This file is part of ArmarX. More...

Namespaces
	util

	utils

Classes
class	ApproximateTimeQueue
	The ApproximateTimeQueue class. More...

class	ArVizDrawer

class	ArVizDrawerMapBuilder
	The ArVizDrawerMapBuilder class. More...

class	CartographerAdapter

struct	ColoredMeshGrid

class	InterpolatingTimeQueue

struct	LaserMessage

struct	LaserScannerData

struct	LaserScannerMessage

class	LaserScannerSensorBase

struct	LocalSlamData

class	MapRegistration

class	MessageCallee

class	MessageQueue
	The purpose of the MessageQueue is to provide a convenient way to process incoming messages sequentially. More...

struct	OptimizedGraphData

struct	OptimizedNodeData

struct	PoseStamped

struct	RotatedRect

class	SlamDataCallable

struct	SubMapData

struct	TimedData

class	TimeQueue

struct	TimeRange

Typedefs
using	LaserMessages = std::vector< LaserMessage >

using	SubMapDataVector = std::vector< SubMapData >

Functions
::cartographer::transform::Rigid3d	fromEigen (const Eigen::Isometry3f &pose)

PoseStamped	interpolate (const PoseStamped &posePre, const PoseStamped &poseNext, float t)

Eigen::Isometry3f	interpolatePose2 (const Eigen::Isometry3f &posePre, const Eigen::Isometry3f &poseNext, float t)

void	mToMM (pcl::PointXYZ &point)

void	mToMMWithOffset (pcl::PointXYZ &point)

std::string	nameWithId (const std::string &name, const int id, const unsigned int idWidth=6)

std::string	nameWithIds (const std::string &name, const int id, const int subId, const unsigned int idWidth=6)

bool	storeDefaultRegistrationFile (const fs::path &jsonFile)

template<typename EigenVectorT >
std::vector< EigenVectorT >	toCartesian (const armarx::LaserScan &laserScan)

template<typename EigenVectorT >
EigenVectorT	toCartesian (const LaserScanStep &laserScanStep)

Eigen::Isometry3f	toEigen (const ::cartographer::transform::Rigid3d &pose)

cv::Mat2b	toImage (const ::cartographer::mapping::Grid2D &grid)

cv::Mat2b	toImage (const ::cartographer::mapping::ProbabilityGrid &grid)

cv::Mat2b	toImage (const ::cartographer::mapping::TSDF2D &tsdf)

ColoredMeshGrid	toMeshGrid (const ::cartographer::mapping::Grid2D &grid)

ColoredMeshGrid	toMeshGrid (const ::cartographer::mapping::ProbabilityGrid &grid)

Eigen::Vector3f	toMM (const Eigen::Vector3f &vec)

Eigen::Isometry3f	toMM (Eigen::Isometry3f pose)

armem::vision::OccupancyGrid	toOccupancyGrid (const ::cartographer::mapping::Grid2D &grid)

armem::vision::OccupancyGrid	toOccupancyGrid (const ::cartographer::mapping::ProbabilityGrid &grid)

::pcl::PointCloud<::pcl::PointXYZ >	toPCL (const auto &pointCloud, const ::cartographer::transform::Rigid3d &pose)

::pcl::PointCloud<::pcl::PointXYZ >	toPCL (const std::vector<::cartographer::sensor::RangefinderPoint > &points)

::pcl::PointCloud<::pcl::PointXYZ >	toPCL (const std::vector<::cartographer::sensor::TimedRangefinderPoint > &pointCloud, const Eigen::Isometry3f &pose)

::pcl::PointCloud<::pcl::PointXYZ >	toPCL (const std::vector<::cartographer::sensor::TimedRangefinderPoint > &points)

template<typename T >
::pcl::PointCloud<::pcl::PointXYZ >	toPCLImpl (const std::vector< T > &points)

auto	toVizColor (const ColoredMeshGrid::ColorGrid &colorGrid, const Eigen::Array2i &numCells)

auto	toVizPoint (ColoredMeshGrid::VertexGrid vvertices)

void	trimToLatest (auto &vec, const unsigned int size)

Variables
constexpr int	mToMM {1000}

Detailed Description

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author: Fabian Reister ( fabian dot reister at kit dot edu )

Date: 2021 Humanoids Group, H2T, KIT @license http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Typedef Documentation

◆ LaserMessages

using LaserMessages = std::vector<LaserMessage>

Definition at line 48 of file ApproximateTimeQueue.h.

