beluga_ros Namespace Reference#
Beluga ROS
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beluga_ros Namespace Reference
The main Beluga ROS namespace. More...
Namespaces | |
msg | |
Compatibility layer for ROS 1 and ROS 2 messages. | |
Classes | |
struct | AmclParams |
Struct containing parameters for the Adaptive Monte Carlo Localization (AMCL) implementation. More... | |
class | Amcl |
class | LaserScan |
Thin wrapper type for 2D sensor_msgs/LaserScan messages. More... | |
class | OccupancyGrid |
Thin wrapper type for 2D nav_msgs/OccupancyGrid messages. More... | |
class | PointCloud3 |
Thin wrapper type for 3D sensor_msgs/PointCloud2 messages. More... | |
class | SparsePointCloud3 |
Functions | |
template<class Message > | |
Message & | stamp_message (std::string_view frame_id, detail::Time timestamp, Message &message) |
Stamp a message with a frame ID and timestamp. More... | |
beluga_ros::msg::MarkerArray & | stamp_message (std::string_view frame_id, detail::Time timestamp, beluga_ros::msg::MarkerArray &message) |
Stamp all markers in a marker array message with a frame ID and timestamp. More... | |
template<class Particles , class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Scalar = typename State::Scalar, typename = std::enable_if_t< std::is_same_v<State, typename Sophus::SE2<Scalar>> || std::is_same_v<State, typename Sophus::SE3<Scalar>>>> | |
beluga_ros::msg::PoseArray & | assign_particle_cloud (Particles &&particles, std::size_t size, beluga_ros::msg::PoseArray &message) |
Assign a pose distribution to a particle cloud message. More... | |
template<class Particles , class Message > | |
Message & | assign_particle_cloud (Particles &&particles, Message &message) |
Assign a distribution to a particle cloud message. More... | |
template<class Particles , class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Weight = typename beluga::weight_t<Particle>, class Scalar = typename State::Scalar, typename = std::enable_if_t<std::is_same_v<State, typename Sophus::SE2<Scalar>>>> | |
beluga_ros::msg::MarkerArray & | assign_particle_cloud (Particles &&particles, Scalar linear_resolution, Scalar angular_resolution, beluga_ros::msg::MarkerArray &message) |
Assign a pose distribution to a markers message for visualization. More... | |
template<class Particles , class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Scalar = typename State::Scalar> | |
beluga_ros::msg::MarkerArray & | assign_particle_cloud (Particles &&particles, beluga_ros::msg::MarkerArray &message) |
Assign a pose distribution to a markers message for visualization with suitable resolutions. More... | |
Detailed Description
The main Beluga ROS namespace.
Function Documentation
◆ assign_particle_cloud() [1/4]
template<class Particles , class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Scalar = typename State::Scalar>
beluga_ros::msg::MarkerArray& beluga_ros::assign_particle_cloud | ( | Particles && | particles, |
beluga_ros::msg::MarkerArray & | message | ||
) |
Assign a pose distribution to a markers message for visualization with suitable resolutions.
- Parameters
-
particles Pose distribution, as a particle cloud itself. [out] message Markers message to be assigned.
- Template Parameters
-
Particles A sized range type whose value type satisfies Particle named requirements.
◆ assign_particle_cloud() [2/4]
template<class Particles , class Message >
Message& beluga_ros::assign_particle_cloud | ( | Particles && | particles, |
Message & | message | ||
) |
Assign a distribution to a particle cloud message.
Particle cloud sample size will match that of the given distribution.
- Parameters
-
particles Distribution to sample, as a particle cloud itself. [out] message Particle cloud message to be assigned.
- Template Parameters
-
Particles A sized range type whose value type satisfies Particle named requirements.
◆ assign_particle_cloud() [3/4]
template<class Particles , class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Weight = typename beluga::weight_t<Particle>, class Scalar = typename State::Scalar, typename = std::enable_if_t<std::is_same_v<State, typename Sophus::SE2<Scalar>>>>
beluga_ros::msg::MarkerArray& beluga_ros::assign_particle_cloud | ( | Particles && | particles, |
Scalar | linear_resolution, | ||
Scalar | angular_resolution, | ||
beluga_ros::msg::MarkerArray & | message | ||
) |
Assign a pose distribution to a markers message for visualization.
- Parameters
-
particles Pose distribution, as a particle cloud itself. linear_resolution Linear resolution, in meters, for visualization. angular_resolution Angular resolution, in radians, for visualization. [out] message Markers message to be assigned.
- Template Parameters
-
Particles A sized range type whose value type satisfies Particle named requirements.
◆ assign_particle_cloud() [4/4]
template<class Particles , class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Scalar = typename State::Scalar, typename = std::enable_if_t< std::is_same_v<State, typename Sophus::SE2<Scalar>> || std::is_same_v<State, typename Sophus::SE3<Scalar>>>>
beluga_ros::msg::PoseArray& beluga_ros::assign_particle_cloud | ( | Particles && | particles, |
std::size_t | size, | ||
beluga_ros::msg::PoseArray & | message | ||
) |
Assign a pose distribution to a particle cloud message.
- Parameters
-
particles Pose distribution, as a particle cloud itself. size Sample size of the particle cloud. [out] message Particle cloud message to be assigned.
- Template Parameters
-
Particles A sized range type whose value type satisfies Particle named requirements.
◆ stamp_message() [1/2]
|
inline |
Stamp all markers in a marker array message with a frame ID and timestamp.
- Parameters
-
frame_id Frame ID to stamp markers with. timestamp Time to stamp markers at. [out] message Message to be stamped.
◆ stamp_message() [2/2]
template<class Message >
Message& beluga_ros::stamp_message | ( | std::string_view | frame_id, |
detail::Time | timestamp, | ||
Message & | message | ||
) |
Stamp a message with a frame ID and timestamp.
- Parameters
-
frame_id Frame ID to stamp the message with. timestamp Time to stamp the message at. [out] message Message to be stamped.
- Template Parameters
-
Message A message type with a header.
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