similaritytransform.h File Reference

#include <vector>
#include <utility>
#include <geometry_msgs/PoseWithCovariance.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <limits>
#include <msf_core/msf_types.hpp>
#include <msf_core/eigen_utils.h>

Go to the source code of this file.

Classes
class	msf_core::similarity_transform::From6DoF
	Computes the average similarity transform (rotation, position, scale) between two sets of 6 DoF poses. More...

Namespaces
namespace	geometry_msgs
	Defines the start row and col for the covariance entries in.
namespace	geometry_msgs::cov
namespace	msf_core
namespace	msf_core::similarity_transform

Typedefs
typedef geometry_msgs::PoseWithCovariance	msf_core::similarity_transform::Pose
typedef std::pair< Pose, Pose >	msf_core::similarity_transform::PosePair
typedef std::vector< PosePair >	msf_core::similarity_transform::PosePairVector

Enumerations
enum	{ geometry_msgs::cov::p = 0, geometry_msgs::cov::q = 3 }

Functions
Vector3	msf_core::geometry_msgsToEigen (const geometry_msgs::Point &p)
	Converts a geometry_msgs::Point to an Eigen Vector3d.
Eigen::Quaterniond	msf_core::geometry_msgsToEigen (const geometry_msgs::Quaternion &q)
	Converts a geometry_msgs::Quaternion to an Eigen::Quaterniond.
Matrix3	msf_core::geometry_msgsCovBlockToEigen (const geometry_msgs::PoseWithCovariance::_covariance_type &gcov, int start_row, int start_col)
	Returns a 3x3 covariance block entry from a geometry_msgs::PoseWithCovariance::covariance array.
template<class Derived >
void	msf_core::eigenCovBlockToGeometry_msgs (geometry_msgs::PoseWithCovariance::_covariance_type &gcov, const Eigen::MatrixBase< Derived > &ecov, int start_row, int start_col)
	Fills a 3x3 covariance block entry of a geometry_msgs::PoseWithCovariance::covariance array from an Eigen 3x3 matrix.
template<class Derived >
geometry_msgs::Point	msf_core::eigenToGeometry_msgs (const Eigen::MatrixBase< Derived > &p)
	Converts any eigen vector with 3 elements to a geometry_msgs::Point.
geometry_msgs::Quaternion	msf_core::eigenToGeometry_msgs (const Eigen::Quaterniond &q)
	Converts an Eigen::Quaterniond to a geometry_msgs::Quaternion.