RobotLocalization::RosFilterUtilities Namespace Reference

Functions
void	quatToRPY (const tf::Quaternion &quat, double &roll, double &pitch, double &yaw)
	Utility method for converting quaternion to RPY.
void	stateToTF (const Eigen::VectorXd &state, tf::Transform &stateTF)
	Converts our Eigen state vector into a TF transform/pose.
void	TFtoState (const tf::Transform &stateTF, Eigen::VectorXd &state)
	Converts a TF transform/pose into our Eigen state vector.

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Function Documentation

void RobotLocalization::RosFilterUtilities::quatToRPY	(	const tf::Quaternion &	quat,
		double &	roll,
		double &	pitch,
		double &	yaw
	)

Utility method for converting quaternion to RPY.

Parameters:

[in]	quat	- The quaternion to convert
[out]	roll	- The converted roll
[out]	pitch	- The converted pitch
[out]	yaw	- The converted yaw

Definition at line 66 of file ros_filter_utilities.cpp.

void RobotLocalization::RosFilterUtilities::stateToTF	(	const Eigen::VectorXd &	state,
		tf::Transform &	stateTF
	)

Converts our Eigen state vector into a TF transform/pose.

Parameters:

[in]	state	- The state to convert
[out]	stateTF	- The converted state

Definition at line 72 of file ros_filter_utilities.cpp.

void RobotLocalization::RosFilterUtilities::TFtoState	(	const tf::Transform &	stateTF,
		Eigen::VectorXd &	state
	)

Converts a TF transform/pose into our Eigen state vector.

Parameters:

[in]	stateTF	- The state to convert
[out]	state	- The converted state

Definition at line 85 of file ros_filter_utilities.cpp.