All mrs_lib functions, classes, variables and definitions are contained in this namespace. More...

Classes
class	AtomicScopeFlag
	Convenience class for automatically setting and unsetting an atomic boolean based on the object's scope. Useful e.g. for indicating whether a thread is running or not. More...

class	AttitudeConverter
	The main convertor class. Instantiate with any type in constructor and get the value in any other type by assigning the instance to your variable, as: tf::Quaternion tf1_quaternion = AttitudeConverter(roll, pitch, yaw); All the default Euler angles are in the extrinsic RPY notation. More...

class	BatchVisualizer
	library for drawing large amounts of geometric objects in RVIZ at the same time More...

class	DKF
	Implementation of the Degenerate measurement Linear Kalman filter. More...

class	DynamicPublisher
	A helper class for easy publishing of ROS messages for debugging purposes. More...

class	DynamicReconfigureMgr

struct	eigenvector_exception
	This exception may be thrown when solving the generalized eigenvalue problem with the M and N matrices. More...

class	EulerAttitude
	A small class for storing the Euler angles. More...

class	IirFilter

struct	ImagePubliserData

class	ImagePublisher

struct	Intersection

class	JLKF

class	KalmanFilter
	This abstract class defines common interfaces and types for a generic Kalman filter. More...

class	KalmanFilterAloamGarm
	This abstract class defines common interfaces and types for a generic Kalman filter. More...

class	LKF
	Implementation of the Linear Kalman filter [3]. More...

class	LKF_MRS_odom

class	MedianFilter
	Implementation of a median filter with a fixed-length buffer. More...

class	MRSTimer
	Common wrapper representing the functionality of the ros::Timer. More...

class	NCLKF
	This class implements the norm-constrained linear Kalman filter [5]. More...

class	NCLKF_partial
	This class implements the partially norm-constrained linear Kalman filter [5]. More...

class	NCUKF

class	NotchFilter

class	ParamLoader
	Convenience class for loading parameters from rosparam server. More...

class	ParamProvider
	Helper class for ParamLoader. More...

class	Polygon

class	Profiler

class	PublisherHandler
	user wrapper of the publisher handler implementation More...

class	PublisherHandler_impl
	implementation of the publisher handler More...

class	Repredictor
	Implementation of the Repredictor for fusing measurements with variable delays. More...

class	RepredictorAloamgarm
	Implementation of the RepredictorAloamgarm for fusing measurements with variable delays. More...

class	RHEIV
	Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm [2]. More...

class	ROSTimer
	ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization method. More...

class	Routine

class	SafetyZone

class	ScopeTimer
	Simple timer which will time a duration of a scope and checkpoints inside the scope in ros time and std::chrono time. More...

class	ScopeTimerLogger
	Simple file logger of scope timer and its checkpoints. More...

class	ServiceClientHandler
	user wrapper of the service client handler implementation More...

class	ServiceClientHandler_impl
	implementation of the service client handler More...

class	SubscribeHandler
	The main class for ROS topic subscription, message timeout handling etc. More...

struct	SubscribeHandlerOptions
	A helper class to simplify setup of SubscribeHandler construction. This class is passed to the SubscribeHandler constructor and specifies its common options. More...

class	ThreadTimer
	Custom thread-based Timers with the same interface as mrs_lib::ROSTimer. More...

class	TimeoutManager
	TODO. More...

class	TransformBroadcaster
	Wrapper for the tf2_ros::TransformBroadcaster. With each sendTransform() command, the message is checked against the last message with the same frame IDs. If the transform was already published in this ros::Time step, then the transform is skipped. Prevents endless stream of warnings from spamming the console output. More...

class	Transformer
	A convenience wrapper class for ROS's native TF2 API to simplify transforming of various messages. More...

class	UKF
	Implementation of the Unscented Kalman filter [4]. More...

class	varstepLKF

class	Vector3Converter
	Converter of Vector3 representations. Instantiate it with any type of vector3 in constructor and convert it by assigning it to any other type of vector3 variable. More...

class	VisualObject

Typedefs
template<typename SubscribeHandler >
using	message_type = typename SubscribeHandler::message_type
	Helper alias for convenient extraction of handled message type from a SubscribeHandlerPtr.

using	dkf_t = DKF< n_states, n_inputs >

using	lkf_t = LKF< n_states, n_inputs, n_measurements >

using	rep_t = Repredictor< lkf_t >

using	rheiv_t = RHEIV< n_states, n_params >

using	theta_t = rheiv_t::theta_t

using	xs_t = rheiv_t::xs_t

using	zs_t = rheiv_t::zs_t

using	P_t = rheiv_t::P_t

using	Ps_t = rheiv_t::Ps_t

using	f_z_t = rheiv_t::f_z_t

using	dzdx_t = rheiv_t::dzdx_t

using	ukf_t = UKF< n_states, n_inputs, n_measurements >

using	dumbrep_t = Repredictor< lkf_t, true >

Enumerations
enum	RPY_convention_t { RPY_INTRINSIC = 1, RPY_EXTRINSIC = 2 }

enum	MarkerType { POINT = 0, LINE = 1, TRIANGLE = 2 }

Functions
double	probit (const double quantile)
	Inverse cumulative distribution function of the standard normal probability distribution. More...

