LocalGuidance
A library that generates velocity references to follow a path.
navigation_common/helper_functions.hpp File Reference
#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_eigen.h>
#include "navigation_common/DimensionType.hpp"
#include "navigation_common/typedefs.hpp"
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Namespaces

 navigation_common
 Implementation of conversion functions for Path/PathLocalGuidance.
 

Functions

tf::StampedTransform navigation_common::listenForTf (const tf::TransformListener &tfListener, const std::string &target, const std::string &source, const ros::Time &time, const ros::Duration &timeout=ros::Duration(1.0))
 
geometry_msgs::PoseStamped navigation_common::tfToPose (const tf::StampedTransform &tf)
 
tf::StampedTransform navigation_common::poseToTf (const geometry_msgs::PoseStamped &poseStamped, const std::string &childFrameId)
 
double navigation_common::directionToYaw (const Vector3D &direction)
 
double navigation_common::orientationToYaw (const RotationQuaternionD &orientation)
 
RotationQuaternionD navigation_common::yawToOrientationYaw (double yaw)
 
RotationQuaternionD navigation_common::directionToOrientationYaw (const Vector3D &direction)
 
RotationQuaternionD navigation_common::directionToOrientationPitchYaw (const Vector3D &direction)