directSearchWS::PoseHelper Class Reference

#include <pose_helper.hpp>

Public Member Functions
double	calcAngularDistanceInRad (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
double	calculateDistance (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
bool	checkOrientationsAreApproxEquale (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2, const double orientationRadThreshold)
bool	checkPosesAreApproxEquale (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2, const double positionThreshold, const double orientationRadThreshold)
bool	checkPositionsAreApproxEquale (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2, const double positionThreshold)
bool	checkViewCenterPointsAreApproxEquale (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
geometry_msgs::Pose	getCurrentCameraPose ()
geometry_msgs::Pose	getCurrentRobotPose ()

Static Public Member Functions
static boost::shared_ptr< PoseHelper >	getInstance ()
static void	resetInstance ()

Private Member Functions
double	calcDistPositionEucl (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
double	calcDistPositionWithNBV (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
Eigen::Vector3d	calculateViewCenterPoint (const geometry_msgs::Pose &pose)
Eigen::Quaterniond	convertPoseQuatToQuat (const geometry_msgs::Pose &pose)
Eigen::Vector3d	convertPositionToVec (const geometry_msgs::Pose &pose)
geometry_msgs::Pose	convertVecToPosition (const Eigen::Vector3d &vec)
geometry_msgs::Pose	getOriginPose ()
	PoseHelper ()

Static Private Member Functions
template<typename T >
static T	waitForParam (ros::NodeHandle n, std::string param)

Private Attributes
ros::ServiceClient	getCameraPoseServiceClient
ros::ServiceClient	getDistanceServiceClient
ros::ServiceClient	getRobotPoseServiceClient

Static Private Attributes
static int	distanceFuncParam
static boost::shared_ptr< PoseHelper >	instancePtr
static double	viewCenterOrientationRadDistanceThreshold
static double	viewCenterPositionDistanceThreshold
static double	viewPointDistance

Detailed Description

Definition at line 34 of file pose_helper.hpp.

Constructor & Destructor Documentation

PoseHelper()

directSearchWS::PoseHelper::PoseHelper ( )

private

Definition at line 69 of file pose_helper.cpp.

Member Function Documentation

calcAngularDistanceInRad()

double directSearchWS::PoseHelper::calcAngularDistanceInRad	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2
	)

Definition at line 99 of file pose_helper.cpp.

calcDistPositionEucl()

double directSearchWS::PoseHelper::calcDistPositionEucl ( const geometry_msgs::Pose &  pose1, const geometry_msgs::Pose &  pose2  )

private

Definition at line 93 of file pose_helper.cpp.

calcDistPositionWithNBV()

double directSearchWS::PoseHelper::calcDistPositionWithNBV ( const geometry_msgs::Pose &  pose1, const geometry_msgs::Pose &  pose2  )

private

Definition at line 77 of file pose_helper.cpp.

calculateDistance()

double directSearchWS::PoseHelper::calculateDistance	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2
	)

Definition at line 137 of file pose_helper.cpp.

calculateViewCenterPoint()

Eigen::Vector3d directSearchWS::PoseHelper::calculateViewCenterPoint ( const geometry_msgs::Pose &  pose )

private

Definition at line 107 of file pose_helper.cpp.

checkOrientationsAreApproxEquale()

bool directSearchWS::PoseHelper::checkOrientationsAreApproxEquale	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2,
		const double	orientationRadThreshold
	)

Definition at line 164 of file pose_helper.cpp.

checkPosesAreApproxEquale()

bool directSearchWS::PoseHelper::checkPosesAreApproxEquale	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2,
		const double	positionThreshold,
		const double	orientationRadThreshold
	)

Definition at line 153 of file pose_helper.cpp.

checkPositionsAreApproxEquale()

bool directSearchWS::PoseHelper::checkPositionsAreApproxEquale	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2,
		const double	positionThreshold
	)

Definition at line 159 of file pose_helper.cpp.

checkViewCenterPointsAreApproxEquale()

bool directSearchWS::PoseHelper::checkViewCenterPointsAreApproxEquale	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2
	)

Definition at line 145 of file pose_helper.cpp.

convertPoseQuatToQuat()

Eigen::Quaterniond directSearchWS::PoseHelper::convertPoseQuatToQuat ( const geometry_msgs::Pose &  pose )

inlineprivate

Definition at line 69 of file pose_helper.hpp.

convertPositionToVec()

Eigen::Vector3d directSearchWS::PoseHelper::convertPositionToVec ( const geometry_msgs::Pose &  pose )

inlineprivate

Definition at line 57 of file pose_helper.hpp.

convertVecToPosition()

geometry_msgs::Pose directSearchWS::PoseHelper::convertVecToPosition ( const Eigen::Vector3d &  vec )

inlineprivate

Definition at line 61 of file pose_helper.hpp.

getCurrentCameraPose()

geometry_msgs::Pose directSearchWS::PoseHelper::getCurrentCameraPose

(

)

Definition at line 126 of file pose_helper.cpp.

getCurrentRobotPose()

geometry_msgs::Pose directSearchWS::PoseHelper::getCurrentRobotPose

(

)

Definition at line 115 of file pose_helper.cpp.

getInstance()

PoseHelperPtr directSearchWS::PoseHelper::getInstance ( )

static

Definition at line 28 of file pose_helper.cpp.

getOriginPose()

geometry_msgs::Pose directSearchWS::PoseHelper::getOriginPose ( )

inlineprivate

Definition at line 73 of file pose_helper.hpp.

resetInstance()

void directSearchWS::PoseHelper::resetInstance ( )

static

Definition at line 36 of file pose_helper.cpp.

waitForParam()

template<typename T >

T directSearchWS::PoseHelper::waitForParam ( ros::NodeHandle  n, std::string  param  )

staticprivate

Definition at line 57 of file pose_helper.cpp.

Member Data Documentation

distanceFuncParam

int directSearchWS::PoseHelper::distanceFuncParam

staticprivate

Definition at line 39 of file pose_helper.hpp.

getCameraPoseServiceClient

ros::ServiceClient directSearchWS::PoseHelper::getCameraPoseServiceClient

private

Definition at line 45 of file pose_helper.hpp.

getDistanceServiceClient

ros::ServiceClient directSearchWS::PoseHelper::getDistanceServiceClient

private

Definition at line 43 of file pose_helper.hpp.

getRobotPoseServiceClient

ros::ServiceClient directSearchWS::PoseHelper::getRobotPoseServiceClient

private

Definition at line 44 of file pose_helper.hpp.

instancePtr

PoseHelperPtr directSearchWS::PoseHelper::instancePtr

staticprivate

Definition at line 37 of file pose_helper.hpp.

viewCenterOrientationRadDistanceThreshold

double directSearchWS::PoseHelper::viewCenterOrientationRadDistanceThreshold

staticprivate

Definition at line 41 of file pose_helper.hpp.

viewCenterPositionDistanceThreshold

double directSearchWS::PoseHelper::viewCenterPositionDistanceThreshold

staticprivate

Definition at line 40 of file pose_helper.hpp.

viewPointDistance

double directSearchWS::PoseHelper::viewPointDistance

staticprivate

Definition at line 38 of file pose_helper.hpp.

---

The documentation for this class was generated from the following files:

• pose_helper.hpp
• pose_helper.cpp