std::tuple< double, double, double >	getXYZ (const geometry_msgs::Point &data)
	get XYZ from geometry_msgs::Point More...

std::tuple< double, double, double >	getXYZ (const geometry_msgs::PointConstPtr &data)
	get XYZ from geometry_msgs::PointConstPtr More...

std::tuple< double, double, double >	getXYZ (const geometry_msgs::Vector3 &data)
	get XYZ from geometry_msgs::Vector3 More...

std::tuple< double, double, double >	getXYZ (const geometry_msgs::Vector3ConstPtr &data)
	get XYZ from geometry_msgs::Vector3ConstPtr More...

std::tuple< double, double, double >	getPosition (const geometry_msgs::Pose &data)
	get position from geometry_msgs::Pose More...

std::tuple< double, double, double >	getPosition (const geometry_msgs::PoseConstPtr &data)
	get position from geometry_msgs::PoseConstPtr More...

double	getHeading (const geometry_msgs::Pose &data)
	get heading from geometry_msgs::Pose More...

double	getHeading (const geometry_msgs::PoseConstPtr &data)
	get heading from geometry_msgs::PoseConstPtr More...

double	getYaw (const geometry_msgs::Pose &data)
	get yaw from geometry_msgs::Pose More...

double	getYaw (const geometry_msgs::PoseConstPtr &data)
	get yaw from geometry_msgs::PoseConstPtr More...

std::tuple< double, double, double >	getPosition (const geometry_msgs::PoseWithCovariance &data)
	get position from geometry_msgs::PoseWithCovariance More...

std::tuple< double, double, double >	getPosition (const geometry_msgs::PoseWithCovarianceConstPtr &data)
	get position from geometry_msgs::PoseWithCovarianceConstPtr More...

double	getHeading (const geometry_msgs::PoseWithCovariance &data)
	get heading from geometry_msgs::PoseWithCovariance More...

double	getHeading (const geometry_msgs::PoseWithCovarianceConstPtr &data)
	get heading from geometry_msgs::PoseWithCovarianceConstPtr More...

double	getYaw (const geometry_msgs::PoseWithCovariance &data)
	get yaw from geometry_msgs::PoseWithCovariance More...

double	getYaw (const geometry_msgs::PoseWithCovarianceConstPtr &data)
	get yaw from geometry_msgs::PoseWithCovarianceConstPtr More...

std::tuple< double, double, double >	getVelocity (const geometry_msgs::Twist &data)
	get velocity from geometry_msgs::Twist More...

std::tuple< double, double, double >	getPosition (const geometry_msgs::TwistConstPtr &data)
	get position from geometry_msgs::TwistConstPtr More...

std::tuple< double, double, double >	getVelocity (const geometry_msgs::TwistWithCovariance &data)
	get velocity from geometry_msgs::TwistWithCovariance More...

std::tuple< double, double, double >	getPosition (const geometry_msgs::TwistWithCovarianceConstPtr &data)
	get position from geometry_msgs::TwistWithCovarianceConstPtr More...

std::tuple< double, double, double >	getPosition (const nav_msgs::Odometry &data)
	get position from nav_msgs::Odometry More...

std::tuple< double, double, double >	getPosition (const nav_msgs::OdometryConstPtr &data)
	get position from nav_msgs::OdometryConstPtr More...

std::tuple< double, double, double >	getVelocity (const nav_msgs::Odometry &data)
	get position from nav_msgs::Odometry More...

std::tuple< double, double, double >	getVelocity (const nav_msgs::OdometryConstPtr &data)
	get velocity from nav_msgs::OdometryConstPtr More...

double	getHeading (const nav_msgs::Odometry &data)
	get heading from nav_msgs::Odometry More...

double	getHeading (const nav_msgs::OdometryConstPtr &data)
	get heading from nav_msgs::OdometryConstPtr More...

double	getYaw (const nav_msgs::Odometry &data)
	get yaw from nav_msgs::Odometry More...

double	getYaw (const nav_msgs::OdometryConstPtr &data)
	get yaw from nav_msgs::OdometryConstPtr More...

geometry_msgs::Pose	getPose (const nav_msgs::Odometry &data)
	returns the Pose part of the nav_msgs::Odometry message More...

