omip Namespace Reference

Classes
struct	_FeaturePCLwc
class	DisconnectedJointFilter
class	Feature
struct	FeaturePCLwc
class	FeaturesDataBase
class	JointCombinedFilter
class	JointFilter
class	MultiJointTracker
class	MultiJointTrackerNode
class	MultiRBTracker
class	MultiRBTrackerNode
class	PrismaticJointFilter
class	RBFilter
class	RecursiveEstimatorFilterInterface
class	RecursiveEstimatorNodeInterface
class	RevoluteJointFilter
class	RigidJointFilter
class	StaticEnvironmentFilter

Typedefs
typedef boost::shared_ptr< DisconnectedJointFilter >	DisconnectedJointFilterPtr
typedef pcl::PointCloud< FeaturePCL >	FeatureCloudPCL
typedef pcl::PointCloud< FeaturePCL >	FeatureCloudPCL
typedef pcl::PointCloud< FeaturePCLwc >	FeatureCloudPCLwc
typedef pcl::PointCloud< FeaturePCLwc >	FeatureCloudPCLwc
typedef pcl::PointXYZL	FeaturePCL
typedef pcl::PointXYZL	FeaturePCL
typedef void	ft_measurement_ros_t
typedef void	ft_measurement_ros_t
typedef std::pair< cv_bridge::CvImagePtr, cv_bridge::CvImagePtr >	ft_measurement_t
typedef std::pair< cv_bridge::CvImagePtr, cv_bridge::CvImagePtr >	ft_measurement_t
typedef sensor_msgs::PointCloud2	ft_state_ros_t
typedef sensor_msgs::PointCloud2	ft_state_ros_t
typedef FeatureCloudPCLwc::Ptr	ft_state_t
typedef FeatureCloudPCLwc::Ptr	ft_state_t
typedef std::map< std::pair< int, int >, JointCombinedFilterPtr >	joint_combined_filters_map
typedef std::map< JointFilterType, JointFilterPtr >	joint_filters_map
typedef long int	Joint_id_t
typedef long int	Joint_id_t
typedef std::pair< omip_msgs::RigidBodyPoseAndVelMsg, omip_msgs::RigidBodyPoseAndVelMsg >	joint_measurement_t
typedef std::pair< omip_msgs::RigidBodyPoseAndVelMsg, omip_msgs::RigidBodyPoseAndVelMsg >	joint_measurement_t
typedef int long	JointCombinedFilterId
typedef boost::shared_ptr< JointCombinedFilter >	JointCombinedFilterPtr
typedef boost::shared_ptr< JointFilter >	JointFilterPtr
typedef std::map< std::pair< int, int >, boost::shared_ptr< JointCombinedFilter > >	KinematicModel
typedef std::map< std::pair< int, int >, boost::shared_ptr< JointCombinedFilter > >	KinematicModel
typedef omip_msgs::RigidBodyPosesAndVelsMsg	ks_measurement_ros_t
typedef omip_msgs::RigidBodyPosesAndVelsMsg	ks_measurement_ros_t
typedef omip_msgs::RigidBodyPosesAndVelsMsg	ks_measurement_t
typedef omip_msgs::RigidBodyPosesAndVelsMsg	ks_measurement_t
typedef omip_msgs::KinematicStructureMsg::Ptr	ks_state_ros_t
typedef omip_msgs::KinematicStructureMsg::Ptr	ks_state_ros_t
typedef KinematicModel	ks_state_t
typedef KinematicModel	ks_state_t
typedef pcl::PointCloud< pcl::PointXYZRGB >	PointCloudPCL
typedef pcl::PointCloud< pcl::PointXYZRGB >	PointCloudPCL
typedef pcl::PointCloud< PointPCL >	PointCloudPCLNoColor
typedef pcl::PointCloud< PointPCL >	PointCloudPCLNoColor
typedef pcl::PointXYZ	PointPCL
typedef pcl::PointXYZ	PointPCL
typedef boost::shared_ptr< PrismaticJointFilter >	PrismaticJointFilterPtr
typedef long int	RB_id_t
typedef long int	RB_id_t
typedef sensor_msgs::PointCloud2	rbt_measurement_ros_t
typedef sensor_msgs::PointCloud2	rbt_measurement_ros_t
typedef FeatureCloudPCLwc::Ptr	rbt_measurement_t
typedef FeatureCloudPCLwc::Ptr	rbt_measurement_t
typedef omip_msgs::RigidBodyPosesAndVelsMsg	rbt_state_ros_t
typedef omip_msgs::RigidBodyPosesAndVelsMsg	rbt_state_ros_t
typedef omip_msgs::RigidBodyPosesAndVelsMsg	rbt_state_t
typedef omip_msgs::RigidBodyPosesAndVelsMsg	rbt_state_t
typedef boost::shared_ptr< RevoluteJointFilter >	RevoluteJointFilterPtr
typedef pcl::PointCloud< PointPCL >	RigidBodyShape
typedef pcl::PointCloud< PointPCL >	RigidBodyShape
typedef boost::shared_ptr< RigidJointFilter >	RigidJointFilterPtr

