common.hpp File Reference

Declaration of common functions. More...

#include "mf_common/EulerPose.h"
#include <geometry_msgs/TransformStamped.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Point.h>
#include <tf2/LinearMath/Matrix3x3.h>
#include <tf2/LinearMath/Vector3.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <eigen3/Eigen/Dense>

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Namespaces
	mfcpp

Functions
geometry_msgs::Pose	mfcpp::to_pose (const geometry_msgs::TransformStamped &transform)
	Converts a TransformStamped message to a Pose message. More...
template<class T >
T	mfcpp::modulo_2pi (T angle)
	Brings back an angle into [-pi, pi) More...
float	mfcpp::distance2 (const geometry_msgs::Point &p1, const geometry_msgs::Point &p2)
	Computes the square of the euclidean distance between two positions. More...
float	mfcpp::distance (const geometry_msgs::Point &p1, const geometry_msgs::Point &p2)
	Computes the the euclidean distance between two positions. More...
float	mfcpp::distance (const geometry_msgs::Pose &p1, const geometry_msgs::Pose &p2)
	Computes the the euclidean distance between the position of two poses. More...
geometry_msgs::Pose	mfcpp::interpolate (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2, float t)
	Interpolates linearily two poses. More...
tf2::Quaternion	mfcpp::slerp (const tf2::Quaternion &q0, const tf2::Quaternion &q1, float t)
	Spherical Linear Interpolation of two quaternions. More...
void	mfcpp::to_euler (const tf2::Quaternion &quat, double &roll, double &pitch, double &yaw)
	Converts a quaternion to Roll-Pitch-Yaw Euler angles. More...
void	mfcpp::to_euler (const geometry_msgs::Quaternion &quat, double &roll, double &pitch, double &yaw)
	Converts a quaternion to Roll-Pitch-Yaw Euler angles. More...
void	mfcpp::to_quaternion (double roll, double pitch, double yaw, tf2::Quaternion &quat)
	Converts Roll-Pitch-Yaw Euler angles to a quaternion. More...
void	mfcpp::to_quaternion (double roll, double pitch, double yaw, geometry_msgs::Quaternion &quat)
	Converts Roll-Pitch-Yaw Euler angles to a quaternion. More...
void	mfcpp::to_quaternion (float x, float y, float z, float angle, geometry_msgs::Quaternion &quat)
	Converts Axis-angle to a quaternion. More...
template<class VectorT >
void	mfcpp::get_orientation (float roll, float pitch, float yaw, VectorT &orientation)
	Get orientation vector (x vector of the frame) given by Roll-Pitch-Yaw. More...
void	mfcpp::diff_pose (const geometry_msgs::Pose &p1, const geometry_msgs::Pose &p2, geometry_msgs::Pose &diff)
	Computes the difference between two poses. More...
void	mfcpp::diff_pose (const geometry_msgs::Pose &p1, const geometry_msgs::Pose &p2, mf_common::EulerPose &diff)
	Computes the difference between two poses. More...
template<class T >
void	mfcpp::fill_diag_mat (const std::vector< T > &v, Eigen::DiagonalMatrix< T, Eigen::Dynamic > &D)
	Fills a Eigen DiagonalMatrix from a std::Vector. More...
template<class T , class MatrixT >
void	mfcpp::fill_diag_mat (const std::vector< T > &v, MatrixT &D)
	Fills a Eigen matrix from a std::Vector. More...

Detailed Description

Declaration of common functions.

Author

Corentin Chauvin-Hameau

Date

2020

Definition in file common.hpp.