geometry_msgs::Pose	getPose (const nav_msgs::OdometryConstPtr &data)
	returns the Pose part of the nav_msgs::OdometryConstPtr message More...

std::tuple< double, double, double >	getPosition (const mrs_msgs::TrackerCommand &data)
	get position data from mrs_msgs::TrackerCommand More...

std::tuple< double, double, double >	getPosition (const mrs_msgs::TrackerCommandConstPtr &data)
	get position data from mrs_msgs::TrackerCommandConstPtr More...

std::tuple< double, double, double >	getVelocity (const mrs_msgs::TrackerCommand &data)
	get velocity data from mrs_msgs::TrackerCommand More...

std::tuple< double, double, double >	getVelocity (const mrs_msgs::TrackerCommandConstPtr &data)
	get velocity data from mrs_msgs::TrackerCommandConstPtr More...

double	getHeading (const mrs_msgs::TrackerCommand &data)
	get heading from mrs_msgs::TrackerCommand More...

double	getHeading (const mrs_msgs::TrackerCommandConstPtr &data)
	get heading from mrs_msgs::TrackerCommandConstPtr More...

std::tuple< double, double, double >	getPosition (const mrs_msgs::Reference &data)
	get position from mrs_msgs::Reference More...

std::tuple< double, double, double >	getPosition (const mrs_msgs::ReferenceConstPtr &data)
	get position from mrs_msgs::ReferenceConstPtr More...

double	getHeading (const mrs_msgs::Reference &data)
	get heading from mrs_msgs::Reference More...

double	getHeading (const mrs_msgs::ReferenceConstPtr &data)
	get heading from mrs_msgs::ReferenceConstPtr More...

std::tuple< double, double, double >	getPosition (const mrs_msgs::ReferenceStamped &data)
	get position from mrs_msgs::ReferenceStamped More...

std::tuple< double, double, double >	getPosition (const mrs_msgs::ReferenceStampedConstPtr &data)
	get position from mrs_msgs::ReferenceStampedConstPtr More...

double	getHeading (const mrs_msgs::ReferenceStamped &data)
	get heading from mrs_msgs::ReferenceStamped More...

double	getHeading (const mrs_msgs::ReferenceStampedConstPtr &data)
	get heading from mrs_msgs::ReferenceStampedConstPtr More...

template<class... GetArgs, class... SetArgs>
std::tuple< GetArgs... >	get_set_mutexed (std::mutex &mut, std::tuple< GetArgs &... > get, std::tuple< SetArgs... > from_set, std::tuple< SetArgs &... > to_set)
	thread-safe getter and setter for values of variables (args) More...

template<class... Args>
std::tuple< Args... >	get_mutexed (std::mutex &mut, Args &... args)
	thread-safe getter for values of variables (args) More...

template<class T >
T	get_mutexed (std::mutex &mut, T &arg)
	thread-safe getter a value from a variable More...

template<class T >
void	set_mutexed_impl (const T what, T &where)
	base case of the variadic template for set_mutexed() More...

template<class T , class... Args>
void	set_mutexed_impl (const T what, T &where, Args... args)
	general case of the variadic template for set_mutexed() More...

template<class T >
auto	set_mutexed (std::mutex &mut, const T what, T &where)
	thread-safe setter for a variable More...

template<class... Args>
auto	set_mutexed (std::mutex &mut, Args &... args)
	thread-safe setter for multiple variables More...

template<class... Args>
auto	set_mutexed (std::mutex &mut, const std::tuple< Args... > from, std::tuple< Args &... > to)
	thread-safe setter for multiple variables More...

template<>
ros::Duration	ParamLoader::loadParam2< ros::Duration > (const std::string &name, const ros::Duration &default_value)
	An overload for loading ros::Duration. More...

template<>
ros::Duration	ParamLoader::loadParam2< ros::Duration > (const std::string &name)
	An overload for loading ros::Duration. More...

Intersection	sectionIntersect (Eigen::RowVector2d start1, Eigen::RowVector2d end1, Eigen::RowVector2d start2, Eigen::RowVector2d end2)

template<typename Class , class ... Types>
void	construct_object (Class &object, Types ... args)
	Helper function for object construstion e.g. in case of member objects. This function is useful to avoid specifying object template parameters twice - once in definition of the variable and second time during object construction. This function can deduce the template parameters from the type of the already defined object, because it returns the newly constructed object as a reference argument and not as a return type. More...

bool	breakable_sleep (const ros::Duration &dur, const std::atomic< bool > &continue_sleep)

template<typename Iterator >
std::string	containerToString (const Iterator begin, const Iterator end, const std::string &delimiter=", ")
	Convenience function for converting container ranges to strings (e.g. for printing). More...

