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...

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]

beluga_ros::msg::MarkerArray& beluga_ros::stamp_message ( std::string_view  frame_id, detail::Time  timestamp, beluga_ros::msg::MarkerArray &  message  )

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.