mtk Namespace Reference

Functions
double	distance2D (double ax, double ay, double bx, double by)
double	distance2D (geometry_msgs::Point a, geometry_msgs::Point b=geometry_msgs::Point())
double	distance2D (geometry_msgs::Pose a, geometry_msgs::Pose b=geometry_msgs::Pose())
double	distance2D (const tf::Vector3 &a, const tf::Vector3 &b=tf::Vector3())
double	distance2D (const tf::Transform &a, const tf::Transform &b=tf::Transform())
double	distance2D (double x, double y)
double	distance2D (const tf::Point &p)
double	distance3D (double ax, double ay, double az, double bx, double by, double bz)
double	distance3D (geometry_msgs::Point a, geometry_msgs::Point b=geometry_msgs::Point())
double	distance3D (geometry_msgs::Pose a, geometry_msgs::Pose b=geometry_msgs::Pose())
double	distance3D (const tf::Vector3 &a, const tf::Vector3 &b)
double	distance3D (const tf::Transform &a, const tf::Transform &b)
double	distance3D (double x, double y, double z)
double	distance3D (const tf::Point &p)
double	heading (geometry_msgs::Point p)
double	heading (geometry_msgs::Pose p)
double	heading (const tf::Vector3 &p)
double	heading (const tf::Transform &t)
double	heading (geometry_msgs::Point a, geometry_msgs::Point b)
double	heading (geometry_msgs::Pose a, geometry_msgs::Pose b)
double	heading (const tf::Vector3 &a, const tf::Vector3 &b)
double	heading (const tf::Transform &a, const tf::Transform &b)
template<typename T >
T	mean (const std::vector< T > &v)
template<typename T >
T	median (const std::vector< T > &v)
double	minAngle (geometry_msgs::Quaternion a, geometry_msgs::Quaternion b)
double	minAngle (geometry_msgs::Pose a, geometry_msgs::Pose b)
double	minAngle (const tf::Quaternion &a, const tf::Quaternion &b)
double	minAngle (const tf::Transform &a, const tf::Transform &b)
template<typename T >
std::string	nb2str (T x)
double	pitch (const tf::Transform &tf)
double	pitch (geometry_msgs::Pose pose)
double	pitch (geometry_msgs::PoseStamped pose)
ECL_DEPRECATED const char *	point2str (const geometry_msgs::Point &point)
std::string	point2str2D (const geometry_msgs::Point &point)
std::string	point2str2D (const geometry_msgs::PointStamped &point)
std::string	point2str3D (const geometry_msgs::Point &point)
std::string	point2str3D (const geometry_msgs::PointStamped &point)
double	pointSegmentDistance (double px, double py, double s1x, double s1y, double s2x, double s2y)
ECL_DEPRECATED const char *	pose2str (const geometry_msgs::Pose &pose)
ECL_DEPRECATED const char *	pose2str (const geometry_msgs::PoseStamped &pose)
std::string	pose2str2D (const geometry_msgs::Pose &pose)
std::string	pose2str2D (const geometry_msgs::PoseStamped &pose)
std::string	pose2str3D (const geometry_msgs::Pose &pose)
std::string	pose2str3D (const geometry_msgs::PoseStamped &pose)
void	pose2tf (const geometry_msgs::Pose &pose, tf::Transform &tf)
void	pose2tf (const geometry_msgs::PoseStamped &pose, tf::StampedTransform &tf)
bool	rayCircleIntersection (double rx, double ry, double cx, double cy, double radius, double &ix, double &iy, double &distance)
bool	raySegmentIntersection (double r1x, double r1y, double r2x, double r2y, double s1x, double s1y, double s2x, double s2y, double &ix, double &iy, double &distance)
double	roll (const tf::Transform &tf)
double	roll (geometry_msgs::Pose pose)
double	roll (geometry_msgs::PoseStamped pose)
bool	sameFrame (const std::string &frame_a, const std::string &frame_b)
bool	sameFrame (const geometry_msgs::PoseStamped &a, const geometry_msgs::PoseStamped &b)
template<typename T >
T	sign (T x)
template<typename T >
T	std_dev (const std::vector< T > &v)
void	tf2pose (const tf::Transform &tf, geometry_msgs::Pose &pose)
void	tf2pose (const tf::StampedTransform &tf, geometry_msgs::PoseStamped &pose)
template<typename T >
T	variance (const std::vector< T > &v)
std::string	vector2str3D (const geometry_msgs::Vector3 &vector)
std::string	vector2str3D (const geometry_msgs::Vector3Stamped &vector)
double	wrapAngle (double a)
double	yaw (const tf::Transform &tf)
double	yaw (geometry_msgs::Pose pose)
double	yaw (geometry_msgs::PoseStamped pose)

