Classes
struct	Alga
	Alga hanging on a line. More...

struct	AlgaeLine
	Line on which algae grow. More...

class	CameraNodelet
	Nodelet for a simulated camera. More...

class	CartControlNodelet
	Nodelet for cheated cartesian control of a robot. More...

class	ClockPublisherNode
	Class to publish on the /clock topic. More...

class	ExperimentStatsNode
	Class to measure statistics about experiments. More...

class	FarmNodelet
	Nodelet class for farm simulation. More...

class	GPNodelet
	Nodelet for a Gaussian Process mapping an algae wall. More...

class	Lattice
	Class to represent a lattice. More...

class	LatticeNode
	Class to represent a node (viewpoint) of a lattice. More...

struct	MarkerArgs
	Arguments used to create a Rviz maker. More...

class	MPCNode
	Node for Model Predictive Control of a robot. More...

class	PerlinNoiseGenerator
	Perlin noise generator. More...

class	PlanningLogic
	Base class for a node managing high level planning logic. More...

class	PlanningNodelet
	Nodelet for path planning of an underwater robot surveying a marine farm. More...

class	RobotModel
	Class defining the robot model. More...

class	RobotSimulator
	Robot simulator. More...

struct	Rope
	Rope tensed between two 3D points. More...

class	Spline
	Class for spline interpolation. More...

class	TrajPublisherNode
	Class to publish hard-coded trajectories. More...

Typedefs
typedef std::unique_ptr< rp3d::BoxShape >	box_shape_ptr

Functions
geometry_msgs::Pose	to_pose (const geometry_msgs::TransformStamped &transform)
	Converts a TransformStamped message to a Pose message. More...

template<class T >
T	modulo_2pi (T angle)
	Brings back an angle into [-pi, pi) More...

float	distance2 (const geometry_msgs::Point &p1, const geometry_msgs::Point &p2)
	Computes the square of the euclidean distance between two positions. More...

float	distance (const geometry_msgs::Point &p1, const geometry_msgs::Point &p2)
	Computes the the euclidean distance between two positions. More...

float	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	interpolate (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2, float t)
	Interpolates linearily two poses. More...

tf2::Quaternion	slerp (const tf2::Quaternion &q0, const tf2::Quaternion &q1, float t)
	Spherical Linear Interpolation of two quaternions. More...

void	to_euler (const tf2::Quaternion &quat, double &roll, double &pitch, double &yaw)
	Converts a quaternion to Roll-Pitch-Yaw Euler angles. More...

void	to_euler (const geometry_msgs::Quaternion &quat, double &roll, double &pitch, double &yaw)
	Converts a quaternion to Roll-Pitch-Yaw Euler angles. More...

void	to_quaternion (double roll, double pitch, double yaw, tf2::Quaternion &quat)
	Converts Roll-Pitch-Yaw Euler angles to a quaternion. More...

void	to_quaternion (double roll, double pitch, double yaw, geometry_msgs::Quaternion &quat)
	Converts Roll-Pitch-Yaw Euler angles to a quaternion. More...

void	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	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	diff_pose (const geometry_msgs::Pose &p1, const geometry_msgs::Pose &p2, geometry_msgs::Pose &diff)
	Computes the difference between two poses. More...

void	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	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	fill_diag_mat (const std::vector< T > &v, MatrixT &D)
	Fills a Eigen matrix from a std::Vector. More...

std::vector< tf2::Vector3 >	get_alga_coord (const AlgaeLine &line, const Alga &alga)
	Computes the corner coordinates of an alga. More...

std::ostream &	operator<< (std::ostream &stream, const tf2::Vector3 &v)
	Displays a vector. More...

geometry_msgs::Point32	vector3_to_point32 (tf2::Vector3 p)
	Convert a tf2::Vector3 to a geometry_msgs::Point32. More...

void	fill_marker_header (visualization_msgs::Marker &marker, const MarkerArgs &common_args)
	Fill header of marker. More...

visualization_msgs::Marker	rviz_marker_spheres (float thickness, const MarkerArgs &common_args)
	Creates a blank Rviz marker to display spheres. More...

visualization_msgs::Marker	rviz_marker_line (float thickness, const MarkerArgs &common_args)
	Creates a blank Rviz marker to display lines. More...

visualization_msgs::Marker	rviz_marker_line (tf2::Vector3 p1, tf2::Vector3 p2, float thickness, const MarkerArgs &common_args)
	Creates a Rviz marker to display a line. More...

