LocalGuidance
A library that generates velocity references to follow a path.
navigation_common::CoordinateSpace Class Reference

#include <CoordinateSpace.hpp>

Static Public Member Functions

template<enum DimensionType Dim>
static double getDistanceBetweenPoses (const PoseStamped &pose1, const PoseStamped &pose2)
 
template<enum DimensionType Dim>
static double getDistanceBetweenPoses (const PoseStamped &pose1, const PoseStamped &pose2, const tf::TransformListener &listener)
 
template<enum DimensionType Dim>
static double getDistanceBetweenPoses (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
 
template<enum DimensionType Dim>
static double getDistanceBetweenPoses (const geometry_msgs::PoseStamped &poseStamped1, const geometry_msgs::PoseStamped &poseStamped2)
 
template<enum DimensionType Dim>
static double getDistanceBetweenPoses (const geometry_msgs::PoseStamped &poseStamped1, const geometry_msgs::PoseStamped &poseStamped2, const tf::TransformListener &listener)
 
static double wrapAngle (double angle)
 
static double getDistanceBetweenAngles (double angle1, double angle2)
 

Static Public Attributes

static constexpr double rotationalWeighting_ = 0.5
 

Member Function Documentation

static double navigation_common::CoordinateSpace::getDistanceBetweenAngles ( double  angle1,
double  angle2 
)
static

Get the distance between two angles within [0..Pi).

Parameters
[in]angle1angle 1.
[in]angle2angle 2.
Returns
distance.
template<enum DimensionType Dim>
static double navigation_common::CoordinateSpace::getDistanceBetweenPoses ( const PoseStamped pose1,
const PoseStamped pose2 
)
static

Get the distance between two poses in the given dimension. If the dimension is mixed (translational and rotational), the rotational part will be weighted.

Parameters
[in]pose1pose 1.
[in]pose2pose 2.
Returns
distance.
template<enum DimensionType Dim>
static double navigation_common::CoordinateSpace::getDistanceBetweenPoses ( const PoseStamped pose1,
const PoseStamped pose2,
const tf::TransformListener &  listener 
)
inlinestatic
template<enum DimensionType Dim>
static double navigation_common::CoordinateSpace::getDistanceBetweenPoses ( const geometry_msgs::Pose &  pose1,
const geometry_msgs::Pose &  pose2 
)
inlinestatic
template<enum DimensionType Dim>
static double navigation_common::CoordinateSpace::getDistanceBetweenPoses ( const geometry_msgs::PoseStamped &  poseStamped1,
const geometry_msgs::PoseStamped &  poseStamped2 
)
inlinestatic
template<enum DimensionType Dim>
static double navigation_common::CoordinateSpace::getDistanceBetweenPoses ( const geometry_msgs::PoseStamped &  poseStamped1,
const geometry_msgs::PoseStamped &  poseStamped2,
const tf::TransformListener &  listener 
)
inlinestatic
static double navigation_common::CoordinateSpace::wrapAngle ( double  angle)
static

Wrap an angle into (-pi,pi].

Parameters
[in]angleinput angle.
Returns
wrapped angle.

Member Data Documentation

constexpr double navigation_common::CoordinateSpace::rotationalWeighting_ = 0.5
static

The documentation for this class was generated from the following file: