Utilities

Utilities like timers, mappings between libraries etc. More...

Classes
class	arl::utils::Timer
	Provides timing capabilities, like measure the time elapsed since the last call (e.g. useful in a control loop). More...

Functions
void	arl::utils::armaToEigen (const arma::mat &arma, Eigen::MatrixXd *eigen)
void	arl::utils::armaToEigen (const arma::vec &arma, Eigen::VectorXd *eigen)
void	arl::utils::eigenToArma (const Eigen::MatrixXd &eigen, arma::mat *arma)
void	arl::utils::eigenToArma (const Eigen::VectorXd &eigen, arma::vec *arma)
void	arl::utils::armaToRos (const arma::mat &arma, sensor_msgs::PointCloud *ros, const std::string &frame_id="world")
	Converts an arma matrix to a PointCloud ROS msg. More...
void	arl::utils::armaToRos (const arma::mat &arma, geometry_msgs::PolygonStamped *ros, const std::string &frame_id="world")
	Converts an arma matrix to a PolygonStamped message. More...
void	arl::utils::rosToArma (const sensor_msgs::PointCloud &ros, arma::mat *arma)
	Converts a ROS PointCloud msg to an arma matrix. More...
void	arl::utils::rosToArma (const geometry_msgs::PolygonStamped &ros, arma::mat *arma)
	Converts a PolygonStamped message to an arma matrix. More...
void	arl::utils::rosToArma (const geometry_msgs::TransformStamped &ros, arma::mat *arma)
	Converts a geometry_msgs/TransformStamped message to an arma matrix. More...
void	arl::utils::rosToArma (const geometry_msgs::PoseStamped &ros, arma::mat *arma)
	Converts a geometry_msgs/PoseStamped message to an arma matrix. More...
void	arl::utils::armaToRos (const arma::mat &arma, geometry_msgs::PoseStamped *ros, const std::string &frame_id="world")
	Converts an arma matrix to a geometry_msgs/PoseStamped. More...
std::string	arl::utils::getAlias (const std::string &name)

Detailed Description

Utilities like timers, mappings between libraries etc.

Function Documentation

void arl::utils::armaToEigen ( const arma::mat &  arma, Eigen::MatrixXd *  eigen  )

inline

void arl::utils::armaToEigen ( const arma::vec &  arma, Eigen::VectorXd *  eigen  )

inline

void arl::utils::armaToRos ( const arma::mat &  arma, sensor_msgs::PointCloud *  ros, const std::string &  frame_id = "world"  )

inline

Converts an arma matrix to a PointCloud ROS msg.

The armadillo matrix is assumed to be nx3, for a point cloud with n 3D points.

Parameters

kdl	The arma matrix as input
ros	The point cloud as ouput

void arl::utils::armaToRos ( const arma::mat &  arma, geometry_msgs::PolygonStamped *  ros, const std::string &  frame_id = "world"  )

inline

Converts an arma matrix to a PolygonStamped message.

The armadillo matrix is assumed to be nx3, for a point cloud with n 3D points.

Parameters

kdl	The arma matrix as input
ros	The polygon as ouput
frame_id	The name of the reference frame

void arl::utils::armaToRos ( const arma::mat &  arma, geometry_msgs::PoseStamped *  ros, const std::string &  frame_id = "world"  )

inline

Converts an arma matrix to a geometry_msgs/PoseStamped.

The armadillo matrix is assumed to be 4x4 homogeneous matrix

Parameters

arma	The arma matrix as input
ros	The PoseStamped as output
frame_id	The name of the reference frame

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void arl::utils::eigenToArma ( const Eigen::MatrixXd &  eigen, arma::mat *  arma  )

inline

void arl::utils::eigenToArma ( const Eigen::VectorXd &  eigen, arma::vec *  arma  )

inline

std::string arl::utils::getAlias

(

const std::string &

name

)

Returns the alias of a robot. In general tranforms a string to lower case and replace the space with underscores. E.g. the string "KUKA LBR" will be returned as "kuka_lbr".

Parameters

name	The initial string as input
alias	The final string as output.

void arl::utils::rosToArma ( const sensor_msgs::PointCloud &  ros, arma::mat *  arma  )

inline

Converts a ROS PointCloud msg to an arma matrix.

The armadillo matrix will be returned as nx3, for a point cloud with n 3D points.

Parameters

ros	The point cloud as input
kdl	The arma matrix as output

void arl::utils::rosToArma ( const geometry_msgs::PolygonStamped &  ros, arma::mat *  arma  )

inline

Converts a PolygonStamped message to an arma matrix.

The armadillo matrix is returned as a nx3 matrix, for a point cloud with n 3D points.

Parameters

ros	The polygon as input
kdl	The arma matrix as output

void arl::utils::rosToArma ( const geometry_msgs::TransformStamped &  ros, arma::mat *  arma  )

inline

Converts a geometry_msgs/TransformStamped message to an arma matrix.

The armadillo matrix is returned as a 4x4 matrix which is a homogeneous transformation.

Parameters

ros	The TransformStamped
arma	The arma matrix as output

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void arl::utils::rosToArma ( const geometry_msgs::PoseStamped &  ros, arma::mat *  arma  )

inline

Converts a geometry_msgs/PoseStamped message to an arma matrix.

The armadillo matrix is returned as a 4x4 matrix which is a homogeneous transformation.

Parameters

ros	The PoseStamped
arma	The arma matrix as output

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