template<typename Iterator >
std::string	containerToString (const Iterator begin, const Iterator end, const char *delimiter)
	Convenience function for converting container ranges to strings (e.g. for printing). More...

template<typename Container >
std::string	containerToString (const Container &cont, const std::string &delimiter=", ")
	Convenience function for converting containers to strings (e.g. for printing). More...

template<typename Container >
std::string	containerToString (const Container &cont, const char *delimiter=", ")
	Convenience function for converting containers to strings (e.g. for printing). More...

template<typename T >
T::iterator	remove_const (const typename T::const_iterator &it, T &cont)
	Convenience class for removing const-ness from a container iterator. More...

template<typename T >
int	signum (T val)

template<typename ret_t , typename in_t >
ret_t	convert (const in_t &in)
	Converts between different vector representations. More...

geometry_msgs::Point	eigenToMsg (const Eigen::Vector3d &v)

std_msgs::ColorRGBA	generateColor (const double r, const double g, const double b, const double a)

Eigen::Vector3d	msgToEigen (const geometry_msgs::Point &p)

std::vector< Eigen::Vector3d >	buildEllipse (const mrs_lib::geometry::Ellipse &ellipse, const int num_points)

template bool	ParamProvider::getParam< std::string > (const std::string &name, std::string &out_value) const

Variables
const double	RADIANS_PER_DEGREE = M_PI / 180.0

const double	DEGREES_PER_RADIAN = 180.0 / M_PI

const double	WGS84_A = 6378137.0

const double	WGS84_B = 6356752.31424518

const double	WGS84_F = 0.0033528107

const double	WGS84_E = 0.0818191908

const double	WGS84_EP = 0.0820944379

const double	UTM_K0 = 0.9996

const double	UTM_FE = 500000.0

const double	UTM_FN_N = 0.0

const double	UTM_FN_S = 10000000.0

const double	UTM_E2 = (WGS84_E * WGS84_E)

const double	UTM_E4 = (UTM_E2 * UTM_E2)

const double	UTM_E6 = (UTM_E4 * UTM_E2)

const double	UTM_EP2 = (UTM_E2 / (1 - UTM_E2))

const int	n_states = 6

const int	n_inputs = 0

const int	n_measurements = 2

const int	n_states_norm_constrained = 2

const int	n_params = 4

Detailed Description

All mrs_lib functions, classes, variables and definitions are contained in this namespace.

Function Documentation

◆ construct_object()

template<typename Class , class ... Types>

void mrs_lib::construct_object	(	Class &	object,
		Types ...	args
	)

Helper function for object construstion e.g. in case of member objects. This function is useful to avoid specifying object template parameters twice - once in definition of the variable and second time during object construction. This function can deduce the template parameters from the type of the already defined object, because it returns the newly constructed object as a reference argument and not as a return type.

Parameters

object	The object to be constructed.
args	These arguments are passed to the object constructor.

Examples: subscribe_handler/example.cpp.

◆ containerToString() [1/4]

template<typename Container >

std::string mrs_lib::containerToString	(	const Container &	cont,
		const char *	delimiter = `", "`
	)

Convenience function for converting containers to strings (e.g. for printing).

Parameters

cont	the container that will be converted to `std::string`.
delimiter	will be used to separate the elements in the output.

Returns: elements of the container from begin to end (excluding), converted to string and separated by delimiter.

◆ containerToString() [2/4]

template<typename Container >

std::string mrs_lib::containerToString	(	const Container &	cont,
		const std::string &	delimiter = `", "`
	)

Convenience function for converting containers to strings (e.g. for printing).

Parameters

cont	the container that will be converted to `std::string`.
delimiter	will be used to separate the elements in the output.

Returns: elements of the container from begin to end (excluding), converted to string and separated by delimiter.

◆ containerToString() [3/4]

template<typename Iterator >

std::string mrs_lib::containerToString	(	const Iterator	begin,
		const Iterator	end,
		const char *	delimiter
	)

Convenience function for converting container ranges to strings (e.g. for printing).

Parameters

begin	first element of the container that will be converted to `std::string`.
end	one-after-the-last element of the container that will be converted to `std::string`.
delimiter	will be used to separate the elements in the output.

Returns: elements of the container from begin to end (excluding), converted to string and separated by delimiter.

◆ containerToString() [4/4]

template<typename Iterator >

std::string mrs_lib::containerToString	(	const Iterator	begin,
		const Iterator	end,
		const std::string &	delimiter = `", "`
	)

Convenience function for converting container ranges to strings (e.g. for printing).

Parameters

begin	first element of the container that will be converted to `std::string`.
end	one-after-the-last element of the container that will be converted to `std::string`.
delimiter	will be used to separate the elements in the output.

Returns: elements of the container from begin to end (excluding), converted to string and separated by delimiter.

