particle_cloud.hpp File Reference

Utilities for particle cloud I/O over ROS interfaces. More...

#include <cmath>
#include <map>
#include <memory>
#include <type_traits>
#include <range/v3/range/primitives.hpp>
#include <range/v3/view/take_exactly.hpp>
#include <sophus/se2.hpp>
#include <sophus/se3.hpp>
#include <sophus/types.hpp>
#include <beluga/algorithm/spatial_hash.hpp>
#include <beluga/primitives.hpp>
#include <beluga/views/sample.hpp>
#include <beluga/views/zip.hpp>
#include <beluga_ros/messages.hpp>
#include <beluga_ros/tf2_eigen.hpp>
#include <beluga_ros/tf2_sophus.hpp>

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Classes
struct	beluga_ros::detail::almost_equal_to< Sophus::SE2< Scalar > >
	std::equal_to equivalent specialized for SE(2) types, with user resolutions. More...

Namespaces
	beluga_ros
	The main Beluga ROS namespace.

Functions
beluga_ros::msg::ColorRGBA	beluga_ros::detail::alphaHueToRGBA (float hue, float alpha)
	Make an RGBA color based on hue alone. 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 &	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. More...
template<class Particles , class Message >
Message &	beluga_ros::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 &	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. 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 &	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. More...

Detailed Description

Utilities for particle cloud I/O over ROS interfaces.

Function Documentation

alphaHueToRGBA()

beluga_ros::msg::ColorRGBA beluga_ros::detail::alphaHueToRGBA ( float  hue, float  alpha  )

inline

Make an RGBA color based on hue alone.

Assumes both saturation and value to be 1.