d = Eigen::Matrix< double, 3, 1 >

using	Vector4d = Eigen::Matrix< double, 4, 1 >

using	Vector5d = Eigen::Matrix< double, 5, 1 >

using	Vector6d = Eigen::Matrix< double, 6, 1 >

using	Vector7d = Eigen::Matrix< double, 7, 1 >

using	Vector8d = Eigen::Matrix< double, 8, 1 >

using	Vector9d = Eigen::Matrix< double, 9, 1 >

using	VectorXd = Eigen::Matrix< double, Eigen::Dynamic, 1 >

Functions
pluginlib::UniquePtr< fuse_core::Loss >	createUniqueLoss (const std::string &lookup_name)
	Create an unique instance of a loss function loaded with the singleton Loss loader. More...

template<int Size, typename Scalar = double>
fuse_core::Matrix< Scalar, Size, Size >	getCovarianceDiagonalParam (const ros::NodeHandle &node_handle, const std::string &parameter_name, Scalar default_value)
	Helper function that loads a covariance matrix diagonal vector from the parameter server and checks the size and the values are invalid, i.e. they are positive. More...

template<class T >
T	getParam (const ros::NodeHandle &node_handle, const std::string &parameter_name, const T &default_value)
	Helper function that loads a Ceres Option (e.g. ceres::LinearSolverType) value from the parameter server. More...

template<typename T >
void	getParamRequired (const ros::NodeHandle &nh, const std::string &key, T &value)
	Utility method for handling required ROS params. More...

template<typename T >
static T	getPitch (const T w, const T x, const T y, const T z)
	Returns the Euler pitch angle from a quaternion. More...

void	getPositiveParam (const ros::NodeHandle &node_handle, const std::string &parameter_name, ros::Duration &default_value, const bool strict=true)
	Helper function that loads positive duration values from the parameter server. More...

template<typename T , typename = std::enable_if_t<std::is_integral<T>::value \|\| std::is_floating_point<T>::value>>
void	getPositiveParam (const ros::NodeHandle &node_handle, const std::string &parameter_name, T &default_value, const bool strict=true)
	Helper function that loads positive integral or floating point values from the parameter server. More...

template<typename T >
static T	getRoll (const T w, const T x, const T y, const T z)
	Returns the Euler roll angle from a quaternion. More...

template<typename T >
static T	getYaw (const T w, const T x, const T y, const T z)
	Returns the Euler yaw angle from a quaternion. More...

template<typename Derived >
bool	isPositiveDefinite (const Eigen::DenseBase< Derived > &m)
	Check if a matrix is Positive Definite (PD), i.e. all eigenvalues are `> 0.0`. More...

template<typename Derived >
bool	isSymmetric (const Eigen::DenseBase< Derived > &m, const typename Eigen::DenseBase< Derived >::RealScalar precision=Eigen::NumTraits< typename Eigen::DenseBase< Derived >::Scalar >::dummy_precision())
	Check if a matrix is symmetric. More...

void	loadCovarianceOptionsFromROS (const ros::NodeHandle &nh, ceres::Covariance::Options &covariance_options)
	Populate a ceres::Covariance::Options object with information from the parameter server. More...

fuse_core::Loss::SharedPtr	loadLossConfig (const ros::NodeHandle &nh, const std::string &name)
	Utility method to load a loss configuration. More...

void	loadProblemOptionsFromROS (const ros::NodeHandle &nh, ceres::Problem::Options &problem_options)
	Populate a ceres::Problem::Options object with information from the parameter server. More...

void	loadSolverOptionsFromROS (const ros::NodeHandle &nh, ceres::Solver::Options &solver_options)
	Populate a ceres::Solver::Options object with information from the parameter server. More...

