Namespaces | Classes | Functions
mrpt_bridge Namespace Reference

File includes methods for converting CNetworkOfPoses*DInf <=> NetworkOfPoses message types. More...

Namespaces

 GPS
 
 image
 
 imu
 
 point_cloud
 
 range
 
 stereo_image
 

Classes

class  MapHdl
 the map class is implemented as singeleton use map::instance ()->ros2mrpt ... More...
 

Functions

bool check_field (const sensor_msgs::PointField &input_field, std::string check_name, const sensor_msgs::PointField **output)
 
void convert (const ros::Time &src, mrpt::system::TTimeStamp &des)
 
void convert (const mrpt::system::TTimeStamp &src, ros::Time &des)
 
bool convert (const marker_msgs::MarkerDetection &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBearingRange &_obj)
 
bool convert (const marker_msgs::MarkerDetection &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBeaconRanges &_obj)
 
void convert (mrpt_msgs::NetworkOfPoses &ros_graph, const mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph)
 
void get_float_from_field (const sensor_msgs::PointField *field, const unsigned char *data, float &output)
 
void mrptToROSLoggerCallback (const std::string &msg, const VerbosityLevel level, const std::string &loggerName, const mrpt::system::TTimeStamp timestamp)
 callback that is called by MRPT mrpt::utils::COuputLogger to redirect log messages to ROS logger. This function has to be inline, otherwise option log4j.logger.ros.package_name will be taken from mrpt_bridge instead of the package from which macro is actually called. More...
 
void mrptToROSLoggerCallback_mrpt_15 (const std::string &msg, const VerbosityLevel level, const std::string &loggerName, const mrpt::system::TTimeStamp timestamp, void *userParam)
 
mrpt::math::TPose3D p2t (const mrpt::poses::CPose3D &p)
 
VerbosityLevel rosLoggerLvlToMRPTLoggerLvl (log4cxx::LevelPtr lvl)
 function that converts ROS verbosity level log4cxx::Level to MRPT equivalent MRPT's VerbosityLevel More...
 
ObservationRangeBeacon: ROS <-> MRPT
bool convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBeaconRanges &_obj)
 
bool convert (const mrpt::obs::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
 
bool convert (const mrpt::obs::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)
 
bool convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, mrpt::slam::CObservationBeaconRanges &_obj)
 
bool convert (const mrpt::slam::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
 
bool convert (const mrpt::slam::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)
 
LaserScan: ROS <-> MRPT
bool convert (const mrpt_msgs::ObservationRangeBearing &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBearingRange &_obj)
 
bool convert (const mrpt::obs::CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg)
 
bool convert (const mrpt::obs::CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg, geometry_msgs::Pose &_pose)
 
bool convert (const sensor_msgs::LaserScan &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservation2DRangeScan &_obj)
 
bool convert (const mrpt::obs::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg)
 
bool convert (const mrpt::obs::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg, geometry_msgs::Pose &_pose)
 
Maps, Occupancy Grid Maps: ROS <-> MRPT
bool convert (const nav_msgs::OccupancyGrid &src, COccupancyGridMap2D &des)
 
bool convert (const COccupancyGridMap2D &src, nav_msgs::OccupancyGrid &msg, const std_msgs::Header &header)
 
bool convert (const COccupancyGridMap2D &src, nav_msgs::OccupancyGrid &msg)
 
ROS \rightarrow MRPT conversions
void convert (const mrpt::graphs::CNetworkOfPoses2D &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
 Convert [MRPT] CNetworkOfPoses*D [ROS] NetworkOfPoses. More...
 
void convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses2DInf &mrpt_graph)
 
mrpt::poses::CPose3Dconvert (const tf::Transform &_src, mrpt::poses::CPose3D &_des)
 
mrpt::math::CMatrixDouble33convert (const tf::Matrix3x3 &_src, mrpt::math::CMatrixDouble33 &_des)
 
mrpt::poses::CPose2Dconvert (const geometry_msgs::Pose &_src, mrpt::poses::CPose2D &_des)
 
mrpt::poses::CPose3Dconvert (const geometry_msgs::Pose &_src, mrpt::poses::CPose3D &_des)
 
mrpt::poses::CPose3DPDFGaussianconvert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPose3DPDFGaussian &_des)
 
mrpt::poses::CPose3DPDFGaussianInfconvert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPose3DPDFGaussianInf &_des)
 
mrpt::poses::CPosePDFGaussianconvert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPosePDFGaussian &_des)
 
mrpt::poses::CPosePDFGaussianInfconvert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPosePDFGaussianInf &_des)
 
mrpt::poses::CQuaternionDoubleconvert (const geometry_msgs::Quaternion &_src, mrpt::poses::CQuaternionDouble &_des)
 
sensor_msgs::PointCloud2: ROS <-> MRPT
bool copy (const sensor_msgs::PointCloud2 &msg, mrpt::maps::CSimplePointsMap &obj)
 
bool copy (const mrpt::maps::CSimplePointsMap &obj, const std_msgs::Header &msg_header, sensor_msgs::PointCloud2 &msg)
 
