The namespace having miscellaneous code which does not have a specific category. More...

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

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

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

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

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

void	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	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	rosToArma (const sensor_msgs::PointCloud &ros, arma::mat *arma)
	Converts a ROS PointCloud msg to an arma matrix. More...

void	rosToArma (const geometry_msgs::PolygonStamped &ros, arma::mat *arma)
	Converts a PolygonStamped message to an arma matrix. More...

void	rosToArma (const geometry_msgs::TransformStamped &ros, arma::mat *arma)
	Converts a geometry_msgs/TransformStamped message to an arma matrix. More...

void	rosToArma (const geometry_msgs::PoseStamped &ros, arma::mat *arma)
	Converts a geometry_msgs/PoseStamped message to an arma matrix. More...

void	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...

void	armaToKdl (const arma::vec &arma, KDL::Vector *kdl)
	Converts an arma vector to a KDL Vector. More...

void	armaToKdl (const arma::mat &arma, KDL::Rotation *kdl)
	Converts a armadillo 3D matrix to a KDL Rotation matrix. More...

void	armaToKdl (const arma::mat &arma, KDL::Frame *kdl)
	Converts an arma homogeneous transformation (4x4 matrix) to a KDL Frame. More...

void	armaToKdl (const arma::vec &arma, KDL::Wrench *kdl)

void	armaToKdl (const arma::vec &arma, KDL::Twist *kdl)

void	armaToKdl (const arma::mat &arma, KDL::Jacobian *kdl)

void	armaToKdl (const arma::vec &arma, KDL::JntArray *kdl)

void	kdlToArma (const KDL::Vector &kdl, arma::vec *arma)
	Converts a KDL vector to an arma vector. More...

void	kdlToArma (const KDL::Rotation &kdl, arma::mat *arma)
	Converts a KDL Rotation to an arma matrix. More...

void	kdlToArma (const KDL::Frame &kdl, arma::mat *arma)
	Converts a KDL Frame to an arma homogeneous transformation (4x4 matrix). More...

void	kdlToArma (const KDL::Wrench &kdl, arma::vec *arma)

void	kdlToArma (const KDL::Twist &kdl, arma::vec *arma)

void	kdlToArma (const KDL::Jacobian &kdl, arma::mat *arma)

void	kdlToArma (const KDL::JntArray &kdl, arma::vec *arma)

void	kdlToEigen (const KDL::Vector &kdl, Eigen::Vector3d *eigen)

void	kdlToEigen (const KDL::Rotation &kdl, Eigen::Matrix3d *eigen)

void	kdlToEigen (const KDL::JntArray &kdl, Eigen::VectorXd *eigen)

void	rosToKdl (const geometry_msgs::Vector3 &ros, KDL::Vector *kdl)
	Converts a ROS vector (geometry_msgs Vector3) to a KDL Vector. More...

void	rosToKdl (const geometry_msgs::Point &ros, KDL::Vector *kdl)
	Converts a ROS Point (geometry_msgs Point) to a KDL Vector. More...

bool	rosToKdl (const geometry_msgs::Quaternion &ros, KDL::Rotation *kdl, double eps=1e-6)
	Converts a ROS Quaternion (geometry_msgs Quaternion) to a KDL Rotation. It will perform the conversion even if the quaternion is not unit. More...

bool	rosToKdl (const geometry_msgs::Pose &ros, KDL::Frame *kdl, double eps=1e-6)
	Converts a ROS Pose (geometry_msgs Pose) to a KDL Frame. It will perform the conversion even if the quaternion of the pose is not unit. More...

void	kdlToRos (const KDL::Vector &kdl, geometry_msgs::Vector3 *ros)
	Converts a KDL vector to a ROS Vector (geometry_msgs Vector3) More...

void	kdlToRos (const KDL::Vector &kdl, geometry_msgs::Point *ros)
	Converts a KDL vector to a ROS Point (geometry_msgs Point) More...

bool	kdlToRos (const KDL::Rotation &kdl, geometry_msgs::Quaternion *ros, double eps=1e-6)
	Converts a KDL Rotation to a ROS Quaternion (geometry_msgs Quaternion). It will perform the conversion even if the rotation is not legit. More...

bool	kdlToRos (const KDL::Frame &kdl, geometry_msgs::Pose *ros, double eps=1e-6)
	Converts a KDL Frame to a ROS pose (geometry_msgs Pose). It will perform the conversion even if the rotation matrix of the frame is not legit. More...

std::string	getAlias (const std::string &name)

Detailed Description

The namespace having miscellaneous code which does not have a specific category.

For example transformation between different data types (from KDL to Armadillo).

Function Documentation

void arl::utils::armaToKdl	(	const arma::vec &	arma,
		KDL::Vector *	kdl
	)

inline

Converts an arma vector to a KDL Vector.

Parameters

ros	The arma vector as input
kdl	The KDL vector as ouput

void arl::utils::armaToKdl	(	const arma::mat &	arma,
		KDL::Rotation *	kdl
	)

inline

Converts a armadillo 3D matrix to a KDL Rotation matrix.

Parameters

arma	The arma matrix as input
kdl	The KDL rotation matrix as ouput

void arl::utils::armaToKdl	(	const arma::mat &	arma,
		KDL::Frame *	kdl
	)

inline

Converts an arma homogeneous transformation (4x4 matrix) to a KDL Frame.

