/home/runner/work/beluga/beluga/beluga_ros/include/beluga_ros/particle_cloud.hpp File Reference#
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Beluga ROS
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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()
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inline |
Make an RGBA color based on hue alone.
Assumes both saturation and value to be 1.
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