◆ SubMapDataVector

using SubMapDataVector = std::vector<SubMapData>

Definition at line 126 of file types.h.

Function Documentation

◆ fromEigen()

cartographer::transform::Rigid3d fromEigen ( const Eigen::Isometry3f & pose )

Definition at line 21 of file eigen_conversions.cpp.

◆ interpolate()

PoseStamped interpolate	(	const PoseStamped &	posePre,
		const PoseStamped &	poseNext,
		float	t
	)

Definition at line 32 of file InterpolatingTimeQueue.cpp.

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◆ interpolatePose2()

Eigen::Isometry3f armarx::localization_and_mapping::cartographer_adapter::interpolatePose2	(	const Eigen::Isometry3f &	posePre,
		const Eigen::Isometry3f &	poseNext,
		float	t
	)

Definition at line 12 of file InterpolatingTimeQueue.cpp.

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◆ mToMM()

void armarx::localization_and_mapping::cartographer_adapter::mToMM ( pcl::PointXYZ & point )

Definition at line 91 of file ArVizDrawer.cpp.

◆ mToMMWithOffset()

void armarx::localization_and_mapping::cartographer_adapter::mToMMWithOffset ( pcl::PointXYZ & point )

Definition at line 99 of file ArVizDrawer.cpp.

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◆ nameWithId()

std::string nameWithId	(	const std::string &	name,
		const int	id,
		const unsigned int	idWidth = `6`
	)

inline

Definition at line 71 of file ArVizDrawer.cpp.

◆ nameWithIds()

std::string nameWithIds	(	const std::string &	name,
		const int	id,
		const int	subId,
		const unsigned int	idWidth = `6`
	)

inline

Definition at line 79 of file ArVizDrawer.cpp.

◆ storeDefaultRegistrationFile()

bool armarx::localization_and_mapping::cartographer_adapter::storeDefaultRegistrationFile ( const fs::path & jsonFile )

Definition at line 623 of file CartographerAdapter.cpp.

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◆ toCartesian() [1/2]

std::vector<EigenVectorT> armarx::localization_and_mapping::cartographer_adapter::toCartesian ( const armarx::LaserScan & laserScan )

Definition at line 48 of file laser_scanner_conversion.h.

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◆ toCartesian() [2/2]

EigenVectorT armarx::localization_and_mapping::cartographer_adapter::toCartesian ( const LaserScanStep & laserScanStep )

Definition at line 36 of file laser_scanner_conversion.h.

◆ toEigen()

Eigen::Isometry3f toEigen ( const ::cartographer::transform::Rigid3d & pose )

Definition at line 10 of file eigen_conversions.cpp.

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◆ toImage() [1/3]

cv::Mat2b toImage ( const ::cartographer::mapping::Grid2D & grid )

Definition at line 251 of file grid_conversion.cpp.

◆ toImage() [2/3]

cv::Mat2b armarx::localization_and_mapping::cartographer_adapter::toImage ( const ::cartographer::mapping::ProbabilityGrid & grid )

Definition at line 176 of file grid_conversion.cpp.

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◆ toImage() [3/3]

cv::Mat2b armarx::localization_and_mapping::cartographer_adapter::toImage ( const ::cartographer::mapping::TSDF2D & tsdf )

Definition at line 216 of file grid_conversion.cpp.

◆ toMeshGrid() [1/2]

ColoredMeshGrid toMeshGrid ( const ::cartographer::mapping::Grid2D & grid )

Definition at line 156 of file grid_conversion.cpp.

◆ toMeshGrid() [2/2]

ColoredMeshGrid armarx::localization_and_mapping::cartographer_adapter::toMeshGrid ( const ::cartographer::mapping::ProbabilityGrid & grid )

Definition at line 40 of file grid_conversion.cpp.