MRPT \rightarrow ROS conversions
tf::Matrix3x3convert (const mrpt::math::CMatrixDouble33 &_src, tf::Matrix3x3 &_des)
 
tf::Transformconvert (const mrpt::poses::CPose3D &_src, tf::Transform &_des)
 
tf::Transformconvert (const mrpt::math::TPose3D &_src, tf::Transform &_des)
 
tf::Transformconvert (const mrpt::poses::CPose2D &_src, tf::Transform &_des)
 
tf::Transformconvert (const mrpt::math::TPose2D &_src, tf::Transform &_des)
 
geometry_msgs::Poseconvert (const mrpt::poses::CPose3D &_src, geometry_msgs::Pose &_des)
 
geometry_msgs::Poseconvert (const mrpt::math::TPose2D &_src, geometry_msgs::Pose &_des)
 
geometry_msgs::Poseconvert (const mrpt::poses::CPose2D &_src, geometry_msgs::Pose &_des)
 
geometry_msgs::PoseWithCovarianceconvert (const mrpt::poses::CPose3DPDFGaussian &_src, geometry_msgs::PoseWithCovariance &_des)
 
geometry_msgs::PoseWithCovarianceconvert (const mrpt::poses::CPose3DPDFGaussianInf &_src, geometry_msgs::PoseWithCovariance &_des)
 
tf::Transformconvert (const mrpt::poses::CPose3DPDFGaussian &_src, tf::Transform &_des)
 
geometry_msgs::PoseWithCovarianceconvert (const mrpt::poses::CPosePDFGaussian &_src, geometry_msgs::PoseWithCovariance &_des)
 
geometry_msgs::PoseWithCovarianceconvert (const mrpt::poses::CPosePDFGaussianInf &_src, geometry_msgs::PoseWithCovariance &_des)
 
geometry_msgs::Quaternionconvert (const mrpt::poses::CQuaternionDouble &_src, geometry_msgs::Quaternion &_des)
 

Detailed Description

File includes methods for converting CNetworkOfPoses*DInf <=> NetworkOfPoses message types.

ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationGPS.h

ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationIMU.h

ROS message : http://docs.ros.org/api/sensor_msgs/html/msg/Range.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationRange.h

Function Documentation

bool mrpt_bridge::check_field ( const sensor_msgs::PointField &  input_field,
std::string  check_name,
const sensor_msgs::PointField **  output 
)
inline

Definition at line 23 of file point_cloud2.cpp.

void mrpt_bridge::convert ( const ros::Time src,
mrpt::system::TTimeStamp des 
)

converts ros time to mrpt time

Parameters
srcros time
desmrpt time

Definition at line 13 of file time.cpp.

void mrpt_bridge::convert ( const mrpt::graphs::CNetworkOfPoses2D mrpt_graph,
mrpt_msgs::NetworkOfPoses &  ros_graph 
)

Convert [MRPT] CNetworkOfPoses*D [ROS] NetworkOfPoses.

Convert [ROS] NetworkOfPoses [MRPT] CNetworkOfPoses*DInf.

Parameters
[in]mrpt_graphMRPT graph representation
[out]ros_graphROS graph representation
[in]mrpt_graphROS graph representation
[out]ros_graphMRPT graph representation

Definition at line 33 of file network_of_poses.cpp.

void mrpt_bridge::convert ( const mrpt::system::TTimeStamp src,
ros::Time des 
)

converts mrpt time to ros time

Parameters
srcros time
desmrpt time

Definition at line 20 of file time.cpp.

bool mrpt_bridge::convert ( const sensor_msgs::LaserScan _msg,
const mrpt::poses::CPose3D _pose,
mrpt::obs::CObservation2DRangeScan _obj 
)

ROS->MRPT: Takes a sensor_msgs::LaserScan and the relative pose of the laser wrt base_link and builds a CObservation2DRangeScan