Variables
char	___buffer___ [256]

Function Documentation

distance2D() [1/7]

double mtk::distance2D	(	double	ax,
		double	ay,
		double	bx,
		double	by
	)

Euclidean distance between 2D points; z coordinate is ignored

Parameters

a	point a
b	point b

Returns

Distance

Definition at line 88 of file geometry.cpp.

distance2D() [2/7]

double mtk::distance2D	(	geometry_msgs::Point	a,
		geometry_msgs::Point	b = geometry_msgs::Point()
	)

Definition at line 98 of file geometry.cpp.

distance2D() [3/7]

double mtk::distance2D	(	geometry_msgs::Pose	a,
		geometry_msgs::Pose	b = geometry_msgs::Pose()
	)

Definition at line 103 of file geometry.cpp.

distance2D() [4/7]

double mtk::distance2D	(	const tf::Vector3 &	a,
		const tf::Vector3 &	b = tf::Vector3()
	)

Definition at line 93 of file geometry.cpp.

distance2D() [5/7]

double mtk::distance2D	(	const tf::Transform &	a,
		const tf::Transform &	b = tf::Transform()
	)

Definition at line 108 of file geometry.cpp.

distance2D() [6/7]

double mtk::distance2D	(	double	x,
		double	y
	)

Definition at line 78 of file geometry.cpp.

distance2D() [7/7]

double mtk::distance2D

(

const tf::Point &

p

)

Definition at line 83 of file geometry.cpp.

distance3D() [1/7]

double mtk::distance3D	(	double	ax,
		double	ay,
		double	az,
		double	bx,
		double	by,
		double	bz
	)

Euclidean distance between 3D points

Parameters

a	point a
b	point b

Returns

Distance

Definition at line 124 of file geometry.cpp.

distance3D() [2/7]

double mtk::distance3D	(	geometry_msgs::Point	a,
		geometry_msgs::Point	b = geometry_msgs::Point()
	)

Definition at line 134 of file geometry.cpp.

distance3D() [3/7]

double mtk::distance3D	(	geometry_msgs::Pose	a,
		geometry_msgs::Pose	b = geometry_msgs::Pose()
	)

Definition at line 139 of file geometry.cpp.

distance3D() [4/7]

double mtk::distance3D	(	const tf::Vector3 &	a,
		const tf::Vector3 &	b
	)

Definition at line 129 of file geometry.cpp.

distance3D() [5/7]

double mtk::distance3D	(	const tf::Transform &	a,
		const tf::Transform &	b
	)

Definition at line 144 of file geometry.cpp.

distance3D() [6/7]

double mtk::distance3D	(	double	x,
		double	y,
		double	z
	)

Definition at line 114 of file geometry.cpp.

distance3D() [7/7]

double mtk::distance3D

(

const tf::Point &

p

)

Definition at line 119 of file geometry.cpp.

heading() [1/8]

double mtk::heading

(

geometry_msgs::Point

p

)

Heading angle from origin to point p

Parameters

p

point p

Returns

Heading angle

Definition at line 155 of file geometry.cpp.

heading() [2/8]

double mtk::heading

(

geometry_msgs::Pose

p

)

Definition at line 160 of file geometry.cpp.

heading() [3/8]

double mtk::heading

(

const tf::Vector3 &

p

)

Definition at line 150 of file geometry.cpp.

heading() [4/8]

double mtk::heading

(

const tf::Transform &

t

)

Definition at line 165 of file geometry.cpp.

heading() [5/8]

double mtk::heading	(	geometry_msgs::Point	a,
		geometry_msgs::Point	b
	)

Heading angle from point a to point b

Parameters

a	point a
b	point b

Returns

Heading angle

Definition at line 175 of file geometry.cpp.

heading() [6/8]

double mtk::heading	(	geometry_msgs::Pose	a,
		geometry_msgs::Pose	b
	)

Definition at line 180 of file geometry.cpp.

heading() [7/8]

double mtk::heading	(	const tf::Vector3 &	a,
		const tf::Vector3 &	b
	)

Definition at line 170 of file geometry.cpp.

heading() [8/8]

double mtk::heading	(	const tf::Transform &	a,
		const tf::Transform &	b
	)

Definition at line 185 of file geometry.cpp.

mean()

template<typename T >

T mtk::mean

(

const std::vector< T > &

v

)

