OMIPUtils.h File Reference

#include <pcl/point_types.h>
#include <Eigen/Geometry>
#include <lgsm/Lgsm>
#include <boost/shared_ptr.hpp>
#include "omip_common/Feature.h"
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include "wrappers/matrix/matrix_wrapper.h"
#include "omip_common/OMIPTypeDefs.h"

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Namespaces
namespace	omip
Typedefs
typedef Eigen::Matrix< double, 6, 6 >	omip::Matrix6d
Functions
void	omip::adjointXcovXadjointT (const Eigen::Twistd &pose_ec, const Eigen::Matrix< double, 6, 6 > &cov, Eigen::Matrix< double, 6, 6 > &transformed_cov_out)
	adjointXcovXadjointT Transforms a covariance from one reference frame to another
void	omip::adjointXcovXadjointT (const Eigen::Displacementd &pose_disp, const Eigen::Matrix< double, 6, 6 > &cov, Eigen::Matrix< double, 6, 6 > &transformed_cov_out)
void	omip::adjointXinvAdjointXcovXinvAdjointTXadjointT (const Eigen::Displacementd &pose_disp1, const Eigen::Displacementd &pose_disp2, const Eigen::Matrix< double, 6, 6 > &cov, Eigen::Matrix< double, 6, 6 > &transformed_cov_out)
void	omip::computeAdjoint (const Eigen::Twistd &pose_ec, Eigen::Matrix< double, 6, 6 > &adjoint_out)
	computeAdjoint Returns the adjoint matrix of the given pose. Necessary because the LGSM library represents first rotation and then translation while we represent first translation and then rotation
void	omip::computeAdjoint (const Eigen::Displacementd pose_disp, Eigen::Matrix< double, 6, 6 > &adjoint_out)
void	omip::EigenAffine2TranslationAndEulerAngles (const Eigen::Affine3d &t, double &x, double &y, double &z, double &roll, double &pitch, double &yaw)
void	omip::EigenTwist2GeometryMsgsTwist (Eigen::Twistd &eigen_twist, geometry_msgs::Twist &gm_twist)
void	omip::GeometryMsgsTwist2EigenTwist (const geometry_msgs::Twist &gm_twist, Eigen::Twistd &eigen_twist)
void	omip::invert3x3Matrix (const MatrixWrapper::Matrix &to_inv, MatrixWrapper::Matrix &inverse)
void	omip::invert3x3MatrixEigen (const Eigen::Map< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > &to_inv, Eigen::Map< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > &inverse)
void	omip::invert3x3MatrixEigen2 (const Eigen::Matrix3d &to_inv, Eigen::Matrix3d &inverse)
Eigen::Twistd	omip::invertTwist (Eigen::Twistd &current_twist, Eigen::Twistd &previous_twist, bool &inverted)
bool	omip::isFinite (const Eigen::Matrix4d &transformation)
double	omip::L2Distance (const Feature::Location &first, const Feature::Location &second)
void	omip::Location2PointPCL (const Feature::Location &point_location, pcl::PointXYZ &point_pcl)
void	omip::LocationAndId2FeaturePCL (const Feature::Location &feature_location, const Feature::Id &feature_id, pcl::PointXYZL &feature_pcl)
void	omip::LocationAndId2FeaturePCLwc (const Feature::Location &feature_location, const Feature::Id &feature_id, omip::FeaturePCLwc &feature_pcl)
void	omip::LocationOfFeature2ColumnVector (const Feature::Location &lof, MatrixWrapper::ColumnVector &col_vec)
void	omip::LocationOfFeature2ColumnVectorHomogeneous (const Feature::Location &lof, MatrixWrapper::ColumnVector &col_vec)
void	omip::LocationOfFeature2EigenVectorHomogeneous (const Feature::Location &lof, Eigen::Vector4d &eig_vec)
Feature::Location	omip::operator+ (const Feature::Location &location1, const Feature::Location &location2)
Feature::Location	omip::operator- (const Feature::Location &location1, const Feature::Location &location2)
std::ostream &	omip::operator<< (std::ostream &os, std::vector< Feature::Id > vector_ids)
std::ostream &	omip::operator<< (std::ostream &os, Feature::Location location)
std::ostream &	omip::operator<< (std::ostream &os, Eigen::Twistd twistd)
void	omip::ROSTwist2EigenTwist (const geometry_msgs::Twist &ros_twist, Eigen::Twistd &eigen_twist)
double	omip::sampleNormal (double mean, double std_dev)
void	omip::TransformLocation (const Feature::Location &origin, const Eigen::Matrix4d &transformation, Feature::Location &new_location)
void	omip::TransformLocation (const Feature::Location &origin, const Eigen::Twistd &twist, Feature::Location &new_location, int feat_id=0)
void	omip::TransformLocation (const Feature::Location &origin, const geometry_msgs::Twist &twist, Feature::Location &new_location)
void	omip::TransformMatrix2Twist (const Eigen::Matrix4d &transformation_matrix, Eigen::Twistd &twist)
void	omip::TransformMatrix2TwistUnwrapped (const Eigen::Matrix4d &transformation_matrix, Eigen::Twistd &twist, const Eigen::Twistd &twist_previous)
void	omip::TranslationAndEulerAngles2EigenAffine (const double &x, const double &y, const double &z, const double &roll, const double &pitch, const double &yaw, Eigen::Transform< double, 3, Eigen::Affine > &t)
void	omip::Twist2TransformMatrix (const Eigen::Twistd &transformation_twist, Eigen::Matrix4d &matrix)
Eigen::Twistd	omip::unwrapTwist (Eigen::Twistd &current_twist, Eigen::Displacementd &current_displacement, Eigen::Twistd &previous_twist, bool &changed)