std::ostream &	operator<< (std::ostream &stream, const Constraint &constraint)

std::ostream &	operator<< (std::ostream &stream, const Graph &graph)

std::ostream &	operator<< (std::ostream &stream, const Loss &loss)

std::ostream &	operator<< (std::ostream &stream, const Transaction &transaction)

std::ostream &	operator<< (std::ostream &stream, const Variable &variable)

template<typename T >
Eigen::Matrix< T, 2, 2, Eigen::RowMajor >	rotationMatrix2D (const T angle)
	Create an 2x2 rotation matrix from an angle. More...

void	serializeGraph (const fuse_core::Graph &graph, fuse_msgs::SerializedGraph &msg)
	Serialize a graph into a message. More...

void	serializeTransaction (const fuse_core::Transaction &transaction, fuse_msgs::SerializedTransaction &msg)
	Serialize a transaction into a message. More...

template<typename Derived >
std::string	to_string (const Eigen::DenseBase< Derived > &m, const int precision=4)
	Serialize a matrix into an std::string using this format: More...

template<typename T >
T	wrapAngle2D (const T &angle)
	Wrap a 2D angle to the standard (-Pi, +Pi] range. More...

template<typename T >
void	wrapAngle2D (T &angle)
	Wrap a 2D angle to the standard [-Pi, +Pi) range. More...

Typedef Documentation

◆ BinaryInputArchive

using fuse_core::BinaryInputArchive = typedef boost::archive::binary_iarchive

Definition at line 60 of file serialization.h.

◆ BinaryOutputArchive

using fuse_core::BinaryOutputArchive = typedef boost::archive::binary_oarchive

Definition at line 61 of file serialization.h.

◆ Matrix

template<typename Scalar , int RowsAtCompileTime, int ColsAtCompileTime>

using fuse_core::Matrix = typedef Eigen::Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime, Eigen::RowMajor>

Definition at line 71 of file eigen.h.

◆ Matrix1d

using fuse_core::Matrix1d = typedef Eigen::Matrix<double, 1, 1, Eigen::RowMajor>

Definition at line 60 of file eigen.h.

◆ Matrix2d

using fuse_core::Matrix2d = typedef Eigen::Matrix<double, 2, 2, Eigen::RowMajor>

Definition at line 61 of file eigen.h.

◆ Matrix3d

using fuse_core::Matrix3d = typedef Eigen::Matrix<double, 3, 3, Eigen::RowMajor>

Definition at line 62 of file eigen.h.

◆ Matrix4d

using fuse_core::Matrix4d = typedef Eigen::Matrix<double, 4, 4, Eigen::RowMajor>

Definition at line 63 of file eigen.h.

◆ Matrix5d

using fuse_core::Matrix5d = typedef Eigen::Matrix<double, 5, 5, Eigen::RowMajor>

Definition at line 64 of file eigen.h.

◆ Matrix6d

using fuse_core::Matrix6d = typedef Eigen::Matrix<double, 6, 6, Eigen::RowMajor>

Definition at line 65 of file eigen.h.

◆ Matrix7d

using fuse_core::Matrix7d = typedef Eigen::Matrix<double, 7, 7, Eigen::RowMajor>

Definition at line 66 of file eigen.h.

◆ Matrix8d

using fuse_core::Matrix8d = typedef Eigen::Matrix<double, 8, 8, Eigen::RowMajor>

Definition at line 67 of file eigen.h.

◆ Matrix9d

using fuse_core::Matrix9d = typedef Eigen::Matrix<double, 9, 9, Eigen::RowMajor>

Definition at line 68 of file eigen.h.

◆ MatrixXd

using fuse_core::MatrixXd = typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>

Definition at line 59 of file eigen.h.

◆ TextInputArchive

using fuse_core::TextInputArchive = typedef boost::archive::text_iarchive

Definition at line 62 of file serialization.h.

◆ TextOutputArchive

using fuse_core::TextOutputArchive = typedef boost::archive::text_oarchive

Definition at line 63 of file serialization.h.

