vive_localization Namespace Reference

Classes
struct	LightCost
struct	Lighthouse
struct	Measurement
struct	SmoothCost
class	Solver
struct	Tracker

Typedefs
typedef std::map< uint8_t, Lighthouse >	LighthouseMap
typedef std::map< std::string, Tracker >	TrackerMap
typedef std::map< ros::Time, Measurement >	MeasurementMap
typedef std::map< ros::Time, geometry_msgs::TransformStamped >	CorrectionMap
typedef std::map< ros::Time, double[6]>	Trajectory
typedef std::map< ros::Time, std::map< uint8_t, std::map< std::string, std::map< uint8_t, std::map< uint8_t, std::vector< double > > > > > >	LightMeasurements

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

Functions
void	SendStaticTransform (geometry_msgs::TransformStamped const &tfs)
void	SendDynamicTransform (geometry_msgs::TransformStamped const &tfs)
void	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	CeresToEigen (double ceres[6], bool invert)
Eigen::Quaterniond	toQuaternion (double roll, double pitch, double yaw)
bool	ReadModificationVector (config_reader::ConfigReader *config, Eigen::Vector3d &modification_vector, Eigen::Quaterniond &modification_quaternion)
bool	ReadLighthouseConfig (config_reader::ConfigReader *config, std::map< std::string, Eigen::Affine3d > &lighthouses)
bool	ReadTrackerConfig (config_reader::ConfigReader *config, std::map< std::string, Tracker > &trackers)
bool	ReadRegistrationConfig (config_reader::ConfigReader *config, double T[6])
void	LighthouseCallback (ff_hw_msgs::ViveLighthouses::ConstPtr const &msg, LighthouseMap &lighthouses)
void	TrackerCallback (ff_hw_msgs::ViveTrackers::ConstPtr const &msg, TrackerMap &trackers)
bool	SolvePnP (std::vector< cv::Point3f > const &obj, std::vector< cv::Point2f > const &img, Eigen::Affine3d &transform)
template<typename T >
static bool	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	Predict (T const *params, T const *xyz, T *ang, bool correct)
template<typename T >
static void	Correct (T const *params, T *angle, bool correct)
template<typename T >
void	TransformInPlace (const T transform[6], T x[3])
template<typename T >
void	InverseTransformInPlace (const T transform[6], T x[3])
template<typename T >
void	CombineTransforms (const T b[6], const T a[6], T ba[6])
template<typename T >
void	TransformError (const T a[6], const T b[6], T err[6])

Variables
static constexpr size_t	NUM_SENSORS = 32

Typedef Documentation

CorrectionMap

typedef std::map<ros::Time, geometry_msgs::TransformStamped> vive_localization::CorrectionMap

LighthouseMap

typedef std::map<uint8_t, Lighthouse> vive_localization::LighthouseMap

LightMeasurements

typedef std::map<ros::Time, std::map<uint8_t, std::map<std::string, std::map<uint8_t, std::map<uint8_t, std::vector<double> > > > > > vive_localization::LightMeasurements

MeasurementMap

typedef std::map<ros::Time, Measurement> vive_localization::MeasurementMap

TrackerMap

typedef std::map<std::string, Tracker> vive_localization::TrackerMap

Trajectory

typedef std::map<ros::Time, double[6]> vive_localization::Trajectory

Enumeration Type Documentation

Errors

enum vive_localization::Errors

Enumerator
ERROR_GYR_BIAS
ERROR_GYR_SCALE
ERROR_ACC_BIAS
ERROR_ACC_SCALE
NUM_ERRORS

Motors

enum vive_localization::Motors

Enumerator
MOTOR_VERTICAL
MOTOR_HORIZONTAL
NUM_MOTORS

Params

enum vive_localization::Params

Enumerator
PARAM_PHASE
PARAM_TILT
PARAM_GIB_PHASE
PARAM_GIB_MAG
PARAM_CURVE
NUM_PARAMS

Function Documentation

CeresToEigen()

Eigen::Affine3d vive_localization::CeresToEigen	(	double	ceres[6],
		bool	invert
	)

CombineTransforms()

template<typename T >

void vive_localization::CombineTransforms ( const T  b[6], const T  a[6], T  ba[6]  )

inline

Correct()

template<typename T >

static void vive_localization::Correct ( T const *  params, T *  angle, bool  correct  )

static

InverseTransformInPlace()

template<typename T >

void vive_localization::InverseTransformInPlace ( const T  transform[6], T  x[3]  )

inline

Kabsch()

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  )

static

LighthouseCallback()

void vive_localization::LighthouseCallback	(	ff_hw_msgs::ViveLighthouses::ConstPtr const &	msg,
		LighthouseMap &	lighthouses
	)

Predict()

template<typename T >

static void vive_localization::Predict ( T const *  params, T const *  xyz, T *  ang, bool  correct  )

static

ReadLighthouseConfig()

bool vive_localization::ReadLighthouseConfig	(	config_reader::ConfigReader *	config,
		std::map< std::string, Eigen::Affine3d > &	lighthouses
	)

ReadModificationVector()

bool vive_localization::ReadModificationVector	(	config_reader::ConfigReader *	config,
		Eigen::Vector3d &	modification_vector,
		Eigen::Quaterniond &	modification_quaternion
	)

ReadRegistrationConfig()

bool vive_localization::ReadRegistrationConfig	(	config_reader::ConfigReader *	config,
		double	T[6]
	)

ReadTrackerConfig()

bool vive_localization::ReadTrackerConfig	(	config_reader::ConfigReader *	config,
		std::map< std::string, Tracker > &	trackers
	)

SendDynamicTransform()

void vive_localization::SendDynamicTransform

(

geometry_msgs::TransformStamped const &

tfs

)

SendStaticTransform()

void vive_localization::SendStaticTransform

(

geometry_msgs::TransformStamped const &

tfs

)

SendTransforms()

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
	)

SolvePnP()

bool vive_localization::SolvePnP	(	std::vector< cv::Point3f > const &	obj,
		std::vector< cv::Point2f > const &	img,
		Eigen::Affine3d &	transform
	)

toQuaternion()

Eigen::Quaterniond vive_localization::toQuaternion	(	double	roll,
		double	pitch,
		double	yaw
	)

TrackerCallback()

void vive_localization::TrackerCallback	(	ff_hw_msgs::ViveTrackers::ConstPtr const &	msg,
		TrackerMap &	trackers
	)

TransformError()

template<typename T >

void vive_localization::TransformError ( const T  a[6], const T  b[6], T  err[6]  )

inline

TransformInPlace()

template<typename T >

void vive_localization::TransformInPlace ( const T  transform[6], T  x[3]  )

inline

Variable Documentation

NUM_SENSORS

constexpr size_t vive_localization::NUM_SENSORS = 32

staticconstexpr