simple_sweep_demo.cpp File Reference

Node for simple demo of point cloud construction. More...

#include <cmath>
#include <string>
#include <cstdlib>
#include <ros/ros.h>
#include <ros/topic.h>
#include <laser_assembler/AssembleScans2.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/TwistStamped.h>
#include <sensor_msgs/NavSatFix.h>
#include <sensor_msgs/PointCloud2.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
#include <mavros_msgs/CommandTOL.h>
#include <mavros_msgs/CommandHome.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>

Include dependency graph for simple_sweep_demo.cpp:

Go to the source code of this file.

Functions
bool	isGoalReached (const geometry_msgs::PoseStamped &curr_pose, const geometry_msgs::PoseStamped &goal_pose, double threshold=0.5)
std::array< std::vector< double >, 2 >	linearInterp (const std::array< double, 2 > &p1, const std::array< double, 2 > &p2, const double step)
	Perform linear interpolation. More...
std::vector< geometry_msgs::PoseStamped >	getBilinearPath (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, const double step=0.05)
	Return interpolated path using bilinear interpolation from two waypoints. More...
int	main (int argc, char **argv)

Detailed Description

Node for simple demo of point cloud construction.

Author

Takaki Ueno

Definition in file simple_sweep_demo.cpp.

Function Documentation

std::vector<geometry_msgs::PoseStamped> getBilinearPath	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		const double	step = 0.05
	)

Return interpolated path using bilinear interpolation from two waypoints.

Parameters

start	Start waypoint
goal	Goal waypoint
step	Step size of interpolation

Returns

Vector of interpolated path

Definition at line 105 of file simple_sweep_demo.cpp.

bool isGoalReached	(	const geometry_msgs::PoseStamped &	curr_pose,
		const geometry_msgs::PoseStamped &	goal_pose,
		double	threshold = 0.5
	)

Definition at line 40 of file simple_sweep_demo.cpp.

std::array<std::vector<double>, 2> linearInterp	(	const std::array< double, 2 > &	p1,
		const std::array< double, 2 > &	p2,
		const double	step
	)

Perform linear interpolation.

Parameters

p1	First point
p2	Second point
step	Step size of interpolation

Returns

Array of interpolated points in the shape of [x-points, y-points]

Definition at line 57 of file simple_sweep_demo.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 147 of file simple_sweep_demo.cpp.