Enumerations
enum	JointFilterType { RIGID_JOINT, PRISMATIC_JOINT, REVOLUTE_JOINT, DISCONNECTED_JOINT }
enum	ks_analysis_t { MOVING_BODIES_TO_STATIC_ENV = 1, BETWEEN_MOVING_BODIES = 2, FULL_ANALYSIS = 3 }
enum	MotionConstraint
enum	shape_model_selector_t
enum	shape_model_selector_t
enum	static_environment_tracker_t
enum	static_environment_tracker_t

Functions
void	EigenAffine2TranslationAndEulerAngles (const Eigen::Affine3d &t, double &x, double &y, double &z, double &roll, double &pitch, double &yaw)
void	EigenTwist2GeometryMsgsTwist (Eigen::Twistd &eigen_twist, geometry_msgs::Twist &gm_twist)
void	GeometryMsgsTwist2EigenTwist (const geometry_msgs::Twist &gm_twist, Eigen::Twistd &eigen_twist)
void	invert3x3Matrix (const MatrixWrapper::Matrix &to_inv, MatrixWrapper::Matrix &inverse)
void	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	invert3x3MatrixEigen2 (const Eigen::Matrix3d &to_inv, Eigen::Matrix3d &inverse)
Eigen::Twistd	invertTwist (Eigen::Twistd &current_twist, Eigen::Twistd &previous_twist, bool &inverted)
bool	isFinite (const Eigen::Matrix4d &transformation)
double	L2Distance (const Feature::Location &first, const Feature::Location &second)
void	Location2PointPCL (const Feature::Location &point_location, pcl::PointXYZ &point_pcl)
void	LocationAndId2FeaturePCL (const Feature::Location &feature_location, const Feature::Id &feature_id, pcl::PointXYZL &feature_pcl)
void	LocationAndId2FeaturePCLwc (const Feature::Location &feature_location, const Feature::Id &feature_id, omip::FeaturePCLwc &feature_pcl)
void	LocationOfFeature2ColumnVector (const Feature::Location &lof, MatrixWrapper::ColumnVector &col_vec)
void	LocationOfFeature2ColumnVectorHomogeneous (const Feature::Location &lof, MatrixWrapper::ColumnVector &col_vec)
void	LocationOfFeature2EigenVectorHomogeneous (const Feature::Location &lof, Eigen::Vector4d &eig_vec)
Feature::Location	operator+ (const Feature::Location &location1, const Feature::Location &location2)
Feature::Location	operator- (const Feature::Location &location1, const Feature::Location &location2)
std::ostream &	operator<< (std::ostream &os, std::vector< Feature::Id > vector_ids)
std::ostream &	operator<< (std::ostream &os, Eigen::Twistd twistd)
std::ostream &	operator<< (std::ostream &os, Feature::Location location)
void	ROSTwist2EigenTwist (const geometry_msgs::Twist &ros_twist, Eigen::Twistd &eigen_twist)
double	sampleNormal (double mean, double std_dev)
void	TransformLocation (const Feature::Location &origin, const Eigen::Matrix4d &transformation, Feature::Location &new_location)
void	TransformLocation (const Feature::Location &origin, const geometry_msgs::Twist &twist, Feature::Location &new_location)
void	TransformLocation (const Feature::Location &origin, const Eigen::Twistd &twist, Feature::Location &new_location, int feat_id=0)
void	TransformMatrix2Twist (const Eigen::Matrix4d &transformation_matrix, Eigen::Twistd &twist)
void	TransformMatrix2TwistUnwrapped (const Eigen::Matrix4d &transformation_matrix, Eigen::Twistd &twist, const Eigen::Twistd &twist_previous)
void	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	Twist2TransformMatrix (const Eigen::Twistd &transformation_twist, Eigen::Matrix4d &matrix)
Eigen::Twistd	unwrapTwist (Eigen::Twistd &current_twist, Eigen::Displacementd &current_displacement, Eigen::Twistd &previous_twist, bool &changed)