Definition at line 35 of file common.hpp.

median()

template<typename T >

T mtk::median

(

const std::vector< T > &

v

)

Definition at line 28 of file common.hpp.

minAngle() [1/4]

double mtk::minAngle	(	geometry_msgs::Quaternion	a,
		geometry_msgs::Quaternion	b
	)

Minimum angle between quaternions

Parameters

a	quaternion a
b	quaternion b

Returns

Minimum angle

Definition at line 195 of file geometry.cpp.

minAngle() [2/4]

double mtk::minAngle	(	geometry_msgs::Pose	a,
		geometry_msgs::Pose	b
	)

Definition at line 200 of file geometry.cpp.

minAngle() [3/4]

double mtk::minAngle	(	const tf::Quaternion &	a,
		const tf::Quaternion &	b
	)

Definition at line 190 of file geometry.cpp.

minAngle() [4/4]

double mtk::minAngle	(	const tf::Transform &	a,
		const tf::Transform &	b
	)

Definition at line 205 of file geometry.cpp.

nb2str()

template<typename T >

std::string mtk::nb2str

(

T

x

)

Definition at line 23 of file common.hpp.

pitch() [1/3]

double mtk::pitch

(

const tf::Transform &

tf

)

Shortcut to take the pitch of a transform/pose

Parameters

tf/pose

Returns

Transform/pose's pitch

Definition at line 43 of file geometry.cpp.

pitch() [2/3]

double mtk::pitch

(

geometry_msgs::Pose

pose

)

Definition at line 50 of file geometry.cpp.

pitch() [3/3]

double mtk::pitch

(

geometry_msgs::PoseStamped

pose

)

Definition at line 57 of file geometry.cpp.

point2str()

const char * mtk::point2str

(

const geometry_msgs::Point &

point

)

Definition at line 48 of file common.cpp.

point2str2D() [1/2]

std::string mtk::point2str2D

(

const geometry_msgs::Point &

point

)

Definition at line 77 of file common.cpp.

point2str2D() [2/2]

std::string mtk::point2str2D

(

const geometry_msgs::PointStamped &

point

)

Definition at line 83 of file common.cpp.

point2str3D() [1/2]

std::string mtk::point2str3D

(

const geometry_msgs::Point &

point

)

Definition at line 88 of file common.cpp.

point2str3D() [2/2]

std::string mtk::point2str3D

(

const geometry_msgs::PointStamped &

point

)

Definition at line 94 of file common.cpp.

pointSegmentDistance()

double mtk::pointSegmentDistance	(	double	px,
		double	py,
		double	s1x,
		double	s1y,
		double	s2x,
		double	s2y
	)

Minimum distance from a point to a line segment

Parameters

px	point x-coordinate
py	point y-coordinate
s1x	segment's point 1 x-coordinate
s1y	segment's point 1 y-coordinate
s2x	segment's point 2 x-coordinate
s2y	segment's point 2 y-coordinate

Returns

distance

Definition at line 236 of file geometry.cpp.

pose2str() [1/2]

const char * mtk::pose2str

(

const geometry_msgs::Pose &

pose

)

Definition at line 54 of file common.cpp.

pose2str() [2/2]

const char * mtk::pose2str

(

const geometry_msgs::PoseStamped &

pose

)

Definition at line 60 of file common.cpp.

pose2str2D() [1/2]

std::string mtk::pose2str2D

(

const geometry_msgs::Pose &

pose

)

Definition at line 99 of file common.cpp.

pose2str2D() [2/2]

std::string mtk::pose2str2D

(

const geometry_msgs::PoseStamped &

pose

)

Definition at line 105 of file common.cpp.

pose2str3D() [1/2]

std::string mtk::pose2str3D

(

const geometry_msgs::Pose &

pose

)

Definition at line 110 of file common.cpp.

pose2str3D() [2/2]

std::string mtk::pose2str3D

(

const geometry_msgs::PoseStamped &

pose

)

Definition at line 117 of file common.cpp.

pose2tf() [1/2]

void mtk::pose2tf	(	const geometry_msgs::Pose &	pose,
		tf::Transform &	tf
	)

Definition at line 31 of file common.cpp.

pose2tf() [2/2]

void mtk::pose2tf	(	const geometry_msgs::PoseStamped &	pose,
		tf::StampedTransform &	tf
	)

Definition at line 39 of file common.cpp.

rayCircleIntersection()

bool mtk::rayCircleIntersection	(	double	rx,
		double	ry,
		double	cx,
		double	cy,
		double	radius,
		double &	ix,
		double &	iy,
		double &	distance
	)

Do a zero-centered, finite length ray intersects a circle?

