Resurgence/transform_8h_source.html

#pragma once


#include "../navtypes.h"


#include <Eigen/Geometry>


namespace util {


double quatToHeading(double qw, double qx, double qy, double qz);


double quatToHeading(const Eigen::Quaterniond& quat);


Eigen::Quaterniond eulerAnglesToQuat(const navtypes::eulerangles_t& rpy);


navtypes::points_t transformReadings(const navtypes::points_t& ps,

                                     const navtypes::transform_t& tf);


navtypes::trajectory_t transformTraj(const navtypes::trajectory_t& traj,

                                     const navtypes::transform_t& tf);


bool collides(const navtypes::transform_t& tf, const navtypes::points_t& lms, double radius);


navtypes::transform_t toTransformRotateFirst(double x, double y, double theta);


navtypes::pose_t toPose(const navtypes::transform_t& trf, double prev_theta);


double closestHeading(double theta, double prev_theta);


navtypes::transform_t toTransform(const navtypes::pose_t& pose);


} // namespace util

Eigen::Quaterniond
Quaternion< double > Quaterniond

util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145

util::collides
bool collides(const transform_t &tf, const points_t &ps, double radius)
Check for intersection between a pose and a point cloud.
Definition transform.cpp:48

util::toTransformRotateFirst
transform_t toTransformRotateFirst(double x, double y, double theta)
Creates a rigid transform that takes a point from the map-frame to a frame that was rotated CCW by th...
Definition transform.cpp:62

util::quatToHeading
double quatToHeading(double qw, double qx, double qy, double qz)
Extract the heading from a quaternion.
Definition transform.cpp:9

util::toTransform
transform_t toTransform(const pose_t &pose)
Convert a pose to a rigid transform.
Definition transform.cpp:85

util::transformTraj
trajectory_t transformTraj(const trajectory_t &traj, const transform_t &tf)
Convert a trajectory to a different reference frame.
Definition transform.cpp:40

util::closestHeading
double closestHeading(double theta, double prev_theta)
Get an equivalent heading that is within π radians of another heading.
Definition transform.cpp:68

util::transformReadings
points_t transformReadings(const points_t &ps, const transform_t &tf)
Convert a set of points to a different reference frame.
Definition transform.cpp:31

util::toPose
pose_t toPose(const transform_t &trf, double prev_theta)
Given a transform, gives a robot pose that would have that transform.
Definition transform.cpp:76

util::eulerAnglesToQuat
Eigen::Quaterniond eulerAnglesToQuat(const navtypes::eulerangles_t &rpy)
Convert euler angles to a quaternion representation.
Definition transform.cpp:24