visualization_msgs::Marker	rviz_marker_cylinder (tf2::Vector3 p, float diameter, float height, const MarkerArgs &common_args)
	Creates a Rviz marker to display a cylinder. More...

visualization_msgs::Marker	rviz_marker_triangles (const MarkerArgs &common_args)
	Creates a blank Rviz marker to display triangles. More...

visualization_msgs::Marker	rviz_marker_rect (const MarkerArgs &common_args)
	Creates a blank Rviz marker to display rectangles. More...

visualization_msgs::Marker	rviz_marker_rect (tf2::Vector3 p1, tf2::Vector3 p2, tf2::Vector3 p3, tf2::Vector3 p4, const MarkerArgs &common_args)
	Creates a Rviz marker to display a rectangle. More...

void	pop_marker_ids (visualization_msgs::MarkerArray &array)
	Populates id of all the markers in a marker array. More...

ostream &	operator<< (ostream &stream, const tf2::Vector3 &v)

RobotModel::state_type	to_state (const geometry_msgs::Pose &pose, int state_size)
	Converts a pose into a state message. More...

Typedef Documentation

typedef std::unique_ptr<rp3d::BoxShape> mfcpp::box_shape_ptr

Definition at line 31 of file camera_nodelet.hpp.

Function Documentation

void mfcpp::diff_pose	(	const geometry_msgs::Pose &	p1,
		const geometry_msgs::Pose &	p2,
		geometry_msgs::Pose &	diff
	)

inline

Computes the difference between two poses.

Parameters

[in]	p1	First pose
[in]	p2	Second pose
[out]	diff	Difference between p1 and p2

Definition at line 273 of file common.hpp.

void mfcpp::diff_pose	(	const geometry_msgs::Pose &	p1,
		const geometry_msgs::Pose &	p2,
		mf_common::EulerPose &	diff
	)

inline

Computes the difference between two poses.

Parameters

[in]	p1	First pose
[in]	p2	Second pose
[out]	diff	Difference between p1 and p2

Definition at line 297 of file common.hpp.

float mfcpp::distance	(	const geometry_msgs::Point &	p1,
		const geometry_msgs::Point &	p2
	)

inline

Computes the the euclidean distance between two positions.

Definition at line 69 of file common.hpp.

float mfcpp::distance	(	const geometry_msgs::Pose &	p1,
		const geometry_msgs::Pose &	p2
	)

inline

Computes the the euclidean distance between the position of two poses.

Definition at line 77 of file common.hpp.

float mfcpp::distance2	(	const geometry_msgs::Point &	p1,
		const geometry_msgs::Point &	p2
	)

inline

Computes the square of the euclidean distance between two positions.

Definition at line 61 of file common.hpp.

template<class T >

void mfcpp::fill_diag_mat	(	const std::vector< T > &	v,
		Eigen::DiagonalMatrix< T, Eigen::Dynamic > &	D
	)

inline

Fills a Eigen DiagonalMatrix from a std::Vector.

Parameters

[in]	v	Vector containing the diagonal terms of the matrix
[out]	D	Diagonal matrix to fill

Definition at line 322 of file common.hpp.

template<class T , class MatrixT >

void mfcpp::fill_diag_mat	(	const std::vector< T > &	v,
		MatrixT &	D
	)

inline

Fills a Eigen matrix from a std::Vector.

Parameters

[in]	v	Vector containing the diagonal terms of the matrix
[out]	D	Square diagonal matrix to fill

Definition at line 341 of file common.hpp.

void mfcpp::fill_marker_header	(	visualization_msgs::Marker &	marker,
		const MarkerArgs &	common_args
	)

Fill header of marker.

Parameters

marker	The marker to fill
common_args	Common arguments to fill ROS message

Definition at line 19 of file rviz_visualisation.cpp.

vector< tf2::Vector3 > mfcpp::get_alga_coord	(	const AlgaeLine &	line,
		const Alga &	alga
	)

Computes the corner coordinates of an alga.

coord[0] | coord[1] –> line

coord[3] | coord[2]

Parameters

line	Algae line on which the algae is
alga	Alga to find the coordinates

Returns: Coordinates of the alga

Definition at line 20 of file farm_common.cpp.

template<class VectorT >

void mfcpp::get_orientation	(	float	roll,
		float	pitch,
		float	yaw,
		VectorT &	orientation
	)

inline

Get orientation vector (x vector of the frame) given by Roll-Pitch-Yaw.