Returns
true on sucessful conversion, false on any error.
See also
mrpt2ros

Definition at line 22 of file laser_scan.cpp.

bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBeacon _msg,
const mrpt::poses::CPose3D _pose,
mrpt::obs::CObservationBeaconRanges _obj 
)

ROS->MRPT: Takes a mrpt_msgs::ObservationRangeBeacon and the relative pose of the range sensor wrt base_link and builds a CObservationBeaconRanges

Returns
true on sucessful conversion, false on any error.
See also
mrpt2ros

Definition at line 24 of file beacon.cpp.

bool mrpt_bridge::convert ( const marker_msgs::MarkerDetection _msg,
const mrpt::poses::CPose3D _pose,
mrpt::obs::CObservationBearingRange _obj 
)

Definition at line 27 of file marker_msgs.cpp.

bool mrpt_bridge::convert ( const marker_msgs::MarkerDetection _msg,
const mrpt::poses::CPose3D _pose,
mrpt::obs::CObservationBeaconRanges _obj 
)

Definition at line 58 of file marker_msgs.cpp.

bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBearing _msg,
const mrpt::poses::CPose3D _pose,
mrpt::obs::CObservationBearingRange _obj 
)

ROS->MRPT: Takes a mrpt_msgs::CObservationBearingRange and the relative pose of the laser wrt base_link and builds a ObservationRangeBearing

Returns
true on sucessful conversion, false on any error.
See also
mrpt2ros

Definition at line 30 of file landmark.cpp.

bool mrpt_bridge::convert ( const mrpt::obs::CObservation2DRangeScan _obj,
sensor_msgs::LaserScan _msg 
)

MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::LaserScan

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt

Definition at line 66 of file laser_scan.cpp.

void mrpt_bridge::convert ( const mrpt_msgs::NetworkOfPoses &  ros_graph,
mrpt::graphs::CNetworkOfPoses2DInf mrpt_graph 
)

Definition at line 195 of file network_of_poses.cpp.

bool mrpt_bridge::convert ( const mrpt_msgs::ObservationRangeBeacon _msg,
const mrpt::poses::CPose3D _pose,
mrpt::slam::CObservationBeaconRanges &  _obj 
)

ROS->MRPT: Takes a mrpt_msgs::ObservationRangeBeacon and the relative pose of the range sensor wrt base_link and builds a CObservationBeaconRanges

Returns
true on sucessful conversion, false on any error.
See also
mrpt2ros
bool mrpt_bridge::convert ( const mrpt::obs::CObservationBeaconRanges _obj,
mrpt_msgs::ObservationRangeBeacon _msg 
)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt

Definition at line 59 of file beacon.cpp.

tf::Matrix3x3 & mrpt_bridge::convert ( const mrpt::math::CMatrixDouble33 _src,
tf::Matrix3x3 _des 
)

Convert: [MRPT] Matrix [ROS] Matrix

Definition at line 58 of file pose.cpp.

tf::Transform & mrpt_bridge::convert ( const mrpt::poses::CPose3D _src,
tf::Transform _des 
)

Convert: [MRPT] CPose3D [ROS] Transform

Definition at line 113 of file pose.cpp.

bool mrpt_bridge::convert ( const mrpt::obs::CObservation2DRangeScan _obj,
sensor_msgs::LaserScan _msg,
geometry_msgs::Pose _pose 
)

MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::LaserScan + the relative pose of the laser wrt base_link

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt

Definition at line 92 of file laser_scan.cpp.

bool mrpt_bridge::convert ( const mrpt::obs::CObservationBearingRange _obj,
mrpt_msgs::ObservationRangeBearing _msg 
)

MRPT->ROS: Takes a CObservationBearingRange and outputs range data in mrpt_msgs::ObservationRangeBearing

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt

Definition at line 71 of file landmark.cpp.

tf::Transform & mrpt_bridge::convert ( const mrpt::math::TPose3D _src,
tf::Transform _des 
)

Convert: [MRPT] TPose3D [ROS] Transform

Definition at line 390 of file pose.cpp.

tf::Transform & mrpt_bridge::convert ( const mrpt::poses::CPose2D _src,
tf::Transform _des 
)

Convert: [MRPT] CPose2D [ROS] Transform

Definition at line 396 of file pose.cpp.

tf::Transform & mrpt_bridge::convert ( const mrpt::math::TPose2D _src,
tf::Transform _des 
)

Convert: [MRPT] TPose2D [ROS] Transform

Definition at line 401 of file pose.cpp.