◆ ThrottledMessageCallback

template<class M >

using fuse_core::ThrottledMessageCallback = typedef ThrottledCallback<std::function<void(const typename M::ConstPtr&)> >

Throttled callback for ROS messages.

Template Parameters

M	The ROS message type, which should have the M::ConstPtr nested type

Definition at line 208 of file throttled_callback.h.

◆ TransactionCallback

using fuse_core::TransactionCallback = typedef std::function<void(Transaction::SharedPtr transaction)>

The signature of the callback function that will be executed for every generated transaction object.

Definition at line 51 of file sensor_model.h.

◆ UUID

using fuse_core::UUID = typedef boost::uuids::uuid

Definition at line 51 of file uuid.h.

◆ Vector1d

using fuse_core::Vector1d = typedef Eigen::Matrix<double, 1, 1>

Definition at line 49 of file eigen.h.

◆ Vector2d

using fuse_core::Vector2d = typedef Eigen::Matrix<double, 2, 1>

Definition at line 50 of file eigen.h.

◆ Vector3d

using fuse_core::Vector3d = typedef Eigen::Matrix<double, 3, 1>

Definition at line 51 of file eigen.h.

◆ Vector4d

using fuse_core::Vector4d = typedef Eigen::Matrix<double, 4, 1>

Definition at line 52 of file eigen.h.

◆ Vector5d

using fuse_core::Vector5d = typedef Eigen::Matrix<double, 5, 1>

Definition at line 53 of file eigen.h.

◆ Vector6d

using fuse_core::Vector6d = typedef Eigen::Matrix<double, 6, 1>

Definition at line 54 of file eigen.h.

◆ Vector7d

using fuse_core::Vector7d = typedef Eigen::Matrix<double, 7, 1>

Definition at line 55 of file eigen.h.

◆ Vector8d

using fuse_core::Vector8d = typedef Eigen::Matrix<double, 8, 1>

Definition at line 56 of file eigen.h.

◆ Vector9d

using fuse_core::Vector9d = typedef Eigen::Matrix<double, 9, 1>

Definition at line 57 of file eigen.h.

◆ VectorXd

using fuse_core::VectorXd = typedef Eigen::Matrix<double, Eigen::Dynamic, 1>

Definition at line 48 of file eigen.h.

Function Documentation

◆ createUniqueLoss()

pluginlib::UniquePtr<fuse_core::Loss> fuse_core::createUniqueLoss ( const std::string & lookup_name )

inline

Create an unique instance of a loss function loaded with the singleton Loss loader.

Parameters

[in] lookup_name Loss function lookup name

Returns: Loss function instance handled by an std::unique_ptr<>

Definition at line 103 of file loss_loader.h.

◆ getCovarianceDiagonalParam()

template<int Size, typename Scalar = double>

fuse_core::Matrix<Scalar, Size, Size> fuse_core::getCovarianceDiagonalParam	(	const ros::NodeHandle &	node_handle,
		const std::string &	parameter_name,
		Scalar	default_value
	)

Helper function that loads a covariance matrix diagonal vector from the parameter server and checks the size and the values are invalid, i.e. they are positive.

Template Parameters

Scalar	- A scalar type, defaults to double
Size	- An int size that specifies the expected size of the covariance matrix (rows and columns)

Parameters

[in]	node_handle	- The node handle used to load the parameter
[in]	parameter_name	- The parameter name to load
[in]	default_value	- A default value to use for all the diagonal elements if the provided parameter name does not exist

Returns: The loaded (or default) covariance matrix, generated from the diagonal vector

Definition at line 126 of file parameter.h.

◆ getParam()

template<class T >

T fuse_core::getParam	(	const ros::NodeHandle &	node_handle,
		const std::string &	parameter_name,
		const T &	default_value
	)

Helper function that loads a Ceres Option (e.g. ceres::LinearSolverType) value from the parameter server.

String definitions for all Ceres options.

