Geometry.h
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00001 /*
00002  * Copyright (c) 2011, Thomas Ruehr <ruehr@cs.tum.edu>
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 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 
00031 
00032 #ifndef __GEOMETRY_H__
00033 #define __GEOMETRY_H__
00034 
00035 #include <ros/ros.h>
00036 
00037 #include <tf/transform_listener.h>
00038 
00039 class Geometry
00040 {
00041 private:
00042 
00043     static tf::TransformListener *listener_;
00044 
00045     static Geometry *instance;
00046 
00047     Geometry();
00048 
00049     ~Geometry();
00050 
00051 public:
00052 
00053     static Geometry* getInstance()
00054     {
00055         if (!instance)instance = new Geometry();
00056         return instance;
00057     }
00058 
00059     static void init();
00060 
00061     //scales the transform, e.g. scale .10 = apply returned transform 10 times on the right side to get the same result as applying in once
00062     static tf::Stamped<tf::Pose> scaleStampedPose(const tf::Stamped<tf::Pose> &in, double scale);
00063     static tf::Stamped<tf::Pose> scaleStampedTransform(const tf::Stamped<tf::Pose> &in, double scale);
00064 
00065     static tf::Stamped<tf::Pose> getPoseIn(const char target_frame[], tf::Stamped<tf::Pose> src);
00066 
00067     static void printPose(const tf::Stamped<tf::Pose> &toolTargetPose);
00068 
00069     static tf::Stamped<tf::Pose> getPose(const char target_frame[],const char lookup_frame[]);
00070 
00071     static tf::Stamped<tf::Pose> getRelativeTransform(const char source_frameid[], const char target_frameid[]);
00072 
00073     static tf::Stamped<tf::Pose> getTransform(const char baseframe[], const char toolframe[]);
00074 
00075     static tf::Stamped<tf::Pose>  rotateAroundBaseAxis(tf::Stamped<tf::Pose> toolPose, double r_x,double r_y,double r_z);
00076     static tf::Stamped<tf::Pose>  rotateAroundToolframeAxis(tf::Stamped<tf::Pose> toolPose, double r_x,double r_y,double r_z);
00077     static tf::Stamped<tf::Pose>  rotateAroundPose(tf::Stamped<tf::Pose> toolPose, tf::Stamped<tf::Pose> pivot, double r_x, double r_y, double r_z);
00078     static tf::Stamped<tf::Pose>  rotateAroundPose(tf::Stamped<tf::Pose> toolPose, tf::Stamped<tf::Pose> pivot, btQuaternion qa);
00079 
00080     static tf::Stamped<tf::Pose> approach(tf::Stamped<tf::Pose> toolPose, double dist = 0.1);
00081 
00082     static tf::Stamped<tf::Pose> make_pose(double x, double y, double z, double ox, double oy, double oz, double ow, const char target_frame[]);
00083 
00084     static tf::Stamped<tf::Pose> make_pose(const btTransform &trans, const char target_frame[]);
00085 
00086     // given relative pose is relative to the root_frame, return its pose in the frame the root frame is defined in
00087     static tf::Stamped<tf::Pose> getRel(const tf::Stamped<tf::Pose> &root_frame,  const tf::Stamped<tf::Pose> &relative_pose);
00088 
00089     static tf::Stamped<tf::Pose> getRelInBase(const tf::Stamped<tf::Pose> &root_frame,  const btVector3 &dist);
00090 
00091     static void printPose(const char title[], tf::Stamped<tf::Pose> pose);
00092 
00093 
00094 };
00095 
00096 
00097 #endif
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57