pal_util.h
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00001 /*
00002  * Software License Agreement (Modified BSD License)
00003  *
00004  *  Copyright (c) 2012, PAL Robotics, S.L.
00005  *  All rights reserved.
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00007  *  Redistribution and use in source and binary forms, with or without
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00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
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00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034  * @file pal_util.h
00035  * @author Bence Magyar
00036  * @date March 2012
00037  * @version 0.1
00038  * @brief This collection includes functions used for image processing
00039  * and various conversion functions used in BLORT.
00040  * @namespace pal_blort
00041  */
00042 
00043 #ifndef PAL_UTIL_H
00044 #define PAL_UTIL_H
00045 
00046 #include <opencv2/core/core.hpp>
00047 #include <vector>
00048 #include <string>
00049 #include <geometry_msgs/Pose.h>
00050 #include "TomGine/tgPose.h"
00051 #include <tf/transform_datatypes.h>
00052 
00053 namespace pal_blort
00054 {
00055     std::string addRoot(const std::string& obj, const std::string& root);
00056 
00057     geometry_msgs::Pose tgPose2RosPose(const TomGine::tgPose &pose);
00058 
00059     TomGine::tgPose rosPose2TgPose(const geometry_msgs::Pose &pose);
00060 
00061     tf::Transform rosPose2TfTransform(const geometry_msgs::Pose &pose);
00062 
00063     geometry_msgs::Pose tfTransform2RosPose(const tf::Transform &transform);
00064 
00065     geometry_msgs::Pose blortPosesToRosPose(geometry_msgs::Pose reference,
00066                                             geometry_msgs::Pose target);
00067 
00068     geometry_msgs::Pose poseDiff(geometry_msgs::Pose pose1, geometry_msgs::Pose pose2);
00069 
00070     bool poseValidate(geometry_msgs::Pose known_pose,
00071                       geometry_msgs::Pose pose_estimate,
00072                       geometry_msgs::Pose max_error);
00073 
00074     cv::Mat quaternionTo3x3cvMat(geometry_msgs::Quaternion quaternion);
00075 }
00076 
00077 #endif // PAL_UTIL_H


blort_ros
Author(s): Bence Magyar
autogenerated on Thu Jan 2 2014 11:39:12