◆ convert()

template<typename ret_t , typename in_t >

ret_t mrs_lib::convert ( const in_t & in )

Converts between different vector representations.

Usage (for full example, see the file vector_converter/example.cpp):

auto out = mrs_lib::convert<to_type>(in);

Supported types by default are: Eigen::Vector3d, cv::Vec3d, geometry_msgs::Vector3. If you want to use this with a new type, it should work automagically if it provides a reasonable API. If it doesn't work by default, you just need to implement the respective convertTo() and convertFrom() functions for that type (see the file impl/vector_converter.hpp and the example file vector_converter/example.cpp).

Parameters

in	The input vector to be converted to the `ret_t` type.

Template Parameters

ret_t	Type of the return vector. You need to specify this when calling the function.
in_t	Type of the input vector. This parameter is deduced by the compiler and doesn't need to be specified in usual cases.

◆ get_mutexed() [1/2]

template<class... Args>

std::tuple<Args...> mrs_lib::get_mutexed	(	std::mutex &	mut,
		Args &...	args
	)

thread-safe getter for values of variables (args)

Template Parameters

Args	types of the variables

Parameters

mut	mutex which protects the variables
args	variables to obtain the values from

Returns: std::tuple of the values

Examples: repredictor/example.cpp.

◆ get_mutexed() [2/2]

template<class T >

T mrs_lib::get_mutexed	(	std::mutex &	mut,
		T &	arg
	)

thread-safe getter a value from a variable

Template Parameters

T	type of the variable

Parameters

mut	mutex which protects the variable
arg	variable to obtain the value from

Returns: value of the variable

◆ get_set_mutexed()

template<class... GetArgs, class... SetArgs>

std::tuple<GetArgs...> mrs_lib::get_set_mutexed	(	std::mutex &	mut,
		std::tuple< GetArgs &... >	get,
		std::tuple< SetArgs... >	from_set,
		std::tuple< SetArgs &... >	to_set
	)

thread-safe getter and setter for values of variables (args)

Template Parameters

GetArgs	types of the variables to get
SetArgs	types of the variables to set

Parameters

mut	mutex which protects the variables
get	tuple of variable references to obtain the values from
to_set	tuple of variable references to set the new values from `from_set`
from_set	tuple of the new values to be set to `to_set`

Returns: tuple of the values from get

◆ getHeading() [1/12]

double mrs_lib::getHeading ( const geometry_msgs::Pose & data )

get heading from geometry_msgs::Pose

Parameters

data pose

Returns: heading

◆ getHeading() [2/12]

double mrs_lib::getHeading ( const geometry_msgs::PoseConstPtr & data )

get heading from geometry_msgs::PoseConstPtr

Parameters

data	pose (ConstPtr)

Returns: heading

◆ getHeading() [3/12]

double mrs_lib::getHeading ( const geometry_msgs::PoseWithCovariance & data )

get heading from geometry_msgs::PoseWithCovariance

Parameters

data	pose with covariance

Returns: heading

◆ getHeading() [4/12]

double mrs_lib::getHeading ( const geometry_msgs::PoseWithCovarianceConstPtr & data )

get heading from geometry_msgs::PoseWithCovarianceConstPtr

Parameters

data	pose with covariance (ConstPtr)

Returns: heading

◆ getHeading() [5/12]

double mrs_lib::getHeading ( const mrs_msgs::Reference & data )

get heading from mrs_msgs::Reference

Parameters

data reference

Returns: heading

◆ getHeading() [6/12]

double mrs_lib::getHeading ( const mrs_msgs::ReferenceConstPtr & data )

get heading from mrs_msgs::ReferenceConstPtr

Parameters

data	reference (ContrPtr)

Returns: heading

◆ getHeading() [7/12]

double mrs_lib::getHeading ( const mrs_msgs::ReferenceStamped & data )

get heading from mrs_msgs::ReferenceStamped

Parameters

data	referencestamped

Returns: heading

◆ getHeading() [8/12]

double mrs_lib::getHeading ( const mrs_msgs::ReferenceStampedConstPtr & data )

get heading from mrs_msgs::ReferenceStampedConstPtr

Parameters

data	referencestamped (ContrPtr)

Returns: heading

◆ getHeading() [9/12]

double mrs_lib::getHeading ( const mrs_msgs::TrackerCommand & data )

get heading from mrs_msgs::TrackerCommand

Parameters

data	position command

Returns: heading

◆ getHeading() [10/12]

double mrs_lib::getHeading ( const mrs_msgs::TrackerCommandConstPtr & data )

get heading from mrs_msgs::TrackerCommandConstPtr

Parameters

data	position command (ConstPtr)