Parameters

[in]	node_handle	- The node handle used to load the parameter
[in]	parameter_name	- The parameter name to load
[in]	default_value	- A default value to use if the provided parameter name does not exist

Returns: The loaded (or default) value

Definition at line 194 of file ceres_options.h.

◆ getParamRequired()

template<typename T >

void fuse_core::getParamRequired	(	const ros::NodeHandle &	nh,
		const std::string &	key,
		T &	value
	)

Utility method for handling required ROS params.

Parameters

[in]	nh	- The ROS node handle with which to load parameters
[in]	key	- The ROS parameter key for the required parameter
[out]	value	- The ROS parameter value for the `key`

Exceptions

std::runtime_error if the parameter does not exist

Definition at line 58 of file parameter.h.

◆ getPitch()

template<typename T >

static T fuse_core::getPitch	(	const T	w,
		const T	x,
		const T	y,
		const T	z
	)

inlinestatic

Returns the Euler pitch angle from a quaternion.

Parameters

[in]	w	The quaternion real-valued component
[in]	x	The quaternion x-axis component
[in]	y	The quaternion x-axis component
[in]	z	The quaternion x-axis component

Returns: The quaternion's Euler pitch angle component

Definition at line 59 of file util.h.

◆ getPositiveParam() [1/2]

void fuse_core::getPositiveParam	(	const ros::NodeHandle &	node_handle,
		const std::string &	parameter_name,
		ros::Duration &	default_value,
		const bool	strict = `true`
	)

inline

Helper function that loads positive duration values from the parameter server.

Parameters

[in]	node_handle	- The node handle used to load the parameter
[in]	parameter_name	- The parameter name to load
[in,out]	default_value	- A default value to use if the provided parameter name does not exist. As output it has the loaded (or default) value
[in]	strict	- Whether to check the loaded value is strictly positive or not, i.e. whether 0 is accepted or not

Definition at line 104 of file parameter.h.

◆ getPositiveParam() [2/2]

template<typename T , typename = std::enable_if_t<std::is_integral<T>::value || std::is_floating_point<T>::value>>

void fuse_core::getPositiveParam	(	const ros::NodeHandle &	node_handle,
		const std::string &	parameter_name,
		T &	default_value,
		const bool	strict = `true`
	)

Helper function that loads positive integral or floating point values from the parameter server.

Parameters

[in]	node_handle	- The node handle used to load the parameter
[in]	parameter_name	- The parameter name to load
[in,out]	default_value	- A default value to use if the provided parameter name does not exist. As output it has the loaded (or default) value
[in]	strict	- Whether to check the loaded value is strictly positive or not, i.e. whether 0 is accepted or not

Definition at line 79 of file parameter.h.

◆ getRoll()

template<typename T >

static T fuse_core::getRoll	(	const T	w,
		const T	x,
		const T	y,
		const T	z
	)

inlinestatic

Returns the Euler roll angle from a quaternion.

Parameters

[in]	w	The quaternion real-valued component
[in]	x	The quaternion x-axis component
[in]	y	The quaternion x-axis component
[in]	z	The quaternion x-axis component

Returns: The quaternion's Euler roll angle component

Definition at line 84 of file util.h.

◆ getYaw()

template<typename T >

static T fuse_core::getYaw	(	const T	w,
		const T	x,
		const T	y,
		const T	z
	)

inlinestatic

Returns the Euler yaw angle from a quaternion.

Returned angle is in the range [-Pi, +Pi]

Parameters

[in]	w	The quaternion real-valued component
[in]	x	The quaternion x-axis component
[in]	y	The quaternion y-axis component
[in]	z	The quaternion z-axis component

Returns: The quaternion's Euler yaw angle component

Definition at line 104 of file util.h.

◆ isPositiveDefinite()

template<typename Derived >

bool fuse_core::isPositiveDefinite ( const Eigen::DenseBase< Derived > & m )

Check if a matrix is Positive Definite (PD), i.e. all eigenvalues are > 0.0.

