common.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00039 #ifndef FLIRTLIB_ROS_COMMON_H
00040 #define FLIRTLIB_ROS_COMMON_H
00041 
00042 #include <tf/transform_listener.h>
00043 #include <flirtlib_ros/flirtlib.h>
00044 
00045 namespace flirtlib_ros
00046 {
00047 
00048 namespace gm=geometry_msgs;
00049 
00051 inline
00052 gm::Pose tfTransformToPose (const tf::Transform& trans)
00053 {
00054   gm::Pose m;
00055   tf::poseTFToMsg(trans, m);
00056   return m;
00057 }
00058 
00060 inline
00061 tf::Pose poseMsgToTf (const gm::Pose& p)
00062 {
00063   const gm::Quaternion& q = p.orientation;
00064   const gm::Point& v = p.position;
00065   return tf::Pose(tf::Quaternion(q.x, q.y, q.z, q.w),
00066                   tf::Vector3(v.x, v.y, v.z));
00067 }
00068 
00069 
00073 template <typename T>
00074 T getPrivateParam (const std::string& name, const T& default_val)
00075 {
00076   ros::NodeHandle nh("~");
00077   T val;
00078   nh.param(name, val, default_val);
00079   ROS_DEBUG_STREAM_NAMED ("init", "Initialized " << name << " to " << val <<
00080                           "(default was " << default_val << ")");
00081   return val;
00082 }
00083   
00084 
00085 
00088 gm::Pose getCurrentPose (const tf::TransformListener& tf,
00089                          const std::string& frame);
00090 
00092 gm::Pose transformPose (const gm::Pose& p, const OrientedPoint2D& trans);
00093 
00095 gm::Pose transformPose (const tf::Transform& trans, const gm::Pose& pose);
00096 
00098 gm::Pose makePose (double x, double y, double theta);
00099 
00101 tf::Transform getLaserOffset (const tf::TransformListener& tf);
00102 
00103 } // namespace
00104 
00105 #endif // include guard


flirtlib_ros
Author(s): Bhaskara Marthi
autogenerated on Thu Nov 28 2013 11:21:50