bool mrpt_bridge::convert ( const mrpt::obs::CObservationBeaconRanges _obj,
mrpt_msgs::ObservationRangeBeacon _msg,
geometry_msgs::Pose _pose 
)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon + the relative pose of the range sensor wrt base_link

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt

Definition at line 87 of file beacon.cpp.

bool mrpt_bridge::convert ( const mrpt::slam::CObservationBeaconRanges &  _obj,
mrpt_msgs::ObservationRangeBeacon _msg 
)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt
geometry_msgs::Pose & mrpt_bridge::convert ( const mrpt::poses::CPose3D _src,
geometry_msgs::Pose _des 
)

Convert: [MRPT] CPose3D [ROS] Pose

Definition at line 138 of file pose.cpp.

bool mrpt_bridge::convert ( const mrpt::obs::CObservationBearingRange _obj,
mrpt_msgs::ObservationRangeBearing _msg,
geometry_msgs::Pose _pose 
)

MRPT->ROS: Takes a CObservationBearingRange and outputs range data in mrpt_msgs::ObservationRangeBearing + the relative pose of the range sensor wrt base_link

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt

Definition at line 102 of file landmark.cpp.

geometry_msgs::Pose & mrpt_bridge::convert ( const mrpt::math::TPose2D _src,
geometry_msgs::Pose _des 
)

Convert: [MRPT] TPose2D [ROS] Pose

Convert: MRPT's TPose2D (x,y,yaw) -> ROS's Pose

Definition at line 186 of file pose.cpp.

geometry_msgs::Pose & mrpt_bridge::convert ( const mrpt::poses::CPose2D _src,
geometry_msgs::Pose _des 
)

Convert: [MRPT] CPose2D (x,y,yaw) [ROS] Pose

Convert: MRPT's CPose2D (x,y,yaw) -> ROS's Pose

Definition at line 157 of file pose.cpp.

bool mrpt_bridge::convert ( const mrpt::slam::CObservationBeaconRanges &  _obj,
mrpt_msgs::ObservationRangeBeacon _msg,
geometry_msgs::Pose _pose 
)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon + the relative pose of the range sensor wrt base_link

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt

Convert: [MRPT] CPose3DPDFGaussian [ROS] PoseWithCovariance

Definition at line 72 of file pose.cpp.

Convert: [MRPT] CPose3DPDFGaussianInf [ROS] PoseWithCovariance

Definition at line 102 of file pose.cpp.

tf::Transform & mrpt_bridge::convert ( const mrpt::poses::CPose3DPDFGaussian _src,
tf::Transform _des 
)

Convert: [MRPT] CPose3DPDFGaussian [ROS] Transform

Definition at line 66 of file pose.cpp.

Convert: [MRPT] CPosePDFGaussian (x,y,yaw) [ROS] PoseWithCovariance

Definition at line 231 of file pose.cpp.

Convert: [MRPT] CPosePDFGaussianInf (x,y,yaw) [ROS] PoseWithCovariance

Definition at line 265 of file pose.cpp.

Convert: [MRPT] CQuaternionDouble [ROS] Quaternion

Definition at line 357 of file pose.cpp.

bool mrpt_bridge::convert ( const nav_msgs::OccupancyGrid src,
COccupancyGridMap2D des 
)

converts ros msg to mrpt object

Returns
true on sucessful conversion, false on any error.
Parameters
src
des

I hope the data is allways aligned

I hope the data is allways aligned

Definition at line 102 of file map.cpp.

mrpt::poses::CPose3D & mrpt_bridge::convert ( const tf::Transform _src,
mrpt::poses::CPose3D _des 
)

Convert: [ROS] CPose3D [MRPT] Transform

Definition at line 125 of file pose.cpp.

mrpt::math::CMatrixDouble33 & mrpt_bridge::convert ( const tf::Matrix3x3 _src,
mrpt::math::CMatrixDouble33 _des 
)

Convert: [ROS] Matrix [MRPT] Matrix

Definition at line 50 of file pose.cpp.

bool mrpt_bridge::convert ( const COccupancyGridMap2D src,
nav_msgs::OccupancyGrid msg,
const std_msgs::Header header 
)

converts mrpt object to ros msg and updates the msg header

Returns
true on sucessful conversion, false on any error.
Parameters
src
des
header

Definition at line 136 of file map.cpp.

mrpt::poses::CPose2D & mrpt_bridge::convert ( const geometry_msgs::Pose _src,
mrpt::poses::CPose2D _des 
)

Convert: [ROS] Pose [MRPT] CPose2D

Definition at line 214 of file pose.cpp.

mrpt::poses::CPose3D & mrpt_bridge::convert ( const geometry_msgs::Pose _src,
mrpt::poses::CPose3D _des 
)

Convert: [ROS] Pose [MRPT] CPose3D

Definition at line 368 of file pose.cpp.

