/home/runner/work/beluga/beluga/beluga_ros/include/beluga_ros/particle_cloud.hpp File Reference#
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>
Include dependency graph for particle_cloud.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... | |
struct | beluga_ros::detail::almost_equal_to< Sophus::SE3< Scalar > > |
std::equal_to equivalent specialized for SE(3) 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>> || std::is_same_v<State, typename Sophus::SE3<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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