aikido::perception Namespace Reference

Classes
class	AssetDatabase
	Instantiation of AssetDatabase that reads of JSON file containing the information that maps object keys to visual assets and resources. More...
class	DetectedObject
	DetectedObject delegates a detected object from a third-party perception algorithm. More...
class	PerceptionModule
	The interface for the generic perception module. More...
class	PoseEstimatorModule
	Instantiates the PerceptionModule specifically for PoseEstimator. More...

Functions
Eigen::Isometry3d	convertROSPoseToEigen (const geometry_msgs::Pose &p)
	Convert a ROS Pose (position + quaternion) to a 4 x 4 pose matrix. More...
Eigen::Isometry3d	convertStampedTransformToEigen (const tf::StampedTransform &t)
	Convert a time-stamped ROS transform to a 4 x 4 pose matrix. More...

Function Documentation

convertROSPoseToEigen()

Eigen::Isometry3d aikido::perception::convertROSPoseToEigen

(

const geometry_msgs::Pose &

p

)

Convert a ROS Pose (position + quaternion) to a 4 x 4 pose matrix.

Parameters

[in]

p

the geometry_msgs::Pose pose value return the 4 x 4 homogeneous matrix for the pose

convertStampedTransformToEigen()

Eigen::Isometry3d aikido::perception::convertStampedTransformToEigen

(

const tf::StampedTransform &

t

)

Convert a time-stamped ROS transform to a 4 x 4 pose matrix.

Parameters

[in]

t

The time-stamped ROS transform (position + quaternion)

Returns

The 4 x 4 homogeneous matrix corresponding to the time-stamped transform