rapid::utils Namespace Reference

Classes
class	CommandInterface
class	ExitCommand
class	CommandLine
class	RandomNumberInterface
	Interface for random number generators. More...
class	RandomNumber
	The cstdlib random number generator. More...
class	MockRandomNumber
	A mock random number generator for unit testing. More...

Functions
void	GeometryMsgToEigen (const geometry_msgs::Quaternion &in, Eigen::Quaternionf *out)
void	EigenToGeometryMsg (const Eigen::Quaternionf &in, geometry_msgs::Quaternion *out)
bool	AabbXYIntersect (const geometry_msgs::Point &pos1, const geometry_msgs::Vector3 &scale1, const geometry_msgs::Point &pos2, const geometry_msgs::Vector3 &scale2)
double	DegreesToRadians (double degrees)
bool	IntervalsIntersect (double start1, double end1, double start2, double end2)
double	Norm (const geometry_msgs::Vector3 &v)
void	GeometryMsgToPcl (const geometry_msgs::Point &in, pcl::PointXYZ *out)
void	GeometryMsgToPcl (const geometry_msgs::Vector3 &in, pcl::PointXYZ *out)
void	PclToGeometryMsg (const pcl::PointXYZ &in, geometry_msgs::Point *out)
void	PclToGeometryMsg (const pcl::PointXYZ &in, geometry_msgs::Vector3 *out)
void	StochasticUniversalSampling (const std::vector< double > &cdf, int num_samples, std::vector< int > *indices)
	Sample randomly from a CDF with a uniform sampling method. More...
void	StochasticUniversalSampling (const std::vector< double > &cdf, int num_samples, const RandomNumberInterface &rng, std::vector< int > *indices)
	Sample randomly from a CDF with a uniform sampling method. More...

Variables
static double	kDegToRads = 3.14159265358979 / 180

Function Documentation

bool rapid::utils::AabbXYIntersect	(	const geometry_msgs::Point &	pos1,
		const geometry_msgs::Vector3 &	scale1,
		const geometry_msgs::Point &	pos2,
		const geometry_msgs::Vector3 &	scale2
	)

double rapid::utils::DegreesToRadians ( double  degrees )

inline

Definition at line 17 of file math.h.

void rapid::utils::EigenToGeometryMsg	(	const Eigen::Quaternionf &	in,
		geometry_msgs::Quaternion *	out
	)

void rapid::utils::GeometryMsgToEigen	(	const geometry_msgs::Quaternion &	in,
		Eigen::Quaternionf *	out
	)

void rapid::utils::GeometryMsgToPcl	(	const geometry_msgs::Point &	in,
		pcl::PointXYZ *	out
	)

void rapid::utils::GeometryMsgToPcl	(	const geometry_msgs::Vector3 &	in,
		pcl::PointXYZ *	out
	)

bool rapid::utils::IntervalsIntersect	(	double	start1,
		double	end1,
		double	start2,
		double	end2
	)

double rapid::utils::Norm

(

const geometry_msgs::Vector3 &

v

)

void rapid::utils::PclToGeometryMsg	(	const pcl::PointXYZ &	in,
		geometry_msgs::Point *	out
	)

void rapid::utils::PclToGeometryMsg	(	const pcl::PointXYZ &	in,
		geometry_msgs::Vector3 *	out
	)

void rapid::utils::StochasticUniversalSampling	(	const std::vector< double > &	cdf,
		int	num_samples,
		std::vector< int > *	indices
	)

Sample randomly from a CDF with a uniform sampling method.

Parameters

[in]	cdf	The CDF. All values must be between 0 and 1 in ascending order. The last number must be 1.
[in]	num_samples	The number of samples to draw.
[out]	indices	The indices sampled from the CDF.

void rapid::utils::StochasticUniversalSampling	(	const std::vector< double > &	cdf,
		int	num_samples,
		const RandomNumberInterface &	rng,
		std::vector< int > *	indices
	)

Sample randomly from a CDF with a uniform sampling method.

Parameters

[in]	cdf	The CDF. All values must be between 0 and 1 in ascending order. The last number must be 1.
[in]	num_samples	The number of samples to draw.
[in]	rng	A custom random number generator. This is also used during testing to test with a mock RNG.
[out]	indices	The indices sampled from the CDF.

Variable Documentation

double rapid::utils::kDegToRads = 3.14159265358979 / 180

static

Definition at line 16 of file math.h.