ndt_ellipsoid.hpp File Reference

Utilities for NDT I/O over ROS interfaces. More...

#include <beluga_ros/messages.hpp>
#include <Eigen/Core>
#include <beluga/eigen_compatibility.hpp>
#include <range/v3/view/enumerate.hpp>
#include <beluga/sensor/data/ndt_cell.hpp>
#include <beluga/sensor/data/sparse_value_grid.hpp>

Include dependency graph for ndt_ellipsoid.hpp:

Go to the source code of this file.

Namespaces
	beluga_ros
	The main Beluga ROS namespace.

Functions
bool	beluga_ros::detail::use_mean_covariance (Eigen::SelfAdjointEigenSolver< Eigen::Matrix< double, 3, 3 >> &eigen_solver, beluga::NDTCell< 3 > cell, beluga_ros::msg::Marker &marker)
	Create an ellipoid based on NDT cell data (eigenvalues and eigenvectors) contained in the received marker. More...
void	beluga_ros::detail::use_cell_size (const Eigen::Vector< int, 3 > &position, double size, beluga_ros::msg::Marker &marker)
	Create a cube contained in the received marker. More...
template<typename MapType , int NDim>
std::pair< beluga_ros::msg::MarkerArray, bool >	beluga_ros::assign_obstacle_map (const beluga::SparseValueGrid< MapType, NDim > &grid, beluga_ros::msg::MarkerArray &message)

Detailed Description

Utilities for NDT I/O over ROS interfaces.

Function Documentation

use_cell_size()

void beluga_ros::detail::use_cell_size	(	const Eigen::Vector< int, 3 > &	position,
		double	size,
		beluga_ros::msg::Marker &	marker
	)

Create a cube contained in the received marker.

Parameters

position	Center of the cube.
size	Size of the edges.
marker	Marker that will contain the message.

use_mean_covariance()

bool beluga_ros::detail::use_mean_covariance	(	Eigen::SelfAdjointEigenSolver< Eigen::Matrix< double, 3, 3 >> &	eigen_solver,
		beluga::NDTCell< 3 >	cell,
		beluga_ros::msg::Marker &	marker
	)

Create an ellipoid based on NDT cell data (eigenvalues and eigenvectors) contained in the received marker.

Parameters

eigen_solver	Precreated eigen solver of the NDT cell.
cell	NDT cell.
marker	Marker that will contain the message.

Returns

A boolean set to false if the ellipsoid could not be created (because the covariances are non-diagonalizable).