VectorT can be either Eigen::Vector3f or Eigen::Vector3d

Parameters

[in]	roll	Roll angle to convert
[in]	pitch	Pitch angle to convert
[in]	yaw	Yaw angle to convert
[out]	orientation	Resulting orientation

Definition at line 256 of file common.hpp.

geometry_msgs::Pose mfcpp::interpolate	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Pose &	pose2,
		float	t
	)

inline

Interpolates linearily two poses.

The position is linearily interpolated, the orientation is interpolated using Spherical Linear Interpolation.

Parameters

pose1	First pose
pose2	Second pose
t	Interpolation coefficient

Returns: Interpolated pose

Definition at line 93 of file common.hpp.

template<class T >

T mfcpp::modulo_2pi ( T angle )

inline

Brings back an angle into [-pi, pi)

Definition at line 46 of file common.hpp.

ostream& mfcpp::operator<<	(	ostream &	stream,
		const tf2::Vector3 &	v
	)

Definition at line 41 of file farm_common.cpp.

std::ostream& mfcpp::operator<<	(	std::ostream &	stream,
		const tf2::Vector3 &	v
	)

Displays a vector.

Parameters

stream	Stream on which to display the vector
v	Vector to display

Returns: Output stream

void mfcpp::pop_marker_ids ( visualization_msgs::MarkerArray & array )

Populates id of all the markers in a marker array.

Note: The id of each marker needs to be different for Rviz to display it correctly.

Definition at line 179 of file rviz_visualisation.cpp.

visualization_msgs::Marker mfcpp::rviz_marker_cylinder	(	tf2::Vector3	p,
		float	diameter,
		float	height,
		const MarkerArgs &	common_args
	)

Creates a Rviz marker to display a cylinder.

The cylinder will be aligned with the z axis of the frame provided in common_args.

Parameters

p	Position of the center of the cylinder
diameter	Diameter (in m)
height	Height (in m)
common_args	Common arguments to fill ROS message

Returns: Corresponding Rviz marker

Definition at line 87 of file rviz_visualisation.cpp.

visualization_msgs::Marker mfcpp::rviz_marker_line	(	float	thickness,
		const MarkerArgs &	common_args
	)

Creates a blank Rviz marker to display lines.

Parameters

thickness	Thickness of the lines (in m)
common_args	Common arguments to fill ROS message

Returns: Corresponding Rviz marker

Definition at line 72 of file rviz_visualisation.cpp.

visualization_msgs::Marker mfcpp::rviz_marker_line	(	tf2::Vector3	p1,
		tf2::Vector3	p2,
		float	thickness,
		const MarkerArgs &	common_args
	)

Creates a Rviz marker to display a line.

Parameters

p1	First extremity of the line
p2	Second extremity of the line
thickness	Thickness of the line (in m)
common_args	Common arguments to fill ROS message

Returns: Corresponding Rviz marker

Definition at line 46 of file rviz_visualisation.cpp.

visualization_msgs::Marker mfcpp::rviz_marker_rect ( const MarkerArgs & common_args )

Creates a blank Rviz marker to display rectangles.

The rectangles will be made of two triangles

Parameters

common_args Common arguments to fill ROS message

Returns: Corresponding Rviz marker

Definition at line 109 of file rviz_visualisation.cpp.

visualization_msgs::Marker mfcpp::rviz_marker_rect	(	tf2::Vector3	p1,
		tf2::Vector3	p2,
		tf2::Vector3	p3,
		tf2::Vector3	p4,
		const MarkerArgs &	common_args
	)

Creates a Rviz marker to display a rectangle.

The rectangle will be made of two triangles

Parameters

p1	First point
p2	Second point
p3	Third point
p4	Fourth point
common_args	Common arguments to fill ROS message

Returns: Corresponding Rviz marker

Definition at line 143 of file rviz_visualisation.cpp.

visualization_msgs::Marker mfcpp::rviz_marker_spheres	(	float	thickness,
		const MarkerArgs &	common_args
	)

Creates a blank Rviz marker to display spheres.

