NASA Astrobee Robot Software  0.16.6
Flight software for the Astrobee robot operating inside the International Space Station.
localization_rviz_plugins Namespace Reference

Classes

class  DepthOdometryDisplay
 
class  ImuAugmentorDisplay
 
class  LocalizationGraphDisplay
 
class  LocalizationGraphPanel
 
class  PoseDisplay
 
class  SparseMappingDisplay
 

Typedefs

using Calibration = gtsam::Cal3_S2
 
using Camera = gtsam::PinholePose< Calibration >
 
using SmartFactor = gtsam::RobustSmartProjectionPoseFactor< Calibration >
 

Functions

cv::Point2f CvPoint (const Eigen::Vector2d &point)
 
Ogre::Vector3 ogrePosition (const gtsam::Pose3 &pose)
 
Ogre::Vector3 ogrePosition (const gtsam::Point3 &point)
 
Ogre::Quaternion ogreQuaternion (const gtsam::Pose3 &pose)
 
boost::optional< gtsam::Pose3 > currentFrameTFrame (const std::string &frame_id, const ros::Time timestamp, const rviz::DisplayContext &context)
 
std::unique_ptr< rviz::Axes > axisFromPose (const gtsam::Pose3 &pose, const double scale, Ogre::SceneManager *scene_manager, Ogre::SceneNode *scene_node)
 
boost::optional< lc::CombinedNavStatefirstCombinedNavState (const graph_localizer::GraphLocalizer &graph_localizer, const gtsam::CombinedImuFactor *const imu_factor)
 
boost::optional< lc::CombinedNavStatepimPredict (const graph_localizer::GraphLocalizer &graph_localizer, const gtsam::CombinedImuFactor *const imu_factor)
 
std::pair< Ogre::Quaternion, double > getOrientationAndLength (const gtsam::Point3 &point_a, const gtsam::Point3 &point_b)
 

Typedef Documentation

◆ Calibration

using localization_rviz_plugins::Calibration = typedef gtsam::Cal3_S2

◆ Camera

using localization_rviz_plugins::Camera = typedef gtsam::PinholePose<Calibration>

◆ SmartFactor

Function Documentation

◆ axisFromPose()

std::unique_ptr< rviz::Axes > localization_rviz_plugins::axisFromPose ( const gtsam::Pose3 &  pose,
const double  scale,
Ogre::SceneManager *  scene_manager,
Ogre::SceneNode *  scene_node 
)

◆ currentFrameTFrame()

boost::optional< gtsam::Pose3 > localization_rviz_plugins::currentFrameTFrame ( const std::string &  frame_id,
const ros::Time  timestamp,
const rviz::DisplayContext &  context 
)

◆ CvPoint()

cv::Point2f localization_rviz_plugins::CvPoint ( const Eigen::Vector2d &  point)

◆ firstCombinedNavState()

boost::optional< localization_common::CombinedNavState > localization_rviz_plugins::firstCombinedNavState ( const graph_localizer::GraphLocalizer graph_localizer,
const gtsam::CombinedImuFactor *const  imu_factor 
)

◆ getOrientationAndLength()

std::pair< Ogre::Quaternion, double > localization_rviz_plugins::getOrientationAndLength ( const gtsam::Point3 &  point_a,
const gtsam::Point3 &  point_b 
)

◆ ogrePosition() [1/2]

Ogre::Vector3 localization_rviz_plugins::ogrePosition ( const gtsam::Point3 &  point)

◆ ogrePosition() [2/2]

Ogre::Vector3 localization_rviz_plugins::ogrePosition ( const gtsam::Pose3 &  pose)

◆ ogreQuaternion()

Ogre::Quaternion localization_rviz_plugins::ogreQuaternion ( const gtsam::Pose3 &  pose)

◆ pimPredict()

boost::optional< localization_common::CombinedNavState > localization_rviz_plugins::pimPredict ( const graph_localizer::GraphLocalizer graph_localizer,
const gtsam::CombinedImuFactor *const  imu_factor 
)