Parameters

arma	The arma homogeneous transformation as input
kdl	The KDL Frame as ouput

void arl::utils::armaToKdl	(	const arma::vec &	arma,
		KDL::Wrench *	kdl
	)

inline

void arl::utils::armaToKdl	(	const arma::vec &	arma,
		KDL::Twist *	kdl
	)

inline

void arl::utils::armaToKdl	(	const arma::mat &	arma,
		KDL::Jacobian *	kdl
	)

inline

void arl::utils::armaToKdl	(	const arma::vec &	arma,
		KDL::JntArray *	kdl
	)

inline

void arl::utils::kdlToArma	(	const KDL::Vector &	kdl,
		arma::vec *	arma
	)

inline

Converts a KDL vector to an arma vector.

Parameters

kdl	The KDL vector as input
arma	The arma vector as output

void arl::utils::kdlToArma	(	const KDL::Rotation &	kdl,
		arma::mat *	arma
	)

inline

Converts a KDL Rotation to an arma matrix.

Parameters

kdl	The KDL Rotation as input
arma	The arma matrix as output

void arl::utils::kdlToArma	(	const KDL::Frame &	kdl,
		arma::mat *	arma
	)

inline

Converts a KDL Frame to an arma homogeneous transformation (4x4 matrix).

Parameters

kdl	The KDL Frame as input
arma	The arma matrix as output

void arl::utils::kdlToArma	(	const KDL::Wrench &	kdl,
		arma::vec *	arma
	)

inline

void arl::utils::kdlToArma	(	const KDL::Twist &	kdl,
		arma::vec *	arma
	)

inline

void arl::utils::kdlToArma	(	const KDL::Jacobian &	kdl,
		arma::mat *	arma
	)

inline

void arl::utils::kdlToArma	(	const KDL::JntArray &	kdl,
		arma::vec *	arma
	)

inline

void arl::utils::kdlToEigen	(	const KDL::Vector &	kdl,
		Eigen::Vector3d *	eigen
	)

inline

void arl::utils::kdlToEigen	(	const KDL::Rotation &	kdl,
		Eigen::Matrix3d *	eigen
	)

inline

void arl::utils::kdlToEigen	(	const KDL::JntArray &	kdl,
		Eigen::VectorXd *	eigen
	)

inline

void arl::utils::kdlToRos	(	const KDL::Vector &	kdl,
		geometry_msgs::Vector3 *	ros
	)

inline

Converts a KDL vector to a ROS Vector (geometry_msgs Vector3)

Parameters

kdl	The KDL vector as input
ros	The ROS vector as output

Todo:: To be implemented

void arl::utils::kdlToRos	(	const KDL::Vector &	kdl,
		geometry_msgs::Point *	ros
	)

inline

Converts a KDL vector to a ROS Point (geometry_msgs Point)

Parameters

kdl	The KDL vector as input
ros	The ROS point as output

Todo:: To be implemented

bool arl::utils::kdlToRos	(	const KDL::Rotation &	kdl,
		geometry_msgs::Quaternion *	ros,
		double	eps = `1e-6`
	)

inline

Converts a KDL Rotation to a ROS Quaternion (geometry_msgs Quaternion). It will perform the conversion even if the rotation is not legit.

Parameters

kdl	The KDL Rotation as input
ros	The ROS Quaternion as output
eps	The tolerance in errors

Returns: True if the rotation is legit, false if the rotation is not legit

Todo:: To be implemented

bool arl::utils::kdlToRos	(	const KDL::Frame &	kdl,
		geometry_msgs::Pose *	ros,
		double	eps = `1e-6`
	)

inline

Converts a KDL Frame to a ROS pose (geometry_msgs Pose). It will perform the conversion even if the rotation matrix of the frame is not legit.

Parameters

kdl	The KDL Frame as input
ros	The ROS Pose as output
eps	The tolerance in errors

Returns: True if the rotation of the frame is legit, false if the rotation is not legit

Todo:: To be implemented

void arl::utils::rosToKdl	(	const geometry_msgs::Vector3 &	ros,
		KDL::Vector *	kdl
	)

inline

Converts a ROS vector (geometry_msgs Vector3) to a KDL Vector.

Parameters

ros	The ROS vector as input
kdl	The KDL vector as ouput

Todo:: To be implemented

void arl::utils::rosToKdl	(	const geometry_msgs::Point &	ros,
		KDL::Vector *	kdl
	)

inline

Converts a ROS Point (geometry_msgs Point) to a KDL Vector.

Parameters

ros	The ROS point as input
kdl	The KDL vector as ouput

Todo:: To be implemented

bool arl::utils::rosToKdl	(	const geometry_msgs::Quaternion &	ros,
		KDL::Rotation *	kdl,
		double	eps = `1e-6`
	)

inline

Converts a ROS Quaternion (geometry_msgs Quaternion) to a KDL Rotation. It will perform the conversion even if the quaternion is not unit.

Parameters

ros	The ROS point as input
kdl	The KDL vector as ouput
eps	The tolerance in errors

Returns: True if the quaternion is unit, otherwise false

Todo:: To be implemented

bool arl::utils::rosToKdl	(	const geometry_msgs::Pose &	ros,
		KDL::Frame *	kdl,
		double	eps = `1e-6`
	)

inline

Converts a ROS Pose (geometry_msgs Pose) to a KDL Frame. It will perform the conversion even if the quaternion of the pose is not unit.

Parameters

ros	The ROS Pose as input
kdl	The KDL Frame as ouput
eps	The tolerance in errors

Returns: True if the quaternion of the pose is unit, otherwise false

Todo:: To be implemented

Classes

Functions

Detailed Description

Function Documentation