Parameters

diameter	Diameter of the spheres (in m)
common_args	Common arguments to fill ROS message

Returns: Corresponding Rviz marker

Definition at line 29 of file rviz_visualisation.cpp.

visualization_msgs::Marker mfcpp::rviz_marker_triangles ( const MarkerArgs & common_args )

Creates a blank Rviz marker to display triangles.

Parameters

common_args Common arguments to fill ROS message

Returns: Corresponding Rviz marker

Definition at line 126 of file rviz_visualisation.cpp.

tf2::Quaternion mfcpp::slerp	(	const tf2::Quaternion &	q0,
		const tf2::Quaternion &	q1,
		float	t
	)

inline

Spherical Linear Interpolation of two quaternions.

Adapted from Wikipedia: https://en.wikipedia.org/wiki/Slerp

Parameters

q0	First quaternion
q1	Second quaternion
t	Interpolation coefficient

Definition at line 124 of file common.hpp.

void mfcpp::to_euler	(	const tf2::Quaternion &	quat,
		double &	roll,
		double &	pitch,
		double &	yaw
	)

inline

Converts a quaternion to Roll-Pitch-Yaw Euler angles.

Parameters

[in]	quat	Quaternion to convert
[out]	roll	Resulting roll angle
[out]	pitch	Resulting pitch angle
[out]	yaw	Resulting yaw angle

Definition at line 180 of file common.hpp.

void mfcpp::to_euler	(	const geometry_msgs::Quaternion &	quat,
		double &	roll,
		double &	pitch,
		double &	yaw
	)

inline

Converts a quaternion to Roll-Pitch-Yaw Euler angles.

Parameters

[in]	quat	Quaternion to convert
[out]	roll	Resulting roll angle
[out]	pitch	Resulting pitch angle
[out]	yaw	Resulting yaw angle

Definition at line 193 of file common.hpp.

geometry_msgs::Pose mfcpp::to_pose ( const geometry_msgs::TransformStamped & transform )

inline

Converts a TransformStamped message to a Pose message.

Definition at line 28 of file common.hpp.

void mfcpp::to_quaternion	(	double	roll,
		double	pitch,
		double	yaw,
		tf2::Quaternion &	quat
	)

inline

Converts Roll-Pitch-Yaw Euler angles to a quaternion.

Parameters

[in]	roll	Roll angle to convert
[in]	pitch	Pitch angle to convert
[in]	yaw	Yaw angle to convert
[out]	quat	Resulting quaternion

Definition at line 207 of file common.hpp.

void mfcpp::to_quaternion	(	double	roll,
		double	pitch,
		double	yaw,
		geometry_msgs::Quaternion &	quat
	)

inline

Converts Roll-Pitch-Yaw Euler angles to a quaternion.

Parameters

[in]	roll	Roll angle to convert
[in]	pitch	Pitch angle to convert
[in]	yaw	Yaw angle to convert
[out]	quat	Resulting quaternion

Definition at line 220 of file common.hpp.

void mfcpp::to_quaternion	(	float	x,
		float	y,
		float	z,
		float	angle,
		geometry_msgs::Quaternion &	quat
	)

inline

Converts Axis-angle to a quaternion.

Parameters

[in]	x	X coordinate of the axis vector
[in]	y	Y coordinate of the axis vector
[in]	z	Z coordinate of the axis vector
[in]	angle	Angle around the axis vector
[out]	quat	Resulting quaternion

Definition at line 236 of file common.hpp.

RobotModel::state_type mfcpp::to_state	(	const geometry_msgs::Pose &	pose,
		int	state_size
	)

inline

Converts a pose into a state message.

The first 6 components will be filled with the pose (x, y, z, roll, pitch, yaw). The other components of the state will be filled with zeros.

Parameters

[in]	pose	Pose to convert
[in]	state_size	Size of the state

Returns: Converted state

Definition at line 276 of file robot_model.hpp.

geometry_msgs::Point32 mfcpp::vector3_to_point32 ( tf2::Vector3 p )

inline

Convert a tf2::Vector3 to a geometry_msgs::Point32.

Note: tf2::ToMsg() implements a conversion to Point, but not Point32

Parameters

p	Vector3 to convert

Returns: Converted Point32

Definition at line 102 of file farm_common.hpp.

MFCPP 1.0	Corentin Chauvin-Hameau – 2019-2020
Coverage Path Planning for an underwater robot surveying a marine farm

Classes

Typedefs

Functions

Typedef Documentation

Function Documentation

coord[0] | coord[1] –> line