Convert: [ROS] PoseWithCovariance [MRPT] CPose3DPDFGaussian

Definition at line 276 of file pose.cpp.

bool mrpt_bridge::convert ( const COccupancyGridMap2D src,
nav_msgs::OccupancyGrid msg 
)

converts mrpt object to ros msg

Returns
true on sucessful conversion, false on any error.
Parameters
src
des
header

I hope the data is allways aligned

I hope the data is allways aligned

Definition at line 144 of file map.cpp.

Convert: [ROS] PoseWithCovariance [MRPT] CPose3DPDFGaussianInf

Definition at line 295 of file pose.cpp.

Convert: [ROS] PoseWithCovariance [MRPT] CPosePDFGaussian (x,y,yaw)

Definition at line 307 of file pose.cpp.

Convert: [ROS] PoseWithCovariance [MRPT] CPosePDFGaussianInf (x,y,yaw)

Definition at line 326 of file pose.cpp.

Convert: [ROS] Quaternion [MRPT] CQuaternionDouble

Definition at line 338 of file pose.cpp.

void mrpt_bridge::convert ( mrpt_msgs::NetworkOfPoses &  ros_graph,
const mrpt::graphs::CNetworkOfPoses3DInf_NA mrpt_graph 
)

Definition at line 309 of file network_of_poses.cpp.

bool mrpt_bridge::copy ( const sensor_msgs::PointCloud2 msg,
mrpt::maps::CSimplePointsMap obj 
)

Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap CSimplePointsMap only contains (x,y,z) data, so sensor_msgs::PointCloud2::channels are ignored.

Returns
true on sucessful conversion, false on any error.
See also
mrpt2ros

Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap

Returns
true on sucessful conversion, false on any error.

Definition at line 64 of file point_cloud2.cpp.

bool mrpt_bridge::copy ( const mrpt::maps::CSimplePointsMap obj,
const std_msgs::Header msg_header,
sensor_msgs::PointCloud2 msg 
)

Convert mrpt::slam::CSimplePointsMap -> sensor_msgs/PointCloud2 The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since CSimplePointsMap only contains (x,y,z) data, sensor_msgs::PointCloud2::channels will be empty.

Returns
true on sucessful conversion, false on any error.
See also
ros2mrpt

Convert mrpt::slam::CSimplePointsMap -> sensor_msgs/PointCloud2 The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since CSimplePointsMap only contains (x,y,z) data, sensor_msgs::PointCloud2::channels will be empty.

Returns
true on sucessful conversion, false on any error.

Definition at line 113 of file point_cloud2.cpp.

void mrpt_bridge::get_float_from_field ( const sensor_msgs::PointField *  field,
const unsigned char *  data,
float &  output 
)
inline

Definition at line 44 of file point_cloud2.cpp.

void mrpt_bridge::mrptToROSLoggerCallback ( const std::string msg,
const VerbosityLevel  level,
const std::string loggerName,
const mrpt::system::TTimeStamp  timestamp 
)
inline

callback that is called by MRPT mrpt::utils::COuputLogger to redirect log messages to ROS logger. This function has to be inline, otherwise option log4j.logger.ros.package_name will be taken from mrpt_bridge instead of the package from which macro is actually called.

Definition at line 78 of file utils.h.

void mrpt_bridge::mrptToROSLoggerCallback_mrpt_15 ( const std::string msg,
const VerbosityLevel  level,
const std::string loggerName,
const mrpt::system::TTimeStamp  timestamp,
void userParam 
)
inline

Definition at line 107 of file utils.h.

mrpt::math::TPose3D mrpt_bridge::p2t ( const mrpt::poses::CPose3D p)
inline

Definition at line 115 of file utils.h.

VerbosityLevel mrpt_bridge::rosLoggerLvlToMRPTLoggerLvl ( log4cxx::LevelPtr  lvl)
inline

function that converts ROS verbosity level log4cxx::Level to MRPT equivalent MRPT's VerbosityLevel

Definition at line 39 of file utils.h.



mrpt_bridge
Author(s): Markus Bader , Raphael Zack
autogenerated on Fri Feb 28 2020 03:22:14