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◆ toMM() [1/2]

Eigen::Vector3f armarx::localization_and_mapping::cartographer_adapter::toMM ( const Eigen::Vector3f & vec )

inline

Definition at line 29 of file ArVizDrawerMapBuilder.cpp.

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◆ toMM() [2/2]

Eigen::Isometry3f armarx::localization_and_mapping::cartographer_adapter::toMM ( Eigen::Isometry3f pose )

inline

Definition at line 35 of file ArVizDrawerMapBuilder.cpp.

◆ toOccupancyGrid() [1/2]

armem::vision::OccupancyGrid toOccupancyGrid ( const ::cartographer::mapping::Grid2D & grid )

Definition at line 143 of file grid_conversion.cpp.

◆ toOccupancyGrid() [2/2]

armem::vision::OccupancyGrid toOccupancyGrid ( const ::cartographer::mapping::ProbabilityGrid & grid )

Definition at line 96 of file grid_conversion.cpp.

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◆ toPCL() [1/4]

pcl::PointCloud<::pcl::PointXYZ > toPCL	(	const auto &	pointCloud,
		const ::cartographer::transform::Rigid3d &	pose
	)

Definition at line 47 of file pcl_conversions.cpp.

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◆ toPCL() [2/4]

pcl::PointCloud<::pcl::PointXYZ > toPCL ( const std::vector<::cartographer::sensor::RangefinderPoint > & points )

Definition at line 41 of file pcl_conversions.cpp.

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◆ toPCL() [3/4]

pcl::PointCloud<::pcl::PointXYZ > toPCL	(	const std::vector<::cartographer::sensor::TimedRangefinderPoint > &	pointCloud,
		const Eigen::Isometry3f &	pose
	)

Definition at line 62 of file pcl_conversions.cpp.

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◆ toPCL() [4/4]

pcl::PointCloud<::pcl::PointXYZ > toPCL ( const std::vector<::cartographer::sensor::TimedRangefinderPoint > & points )

Definition at line 35 of file pcl_conversions.cpp.

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◆ toPCLImpl()

::pcl::PointCloud<::pcl::PointXYZ> armarx::localization_and_mapping::cartographer_adapter::toPCLImpl ( const std::vector< T > & points )

Definition at line 14 of file pcl_conversions.cpp.

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◆ toVizColor()

auto armarx::localization_and_mapping::cartographer_adapter::toVizColor	(	const ColoredMeshGrid::ColorGrid &	colorGrid,
		const Eigen::Array2i &	numCells
	)

Definition at line 62 of file ArVizDrawerMapBuilder.cpp.

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◆ toVizPoint()

auto armarx::localization_and_mapping::cartographer_adapter::toVizPoint ( ColoredMeshGrid::VertexGrid vvertices )

Definition at line 83 of file ArVizDrawerMapBuilder.cpp.

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◆ trimToLatest()

void armarx::localization_and_mapping::cartographer_adapter::trimToLatest	(	auto &	vec,
		const unsigned int	size
	)

Definition at line 107 of file ArVizDrawer.cpp.

Variable Documentation

◆ mToMM

constexpr int mToMM {1000}

constexpr

Definition at line 26 of file ArVizDrawerMapBuilder.cpp.

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ LaserMessages

◆ SubMapDataVector

Function Documentation

◆ fromEigen()

◆ interpolate()

◆ interpolatePose2()

◆ mToMM()

◆ mToMMWithOffset()

◆ nameWithId()

◆ nameWithIds()

◆ storeDefaultRegistrationFile()

◆ toCartesian() [1/2]

◆ toCartesian() [2/2]

◆ toEigen()

◆ toImage() [1/3]

◆ toImage() [2/3]

◆ toImage() [3/3]

◆ toMeshGrid() [1/2]

◆ toMeshGrid() [2/2]

◆ toMM() [1/2]

◆ toMM() [2/2]

◆ toOccupancyGrid() [1/2]

◆ toOccupancyGrid() [2/2]

◆ toPCL() [1/4]

◆ toPCL() [2/4]

◆ toPCL() [3/4]

◆ toPCL() [4/4]

◆ toPCLImpl()

◆ toVizColor()

◆ toVizPoint()

◆ trimToLatest()

Variable Documentation

◆ mToMM