helpers.h File Reference

#include <ros/ros.h>
#include <tf/tf.h>
#include <std_msgs/ColorRGBA.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Transform.h>
#include "pcl/io/pcd_io.h"
#include "pcl/point_types.h"
#include "pcl/filters/passthrough.h"
#include <pcl/features/normal_3d.h>
#include <pcl_ros/transforms.h>
#include <object_manipulator/tools/shape_tools.h>

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Functions
template<class PointT >
void	box_filter (const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const object_manipulator::shapes::Box &box, bool transform_cloud=false, bool restore_frame=true)
template<class PointT >
void	floating_box_filter (const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const object_manipulator::shapes::Box &box)
geometry_msgs::PoseStamped	generateAlignedPose (const geometry_msgs::PoseStamped original_pose, const tf::Vector3 axis, const tf::Vector3 up)
geometry_msgs::PoseStamped	generateRelativePose (geometry_msgs::PoseStamped original_pose, double roll, double pitch, double yaw, double xdist, double ydist, double zdist)
void	setMatrixColumns (btMatrix3x3 &mat, btVector3 &X, btVector3 &Y, btVector3 &Z)

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Function Documentation

template<class PointT >

void box_filter	(	const pcl::PointCloud< PointT > &	cloud_in,
		pcl::PointCloud< PointT > &	cloud_out,
		const object_manipulator::shapes::Box &	box,
		bool	transform_cloud = false,
		bool	restore_frame = true
	)			[inline]

Definition at line 76 of file helpers.h.

template<class PointT >

void floating_box_filter	(	const pcl::PointCloud< PointT > &	cloud_in,
		pcl::PointCloud< PointT > &	cloud_out,
		const object_manipulator::shapes::Box &	box
	)			[inline]

Definition at line 122 of file helpers.h.

geometry_msgs::PoseStamped generateAlignedPose	(	const geometry_msgs::PoseStamped	original_pose,
		const tf::Vector3	axis,
		const tf::Vector3	up
	)			[inline]

Generate a new PoseStamped message with the same origina but specified alignment.

Definition at line 34 of file helpers.h.

geometry_msgs::PoseStamped generateRelativePose	(	geometry_msgs::PoseStamped	original_pose,
		double	roll,
		double	pitch,
		double	yaw,
		double	xdist,
		double	ydist,
		double	zdist
	)			[inline]

Generate a new PoseStamped message whose pose is relative to original_pose

Definition at line 60 of file helpers.h.

void setMatrixColumns	(	btMatrix3x3 &	mat,
		btVector3 &	X,
		btVector3 &	Y,
		btVector3 &	Z
	)			[inline]

Definition at line 24 of file helpers.h.