astra_ros Namespace Reference

Classes
class	Device
	An agnostic C++ wrapper for the C Astra SDK. This object is wrapped by RosDevice. More...
class	Exception
	Wraps a astra_status_t when an Astra SDK call fails. More...
struct	Hsv
class	Nodelet
class	Parameter
	A "live" value that can be changed at runtime. Changes are broadcast to a listener. More...
class	ParameterImpl
	Internal implementation of a Parameter. More...
class	Rgb
class	Rgba
	A RGB color with alpha component. More...
class	RosDevice

Functions
std::vector< geometry_msgs::TransformStamped >	bodyTransforms (const Body &body)
bool	defaultMask (const std::size_t x, const std::size_t y)
double	distance (const geometry_msgs::Point &lhs, const geometry_msgs::Point &rhs)
geometry_msgs::Transform	fromEigen (const Eigen::Affine3d &transform)
geometry_msgs::Quaternion	fromEigen (const Eigen::Quaterniond &quaternion)
geometry_msgs::Point	fromEigen (const Eigen::Vector3d &point)
Device::ImageStreamMode	fromRos (const ImageStreamMode &image_stream_mode)
Hsv	indexColor (const std::size_t i)
Eigen::Quaterniond	lookAt (const Eigen::Vector3d &source_point, const Eigen::Vector3d &dest_point, const Eigen::Vector3d &forward, const Eigen::Vector3d &up)
geometry_msgs::Point	operator* (const geometry_msgs::Point &lhs, const geometry_msgs::Point &rhs)
geometry_msgs::Point	operator+ (const geometry_msgs::Point &lhs, const geometry_msgs::Point &rhs)
geometry_msgs::Point	operator- (const geometry_msgs::Point &lhs, const geometry_msgs::Point &rhs)
geometry_msgs::Point	operator/ (const geometry_msgs::Point &lhs, const double rhs)
const std::string &	statusToString (const astra_status_t status)
double	sum (const geometry_msgs::Point &v)
Eigen::Vector3d	toEigen (const geometry_msgs::Point &point)
Eigen::Quaterniond	toEigen (const geometry_msgs::Quaternion &quaternion)
Eigen::Affine3d	toEigen (const geometry_msgs::Transform &transform)
Eigen::Vector3d	toEigen (const geometry_msgs::Vector3 &vector)
visualization_msgs::MarkerArray	toMarkerArray (const Body &body)
visualization_msgs::MarkerArray	toMarkerArray (const std::vector< Body > &bodies)
sensor_msgs::PointCloud	toPointCloud (const sensor_msgs::Image &rgb, const sensor_msgs::Image &registered_depth, const sensor_msgs::CameraInfo &camera_info, const std::function< bool(const std::size_t x, const std::size_t y)> &mask=defaultMask)
std::vector< Body >	toRos (const astra_body_list_t &body_list, const std_msgs::Header &header)
Body	toRos (const astra_body_t &body, const std_msgs::Header &header)
sensor_msgs::Image	toRos (const astra_floormask_t &floor_mask)
Plane	toRos (const astra_plane_t &plane)
sensor_msgs::Image	toRos (const astra_rgba_pixel_t *const data, const std::size_t length, const astra_image_metadata_t &metadata)
ImageStreamMode	toRos (const Device::ImageStreamMode &image_stream_mode)
sensor_msgs::Image	toRos (const std::int16_t *const data, const std::size_t length, const astra_image_metadata_t &metadata)
sensor_msgs::Image	toRos (const std::uint8_t *const data, const std::size_t length, const astra_image_metadata_t &metadata)

Variables
const std::string	DEVICE_NAMESPACE

Function Documentation

bodyTransforms()

std::vector< geometry_msgs::TransformStamped > astra_ros::bodyTransforms

(

const Body &

body

)

Definition at line 90 of file tf.cpp.

defaultMask()

bool astra_ros::defaultMask	(	const std::size_t	x,
		const std::size_t	y
	)

Definition at line 67 of file point_cloud.cpp.

distance()

double astra_ros::distance	(	const geometry_msgs::Point &	lhs,
		const geometry_msgs::Point &	rhs
	)

Definition at line 12 of file math.cpp.

fromEigen() [1/3]

geometry_msgs::Transform astra_ros::fromEigen

(

const Eigen::Affine3d &

transform

)

Definition at line 94 of file math.cpp.

fromEigen() [2/3]

geometry_msgs::Quaternion astra_ros::fromEigen

(

const Eigen::Quaterniond &

quaternion

)

Definition at line 84 of file math.cpp.

fromEigen() [3/3]

geometry_msgs::Point astra_ros::fromEigen

(

const Eigen::Vector3d &

point

)

Definition at line 75 of file math.cpp.

fromRos()