Variables
	BASED_ON_COLOR
	BASED_ON_COLOR
	BASED_ON_DEPTH
	BASED_ON_DEPTH
	BASED_ON_EXT_COLOR
	BASED_ON_EXT_COLOR
	BASED_ON_EXT_DEPTH
	BASED_ON_EXT_DEPTH
	BASED_ON_EXT_DEPTH_AND_COLOR
	BASED_ON_EXT_DEPTH_AND_COLOR
	NO_CONSTRAINED
	NO_MOTION
	NO_ROLL_PITCH
	NO_ROLL_PITCH_TZ
	NO_ROTATION
	NO_TRANSLATION
	NO_TRANSLATION_ROLL_YAW
	ROBOT_XY_BASELINK_PLANE
	STATIC_ENVIRONMENT_EKF_TRACKER
	STATIC_ENVIRONMENT_EKF_TRACKER
	STATIC_ENVIRONMENT_ICP_TRACKER
	STATIC_ENVIRONMENT_ICP_TRACKER

Typedef Documentation

typedef boost::shared_ptr<DisconnectedJointFilter> omip::DisconnectedJointFilterPtr

Definition at line 40 of file DisconnectedJointFilter.h.

typedef std::map<std::pair<int, int>, JointCombinedFilterPtr> omip::joint_combined_filters_map

Definition at line 56 of file MultiJointTracker.h.

typedef std::map<JointFilterType, JointFilterPtr> omip::joint_filters_map

Definition at line 60 of file JointCombinedFilter.h.

typedef int long omip::JointCombinedFilterId

Definition at line 69 of file JointFilter.h.

typedef boost::shared_ptr<JointCombinedFilter> omip::JointCombinedFilterPtr

Definition at line 57 of file JointCombinedFilter.h.

typedef boost::shared_ptr<JointFilter> omip::JointFilterPtr

Definition at line 79 of file JointFilter.h.

typedef boost::shared_ptr<PrismaticJointFilter> omip::PrismaticJointFilterPtr

Definition at line 51 of file PrismaticJointFilter.h.

typedef boost::shared_ptr<RevoluteJointFilter> omip::RevoluteJointFilterPtr

Definition at line 51 of file RevoluteJointFilter.h.

typedef boost::shared_ptr<RigidJointFilter> omip::RigidJointFilterPtr

Definition at line 40 of file RigidJointFilter.h.

Enumeration Type Documentation

enum omip::JointFilterType

Enumerator
RIGID_JOINT
PRISMATIC_JOINT
REVOLUTE_JOINT
DISCONNECTED_JOINT

Definition at line 71 of file JointFilter.h.

enum omip::ks_analysis_t

Enumerator
MOVING_BODIES_TO_STATIC_ENV
BETWEEN_MOVING_BODIES
FULL_ANALYSIS

Definition at line 49 of file MultiJointTracker.h.