Returns: heading

◆ getHeading() [11/12]

double mrs_lib::getHeading ( const nav_msgs::Odometry & data )

get heading from nav_msgs::Odometry

Parameters

data odometry

Returns: heading

◆ getHeading() [12/12]

double mrs_lib::getHeading ( const nav_msgs::OdometryConstPtr & data )

get heading from nav_msgs::OdometryConstPtr

Parameters

data	odometry (ConstPtr)

Returns: heading

◆ getPose() [1/2]

geometry_msgs::Pose mrs_lib::getPose ( const nav_msgs::Odometry & data )

returns the Pose part of the nav_msgs::Odometry message

Parameters

data odometry

Returns: pose

◆ getPose() [2/2]

geometry_msgs::Pose mrs_lib::getPose ( const nav_msgs::OdometryConstPtr & data )

returns the Pose part of the nav_msgs::OdometryConstPtr message

Parameters

data	odometry (ConstPtr)

Returns: pose

◆ getPosition() [1/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const geometry_msgs::Pose & data )

get position from geometry_msgs::Pose

Parameters

data pose

Returns: x, y, z

◆ getPosition() [2/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const geometry_msgs::PoseConstPtr & data )

get position from geometry_msgs::PoseConstPtr

Parameters

data	pose (ConstPtr)

Returns: x, y, z

◆ getPosition() [3/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const geometry_msgs::PoseWithCovariance & data )

get position from geometry_msgs::PoseWithCovariance

Parameters

data	pose with covariance

Returns: x, y, z

◆ getPosition() [4/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const geometry_msgs::PoseWithCovarianceConstPtr & data )

get position from geometry_msgs::PoseWithCovarianceConstPtr

Parameters

data	pose with covariance (ConstPtr)

Returns: x, y, z

◆ getPosition() [5/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const geometry_msgs::TwistConstPtr & data )

get position from geometry_msgs::TwistConstPtr

Parameters

data	twist (ConstPtr)

Returns: x, y, z

◆ getPosition() [6/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const geometry_msgs::TwistWithCovarianceConstPtr & data )

get position from geometry_msgs::TwistWithCovarianceConstPtr

Parameters

data	twistwithcovariance (ConstPtr)

Returns: x, y, z

◆ getPosition() [7/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const mrs_msgs::Reference & data )

get position from mrs_msgs::Reference

Parameters

data reference

Returns: x, y, z

◆ getPosition() [8/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const mrs_msgs::ReferenceConstPtr & data )

get position from mrs_msgs::ReferenceConstPtr

Parameters

data	reference (ContrPtr)

Returns: x, y, z

◆ getPosition() [9/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const mrs_msgs::ReferenceStamped & data )

get position from mrs_msgs::ReferenceStamped

Parameters

data	reference stamped

Returns: x, y, z

◆ getPosition() [10/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const mrs_msgs::ReferenceStampedConstPtr & data )

get position from mrs_msgs::ReferenceStampedConstPtr

Parameters

data	reference stamped (ContrPtr)

Returns: x, y, z

◆ getPosition() [11/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const mrs_msgs::TrackerCommand & data )

get position data from mrs_msgs::TrackerCommand

Parameters

data	position command

Returns: x, y, z

◆ getPosition() [12/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const mrs_msgs::TrackerCommandConstPtr & data )

get position data from mrs_msgs::TrackerCommandConstPtr

Parameters

data	position command (ConstPtr)

Returns: x, y, z

◆ getPosition() [13/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const nav_msgs::Odometry & data )

get position from nav_msgs::Odometry

Parameters

data odometry

Returns: x, y, z

◆ getPosition() [14/14]

std::tuple<double, double, double> mrs_lib::getPosition ( const nav_msgs::OdometryConstPtr & data )

get position from nav_msgs::OdometryConstPtr

Parameters

data	odometry (ConstPtr)

Returns: x, y, z

◆ getVelocity() [1/6]

std::tuple<double, double, double> mrs_lib::getVelocity ( const geometry_msgs::Twist & data )

get velocity from geometry_msgs::Twist

Parameters

data twist

Returns: x, y, z

◆ getVelocity() [2/6]

std::tuple<double, double, double> mrs_lib::getVelocity ( const geometry_msgs::TwistWithCovariance & data )

get velocity from geometry_msgs::TwistWithCovariance

Parameters

data	twistwithcovariance

Returns: x, y, z

◆ getVelocity() [3/6]

std::tuple<double, double, double> mrs_lib::getVelocity ( const mrs_msgs::TrackerCommand & data )

get velocity data from mrs_msgs::TrackerCommand

Parameters

data	position command

Returns: x, y, z

◆ getVelocity() [4/6]

std::tuple<double, double, double> mrs_lib::getVelocity ( const mrs_msgs::TrackerCommandConstPtr & data )

get velocity data from mrs_msgs::TrackerCommandConstPtr

Parameters

data	position command (ConstPtr)