Device::ImageStreamMode astra_ros::fromRos

(

const ImageStreamMode &

image_stream_mode

)

indexColor()

Hsv astra_ros::indexColor

(

const std::size_t

i

)

Returns a unique color for a given integer i

Definition at line 291 of file color.cpp.

lookAt()

Eigen::Quaterniond astra_ros::lookAt	(	const Eigen::Vector3d &	source_point,
		const Eigen::Vector3d &	dest_point,
		const Eigen::Vector3d &	forward,
		const Eigen::Vector3d &	up
	)

Definition at line 115 of file math.cpp.

operator*()

geometry_msgs::Point astra_ros::operator*	(	const geometry_msgs::Point &	lhs,
		const geometry_msgs::Point &	rhs
	)

Definition at line 36 of file math.cpp.

operator+()

geometry_msgs::Point astra_ros::operator+	(	const geometry_msgs::Point &	lhs,
		const geometry_msgs::Point &	rhs
	)

Definition at line 18 of file math.cpp.

operator-()

geometry_msgs::Point astra_ros::operator-	(	const geometry_msgs::Point &	lhs,
		const geometry_msgs::Point &	rhs
	)

Definition at line 27 of file math.cpp.

operator/()

geometry_msgs::Point astra_ros::operator/	(	const geometry_msgs::Point &	lhs,
		const double	rhs
	)

Definition at line 45 of file math.cpp.

statusToString()

const std::string & astra_ros::statusToString

(

const astra_status_t

status

)

Definition at line 68 of file util.cpp.

sum()

double astra_ros::sum

(

const geometry_msgs::Point &

v

)

Definition at line 7 of file math.cpp.

toEigen() [1/4]

Eigen::Vector3d astra_ros::toEigen

(

const geometry_msgs::Point &

point

)

Definition at line 54 of file math.cpp.

toEigen() [2/4]

Eigen::Quaterniond astra_ros::toEigen

(

const geometry_msgs::Quaternion &

quaternion

)

Definition at line 64 of file math.cpp.

toEigen() [3/4]

Eigen::Affine3d astra_ros::toEigen

(

const geometry_msgs::Transform &

transform

)

Definition at line 69 of file math.cpp.

toEigen() [4/4]

Eigen::Vector3d astra_ros::toEigen

(

const geometry_msgs::Vector3 &

vector

)

Definition at line 59 of file math.cpp.

toMarkerArray() [1/2]

visualization_msgs::MarkerArray astra_ros::toMarkerArray

(

const Body &

body

)

toMarkerArray() [2/2]

visualization_msgs::MarkerArray astra_ros::toMarkerArray

(

const std::vector< Body > &

bodies

)

toPointCloud()

sensor_msgs::PointCloud astra_ros::toPointCloud	(	const sensor_msgs::Image &	rgb,
		const sensor_msgs::Image &	registered_depth,
		const sensor_msgs::CameraInfo &	camera_info,
		const std::function< bool(const std::size_t x, const std::size_t y)> &	mask = defaultMask
	)

Definition at line 72 of file point_cloud.cpp.

toRos() [1/8]

std::vector< astra_ros::Body > astra_ros::toRos	(	const astra_body_list_t &	body_list,
		const std_msgs::Header &	header
	)

Definition at line 201 of file util.cpp.

toRos() [2/8]

astra_ros::Body astra_ros::toRos	(	const astra_body_t &	body,
		const std_msgs::Header &	header
	)

Definition at line 145 of file util.cpp.

toRos() [3/8]

sensor_msgs::Image astra_ros::toRos

(

const astra_floormask_t &

floor_mask

)

Definition at line 126 of file util.cpp.

toRos() [4/8]

astra_ros::Plane astra_ros::toRos

(

const astra_plane_t &

plane

)

Definition at line 213 of file util.cpp.

toRos() [5/8]

sensor_msgs::Image astra_ros::toRos	(	const astra_rgba_pixel_t *const	data,
		const std::size_t	length,
		const astra_image_metadata_t &	metadata
	)

Definition at line 103 of file util.cpp.

toRos() [6/8]

astra_ros::ImageStreamMode astra_ros::toRos

(

const Device::ImageStreamMode &

image_stream_mode

)

Definition at line 224 of file util.cpp.

toRos() [7/8]

sensor_msgs::Image astra_ros::toRos	(	const std::int16_t *const	data,
		const std::size_t	length,
		const astra_image_metadata_t &	metadata
	)

Definition at line 89 of file util.cpp.

toRos() [8/8]

sensor_msgs::Image astra_ros::toRos	(	const std::uint8_t *const	data,
		const std::size_t	length,
		const astra_image_metadata_t &	metadata
	)

Definition at line 75 of file util.cpp.

Variable Documentation

DEVICE_NAMESPACE

const std::string astra_ros::DEVICE_NAMESPACE