Parameters

rx	rays's end point x-coordinate
ry	rays's end point y-coordinate
cx	circle's center x-coordinate
cy	circle's center y-coordinate
radius	circle's radius
ix	closest intersection point (if any) x-coordinate
iy	closest intersection point (if any) y-coordinate
distance	Distance from rays's start (zero) to intersection point

Returns

True if ray intersects the circle

Definition at line 286 of file geometry.cpp.

raySegmentIntersection()

bool mtk::raySegmentIntersection	(	double	r1x,
		double	r1y,
		double	r2x,
		double	r2y,
		double	s1x,
		double	s1y,
		double	s2x,
		double	s2y,
		double &	ix,
		double &	iy,
		double &	distance
	)

Do a finite length ray intersects a line segment?

Parameters

r1x	rays's start point x-coordinate
r1y	rays's start point y-coordinate
r2x	rays's end point x-coordinate
r2y	rays's end point y-coordinate
s1x	segment's point 1 x-coordinate
s1y	segment's point 1 y-coordinate
s2x	segment's point 2 x-coordinate
s2y	segment's point 2 y-coordinate
ix	intersection point (if any) x-coordinate
iy	intersection point (if any) y-coordinate
distance	Distance from rays's start to intersection point

Returns

True if ray intersects the segment

Definition at line 258 of file geometry.cpp.

roll() [1/3]

double mtk::roll

(

const tf::Transform &

tf

)

Shortcut to take the roll of a transform/pose

Parameters

tf/pose

Returns

Transform/pose's roll

Definition at line 24 of file geometry.cpp.

roll() [2/3]

double mtk::roll

(

geometry_msgs::Pose

pose

)

Definition at line 31 of file geometry.cpp.

roll() [3/3]

double mtk::roll

(

geometry_msgs::PoseStamped

pose

)

Definition at line 38 of file geometry.cpp.

sameFrame() [1/2]

bool mtk::sameFrame	(	const std::string &	frame_a,
		const std::string &	frame_b
	)

Compares frame ids ignoring the leading /, as it is frequently omitted.

Parameters

frame_a
frame_b

Returns

true if frame ids match regardless leading /

Definition at line 215 of file geometry.cpp.

sameFrame() [2/2]

bool mtk::sameFrame	(	const geometry_msgs::PoseStamped &	a,
		const geometry_msgs::PoseStamped &	b
	)

Definition at line 210 of file geometry.cpp.

sign()

template<typename T >

T mtk::sign

(

T

x

)

Definition at line 58 of file common.hpp.

std_dev()

template<typename T >

T mtk::std_dev

(

const std::vector< T > &

v

)

Definition at line 52 of file common.hpp.

tf2pose() [1/2]

void mtk::tf2pose	(	const tf::Transform &	tf,
		geometry_msgs::Pose &	pose
	)

Definition at line 16 of file common.cpp.

tf2pose() [2/2]

void mtk::tf2pose	(	const tf::StampedTransform &	tf,
		geometry_msgs::PoseStamped &	pose
	)

Definition at line 24 of file common.cpp.

variance()

template<typename T >

T mtk::variance

(

const std::vector< T > &

v

)

Definition at line 43 of file common.hpp.

vector2str3D() [1/2]

std::string mtk::vector2str3D

(

const geometry_msgs::Vector3 &

vector

)

Definition at line 66 of file common.cpp.

vector2str3D() [2/2]

std::string mtk::vector2str3D

(

const geometry_msgs::Vector3Stamped &

vector

)

Definition at line 72 of file common.cpp.

wrapAngle()

double mtk::wrapAngle

(

double

a

)

Normalize an angle between -π and +π

Parameters

a	Unnormalized angle

Returns

Normalized angle

Definition at line 16 of file geometry.cpp.

yaw() [1/3]

double mtk::yaw

(

const tf::Transform &

tf

)

Shortcut to take the yaw of a transform/pose

Parameters

tf/pose

Returns

Transform/pose's yaw

Definition at line 62 of file geometry.cpp.

yaw() [2/3]

double mtk::yaw

(

geometry_msgs::Pose

pose

)

Definition at line 67 of file geometry.cpp.

yaw() [3/3]

double mtk::yaw

(

geometry_msgs::PoseStamped

pose

)

Definition at line 72 of file geometry.cpp.

Variable Documentation

___buffer___

char mtk::___buffer___[256]

Definition at line 46 of file common.cpp.