vive.h File Reference

#include <config_reader/config_reader.h>
#include <msg_conversions/msg_conversions.h>
#include <ff_common/ff_names.h>
#include <geometry_msgs/TransformStamped.h>
#include <ff_hw_msgs/ViveLighthouses.h>
#include <ff_hw_msgs/ViveTrackers.h>
#include <ff_hw_msgs/ViveLight.h>
#include <ff_msgs/CameraRegistration.h>
#include <ff_msgs/VisualLandmarks.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <string>
#include <vector>
#include <map>

Include dependency graph for vive.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	vive_localization::Lighthouse
struct	vive_localization::Tracker
struct	vive_localization::Measurement

Namespaces
	vive_localization

Typedefs
typedef std::map< uint8_t, Lighthouse >	vive_localization::LighthouseMap
typedef std::map< std::string, Tracker >	vive_localization::TrackerMap
typedef std::map< ros::Time, Measurement >	vive_localization::MeasurementMap
typedef std::map< ros::Time, geometry_msgs::TransformStamped >	vive_localization::CorrectionMap

Enumerations
enum	vive_localization::Params {   vive_localization::PARAM_PHASE, vive_localization::PARAM_TILT, vive_localization::PARAM_GIB_PHASE, vive_localization::PARAM_GIB_MAG,   vive_localization::PARAM_CURVE, vive_localization::NUM_PARAMS }
enum	vive_localization::Errors {   vive_localization::ERROR_GYR_BIAS, vive_localization::ERROR_GYR_SCALE, vive_localization::ERROR_ACC_BIAS, vive_localization::ERROR_ACC_SCALE,   vive_localization::NUM_ERRORS }
enum	vive_localization::Motors { vive_localization::MOTOR_VERTICAL, vive_localization::MOTOR_HORIZONTAL, vive_localization::NUM_MOTORS }

Functions
void	vive_localization::SendStaticTransform (geometry_msgs::TransformStamped const &tfs)
void	vive_localization::SendDynamicTransform (geometry_msgs::TransformStamped const &tfs)
void	vive_localization::SendTransforms (std::string const &frame_world, std::string const &frame_vive, std::string const &frame_body, double registration[6], LighthouseMap const &lighthouses, TrackerMap const &trackers)
Eigen::Affine3d	vive_localization::CeresToEigen (double ceres[6], bool invert)
Eigen::Quaterniond	vive_localization::toQuaternion (double roll, double pitch, double yaw)
bool	vive_localization::ReadModificationVector (config_reader::ConfigReader *config, Eigen::Vector3d &modification_vector, Eigen::Quaterniond &modification_quaternion)
bool	vive_localization::ReadLighthouseConfig (config_reader::ConfigReader *config, std::map< std::string, Eigen::Affine3d > &lighthouses)
bool	vive_localization::ReadTrackerConfig (config_reader::ConfigReader *config, std::map< std::string, Tracker > &trackers)
bool	vive_localization::ReadRegistrationConfig (config_reader::ConfigReader *config, double T[6])
void	vive_localization::LighthouseCallback (ff_hw_msgs::ViveLighthouses::ConstPtr const &msg, LighthouseMap &lighthouses)
void	vive_localization::TrackerCallback (ff_hw_msgs::ViveTrackers::ConstPtr const &msg, TrackerMap &trackers)
bool	vive_localization::SolvePnP (std::vector< cv::Point3f > const &obj, std::vector< cv::Point2f > const &img, Eigen::Affine3d &transform)
template<typename T >
static bool	vive_localization::Kabsch (Eigen::Matrix< T, 3, Eigen::Dynamic > in, Eigen::Matrix< T, 3, Eigen::Dynamic > out, Eigen::Transform< T, 3, Eigen::Affine > &A, bool allowScale)
template<typename T >
static void	vive_localization::Predict (T const *params, T const *xyz, T *ang, bool correct)
template<typename T >
static void	vive_localization::Correct (T const *params, T *angle, bool correct)

Variables
static constexpr size_t	vive_localization::NUM_SENSORS = 32