Returns: x, y, z

◆ getVelocity() [5/6]

std::tuple<double, double, double> mrs_lib::getVelocity ( const nav_msgs::Odometry & data )

get position from nav_msgs::Odometry

Parameters

data odometry

Returns: x, y, z

◆ getVelocity() [6/6]

std::tuple<double, double, double> mrs_lib::getVelocity ( const nav_msgs::OdometryConstPtr & data )

get velocity from nav_msgs::OdometryConstPtr

Parameters

data	odometry (ConstPtr)

Returns: x, y, z

◆ getXYZ() [1/4]

std::tuple<double, double, double> mrs_lib::getXYZ ( const geometry_msgs::Point & data )

get XYZ from geometry_msgs::Point

Parameters

data point

Returns: x, y, z

◆ getXYZ() [2/4]

std::tuple<double, double, double> mrs_lib::getXYZ ( const geometry_msgs::PointConstPtr & data )

get XYZ from geometry_msgs::PointConstPtr

Parameters

data	point (ConstPtr)

Returns: x, y, z

◆ getXYZ() [3/4]

std::tuple<double, double, double> mrs_lib::getXYZ ( const geometry_msgs::Vector3 & data )

get XYZ from geometry_msgs::Vector3

Parameters

data vector3

Returns: x, y, z

◆ getXYZ() [4/4]

std::tuple<double, double, double> mrs_lib::getXYZ ( const geometry_msgs::Vector3ConstPtr & data )

get XYZ from geometry_msgs::Vector3ConstPtr

Parameters

data	vector3 (ConstPtr)

Returns: x, y, z

◆ getYaw() [1/6]

double mrs_lib::getYaw ( const geometry_msgs::Pose & data )

get yaw from geometry_msgs::Pose

Parameters

data pose

Returns: yaw

◆ getYaw() [2/6]

double mrs_lib::getYaw ( const geometry_msgs::PoseConstPtr & data )

get yaw from geometry_msgs::PoseConstPtr

Parameters

data	pose (ConstPtr)

Returns: yaw

◆ getYaw() [3/6]

double mrs_lib::getYaw ( const geometry_msgs::PoseWithCovariance & data )

get yaw from geometry_msgs::PoseWithCovariance

Parameters

data	pose with covariance

Returns: yaw

◆ getYaw() [4/6]

double mrs_lib::getYaw ( const geometry_msgs::PoseWithCovarianceConstPtr & data )

get yaw from geometry_msgs::PoseWithCovarianceConstPtr

Parameters

data	pose with covariance (ConstPtr)

Returns: yaw

◆ getYaw() [5/6]

double mrs_lib::getYaw ( const nav_msgs::Odometry & data )

get yaw from nav_msgs::Odometry

Parameters

data odometry

Returns: yaw

◆ getYaw() [6/6]

double mrs_lib::getYaw ( const nav_msgs::OdometryConstPtr & data )

get yaw from nav_msgs::OdometryConstPtr

Parameters

data	odometry (ConstPtr)

Returns: yaw

◆ ParamLoader::loadParam2< ros::Duration >() [1/2]

template<>

ros::Duration mrs_lib::ParamLoader::loadParam2< ros::Duration > ( const std::string & name )

An overload for loading ros::Duration.

The duration will be loaded as a double, representing a number of seconds, and then converted to ros::Duration.

Parameters

name	Name of the parameter in the rosparam server.

Returns: The loaded parameter value.

◆ ParamLoader::loadParam2< ros::Duration >() [2/2]

template<>

ros::Duration mrs_lib::ParamLoader::loadParam2< ros::Duration >	(	const std::string &	name,
		const ros::Duration &	default_value
	)

An overload for loading ros::Duration.

The duration will be loaded as a double, representing a number of seconds, and then converted to ros::Duration.

Parameters

name	Name of the parameter in the rosparam server.
default_value	This value will be used if the parameter name is not found in the rosparam server.

Returns: The loaded parameter value.

◆ probit()

double mrs_lib::probit ( const double quantile )

Inverse cumulative distribution function of the standard normal probability distribution.

Implements the quantile function of a standard normal probability distribution (aka the probit function, see https://en.wikipedia.org/wiki/Probit). The implementation uses the Beasley-Springer-Moro approximation (see page 68 of Glasserman, Paul, "Monte Carlo Methods in Financial Engineering. Stochastic Modelling and Applied Probability", 2003, doi:10.1007/978-0-387-21617-1, available at https://sci-hub.se/10.1007/978-0-387-21617-1).

Parameters

quantile the probability that a realization of a random variable with a standard normal dostribution is equal or less than the returned value (see https://en.wikipedia.org/wiki/Quantile).