Parameters

[in] m - Square matrix to check PD-ness on.

Returns: True if the matrix m is PD; False, otherwise.

Definition at line 125 of file eigen.h.

◆ isSymmetric()

template<typename Derived >

bool fuse_core::isSymmetric	(	const Eigen::DenseBase< Derived > &	m,
		const typename Eigen::DenseBase< Derived >::RealScalar	precision = `Eigen::NumTraits<typename Eigen::DenseBase<Derived>::Scalar>::dummy_precision()`
	)

Check if a matrix is symmetric.

Parameters

[in]	m	- Square matrix to check symmetry on
[in]	precision	- Precision used to compared the matrix m with its transpose, which is the property used to check for symmetry.

Returns: True if the matrix m is symmetric; False, otherwise.

Definition at line 103 of file eigen.h.

◆ loadCovarianceOptionsFromROS()

void fuse_core::loadCovarianceOptionsFromROS	(	const ros::NodeHandle &	nh,
		ceres::Covariance::Options &	covariance_options
	)

Populate a ceres::Covariance::Options object with information from the parameter server.

Parameters

[in]	nh	- A node handle in a namespace containing ceres::Covariance::Options settings
[out]	covariance_options	- The ceres::Covariance::Options object to update

Definition at line 49 of file ceres_options.cpp.

◆ loadLossConfig()

fuse_core::Loss::SharedPtr fuse_core::loadLossConfig	(	const ros::NodeHandle &	nh,
		const std::string &	name
	)

inline

Utility method to load a loss configuration.

Parameters

[in]	nh	- The ROS node handle with which to load parameters
[in]	name	- The ROS parameter name for the loss configuration parameter

Returns: Loss function or nullptr if the parameter does not exist

Definition at line 158 of file parameter.h.

◆ loadProblemOptionsFromROS()

void fuse_core::loadProblemOptionsFromROS	(	const ros::NodeHandle &	nh,
		ceres::Problem::Options &	problem_options
	)

Populate a ceres::Problem::Options object with information from the parameter server.

Parameters

[in]	nh	- A node handle in a namespace containing ceres::Problem::Options settings
[out]	problem_options	- The ceres::Problem::Options object to update

Definition at line 65 of file ceres_options.cpp.

◆ loadSolverOptionsFromROS()

void fuse_core::loadSolverOptionsFromROS	(	const ros::NodeHandle &	nh,
		ceres::Solver::Options &	solver_options
	)

Populate a ceres::Solver::Options object with information from the parameter server.

Parameters

[in]	nh	- A node handle in a namespace containing ceres::Solver::Options settings
[out]	solver_options	- The ceres::Solver::Options object to update

Definition at line 72 of file ceres_options.cpp.

◆ operator<<() [1/5]

std::ostream & fuse_core::operator<<	(	std::ostream &	stream,
		const Constraint &	constraint
	)

Stream operator implementation used for all derived Constraint classes.

Definition at line 53 of file constraint.cpp.

◆ operator<<() [2/5]

std::ostream & fuse_core::operator<<	(	std::ostream &	stream,
		const Graph &	graph
	)

Stream operator for printing Graph objects.

Definition at line 47 of file graph.cpp.

◆ operator<<() [3/5]

std::ostream & fuse_core::operator<<	(	std::ostream &	stream,
		const Loss &	loss
	)

Stream operator implementation used for all derived Loss classes.

Definition at line 42 of file loss.cpp.

◆ operator<<() [4/5]

std::ostream & fuse_core::operator<<	(	std::ostream &	stream,
		const Transaction &	transaction
	)

Stream operator for printing Transaction objects.

Definition at line 292 of file transaction.cpp.

◆ operator<<() [5/5]

std::ostream & fuse_core::operator<<	(	std::ostream &	stream,
		const Variable &	variable
	)

Stream operator implementation used for all derived Variable classes.

Definition at line 47 of file variable.cpp.

◆ rotationMatrix2D()

template<typename T >

Eigen::Matrix<T, 2, 2, Eigen::RowMajor> fuse_core::rotationMatrix2D ( const T angle )

Create an 2x2 rotation matrix from an angle.

Parameters

[in] angle The rotation angle, in radians

Returns: The equivalent 2x2 rotation matrix

Definition at line 149 of file util.h.

◆ serializeGraph()

void fuse_core::serializeGraph	(	const fuse_core::Graph &	graph,
		fuse_msgs::SerializedGraph &	msg
	)

Serialize a graph into a message.

Definition at line 45 of file graph_deserializer.cpp.

◆ serializeTransaction()

void fuse_core::serializeTransaction	(	const fuse_core::Transaction &	transaction,
		fuse_msgs::SerializedTransaction &	msg
	)

Serialize a transaction into a message.

Definition at line 45 of file transaction_deserializer.cpp.

◆ to_string()

template<typename Derived >

std::string fuse_core::to_string	(	const Eigen::DenseBase< Derived > &	m,
		const int	precision = `4`
	)

Serialize a matrix into an std::string using this format:

[1, 2, 3] [4, 5, 6] [7, 8, 9]

Parameters

[in]	m	- The matrix to serialize into an std::string.
[in]	precision	- The precision to print the matrix elements with.

Returns: An std::string with the matrix serialized into it.

Definition at line 85 of file eigen.h.

◆ wrapAngle2D() [1/2]

template<typename T >

T fuse_core::wrapAngle2D ( const T & angle )

Wrap a 2D angle to the standard (-Pi, +Pi] range.

Parameters

[in] angle Input angle to be wrapped to the (-Pi, +Pi] range.

Returns: The equivalent wrapped angle

Definition at line 135 of file util.h.

◆ wrapAngle2D() [2/2]

template<typename T >

void fuse_core::wrapAngle2D ( T & angle )

Wrap a 2D angle to the standard [-Pi, +Pi) range.

Parameters

[in/out] angle Input angle to be wrapped to the [-Pi, +Pi) range. Angle is updated by this function.

Definition at line 118 of file util.h.

Namespaces

Classes

Typedefs

Functions

Typedef Documentation

◆ BinaryInputArchive

◆ BinaryOutputArchive

◆ Matrix

◆ Matrix1d

◆ Matrix2d

◆ Matrix3d

◆ Matrix4d

◆ Matrix5d

◆ Matrix6d

◆ Matrix7d

◆ Matrix8d

◆ Matrix9d

◆ MatrixXd

◆ TextInputArchive

◆ TextOutputArchive

◆ ThrottledMessageCallback

◆ TransactionCallback

◆ UUID

◆ Vector1d

◆ Vector2d

◆ Vector3d

◆ Vector4d

◆ Vector5d

◆ Vector6d

◆ Vector7d

◆ Vector8d

◆ Vector9d

◆ VectorXd

Function Documentation

◆ createUniqueLoss()

◆ getCovarianceDiagonalParam()

◆ getParam()

◆ getParamRequired()

◆ getPitch()

◆ getPositiveParam() [1/2]

◆ getPositiveParam() [2/2]

◆ getRoll()

◆ getYaw()

◆ isPositiveDefinite()

◆ isSymmetric()

◆ loadCovarianceOptionsFromROS()

◆ loadLossConfig()

◆ loadProblemOptionsFromROS()

◆ loadSolverOptionsFromROS()

◆ operator<<() [1/5]

◆ operator<<() [2/5]

◆ operator<<() [3/5]

◆ operator<<() [4/5]

◆ operator<<() [5/5]

◆ rotationMatrix2D()

◆ serializeGraph()

◆ serializeTransaction()

◆ to_string()

◆ wrapAngle2D() [1/2]

◆ wrapAngle2D() [2/2]