Returns: such a value that the probability that a realization of a random variable with a standard normal dostribution is equal or less is quantile.

◆ remove_const()

template<typename T >

T::iterator mrs_lib::remove_const	(	const typename T::const_iterator &	it,
		T &	cont
	)

Convenience class for removing const-ness from a container iterator.

Parameters

it	the iterator from which const-ness should be removed.
cont	the corresponding container of the iterator.

Returns: a non-const iterator, pointing to the same element as it.

◆ set_mutexed() [1/3]

template<class... Args>

auto mrs_lib::set_mutexed	(	std::mutex &	mut,
		Args &...	args
	)

thread-safe setter for multiple variables

example: set_mutexed(my_mutex_, a, a_, b, b_, c, c_); where a, b, c are the values to be set a_, b_, c_ are the variables to be updated

Template Parameters

Args	types of the variables

Parameters

mut	mutex to be locked
args

Returns: alternating list of values that were just set

◆ set_mutexed() [2/3]

template<class... Args>

auto mrs_lib::set_mutexed	(	std::mutex &	mut,
		const std::tuple< Args... >	from,
		std::tuple< Args &... >	to
	)

thread-safe setter for multiple variables

example: set_mutexed(mu_mutex, std::tuple(a, b, c), std::forward_as_tuple(a_, b_, c_)); where a, b, c are the values to be set a_, b_, c_ are the updated variables

Template Parameters

Args	types of the variables

Parameters

mut	mutex to be locked
from	std::tuple of the values
to	std::tuple of reference to the variablaes

Returns

◆ set_mutexed() [3/3]

template<class T >

auto mrs_lib::set_mutexed	(	std::mutex &	mut,
		const T	what,
		T &	where
	)

thread-safe setter for a variable

Template Parameters

T	type of the variable

Parameters

mut	mutex to be locked
what	value to set
where	reference to be set

Returns

Examples: repredictor/example.cpp.

◆ set_mutexed_impl() [1/2]

template<class T >

void mrs_lib::set_mutexed_impl	(	const T	what,
		T &	where
	)

base case of the variadic template for set_mutexed()

Template Parameters

T	variable type

Parameters

what	value to set
where	reference to be set

◆ set_mutexed_impl() [2/2]

template<class T , class... Args>

void mrs_lib::set_mutexed_impl	(	const T	what,
		T &	where,
		Args...	args
	)

general case of the variadic template for set_mutexed()

Template Parameters

T	type of the next variable to set
Args	types of the rest of the variables

Parameters

what	value to set
where	reference to be set
args	the remaining arguments

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Function Documentation

◆ construct_object()

◆ containerToString() [1/4]

◆ containerToString() [2/4]

◆ containerToString() [3/4]

◆ containerToString() [4/4]

◆ convert()

◆ get_mutexed() [1/2]

◆ get_mutexed() [2/2]

◆ get_set_mutexed()

◆ getHeading() [1/12]

◆ getHeading() [2/12]

◆ getHeading() [3/12]

◆ getHeading() [4/12]

◆ getHeading() [5/12]

◆ getHeading() [6/12]

◆ getHeading() [7/12]

◆ getHeading() [8/12]

◆ getHeading() [9/12]

◆ getHeading() [10/12]

◆ getHeading() [11/12]

◆ getHeading() [12/12]

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ getPosition() [1/14]

◆ getPosition() [2/14]

◆ getPosition() [3/14]

◆ getPosition() [4/14]

◆ getPosition() [5/14]

◆ getPosition() [6/14]

◆ getPosition() [7/14]

◆ getPosition() [8/14]

◆ getPosition() [9/14]

◆ getPosition() [10/14]

◆ getPosition() [11/14]

◆ getPosition() [12/14]

◆ getPosition() [13/14]

◆ getPosition() [14/14]

◆ getVelocity() [1/6]

◆ getVelocity() [2/6]

◆ getVelocity() [3/6]

◆ getVelocity() [4/6]

◆ getVelocity() [5/6]

◆ getVelocity() [6/6]

◆ getXYZ() [1/4]

◆ getXYZ() [2/4]

◆ getXYZ() [3/4]

◆ getXYZ() [4/4]

◆ getYaw() [1/6]

◆ getYaw() [2/6]

◆ getYaw() [3/6]

◆ getYaw() [4/6]

◆ getYaw() [5/6]

◆ getYaw() [6/6]

◆ ParamLoader::loadParam2< ros::Duration >() [1/2]

◆ ParamLoader::loadParam2< ros::Duration >() [2/2]

◆ probit()

◆ remove_const()

◆ set_mutexed() [1/3]

◆ set_mutexed() [2/3]

◆ set_mutexed() [3/3]

◆ set_mutexed_impl() [1/2]

◆ set_mutexed_impl() [2/2]