FarolGimmicks

Functions

	Name
template <typename T > T	getParameters(ros::NodeHandle & _nh, std::string const & parameter_name) Get the Parameters object.
template <typename T > T	getParameters(ros::NodeHandle & _nh, std::string const & parameter_name, T default_value) Get the Parameters object.
template <typename T > T	getParameters(ros::NodeHandle & _nh, std::string const & parameter_name, T default_value, bool delete_param) Get the Parameters object.
void	spherical_to_cartesian(double bearing, double elevation, double range, double * out_pos_cart) Convert from spherical to cartesian coordinates. Used mainly with usbl fixes.
int	signVal(double v) Returns the sign of a double.
double	wrap2pi(double theta, const int mode) Wraps angle between [0, 2PI] or [-PI, PI].
double	wrapTo2pi(double in) Wrap angle between [0, 2PI].
double	angleDiff(double a, double b) Method to calculate the diference between angles correctly even if they wrap between -pi and pi.
template <typename A ,typename B > void	publishValue(ros::Publisher & pub, B & value)

Attributes

	Name
const double	PI PI value.

Detailed Description

FarolGimmicks namespace.

Note: why the code of templates is here -> because linkage problems see https://stackoverflow.com/a/1353981

Functions Documentation

function getParameters

template <typename T >
T getParameters(
    ros::NodeHandle & _nh,
    std::string const & parameter_name
)

Get the Parameters object.

Parameters:

_nh ros nodehandle
parameter_name string with paramenter name

Template Parameters:

T the type of data of a desired parameter

Return: T parameter value

Note: Option not considering default value, so the config file must have the parameter;

function getParameters

template <typename T >
T getParameters(
    ros::NodeHandle & _nh,
    std::string const & parameter_name,
    T default_value
)

Get the Parameters object.

Parameters:

_nh ros nodehandle
parameter_name string with parameter name
default_value default value of the parameter

Template Parameters:

T the type of data of a desired parameter

Return: T parameter value

Note: Option considering default value. Even if the parameter doesn't exist in config file it is possible to use a default value.

function getParameters

template <typename T >
T getParameters(
    ros::NodeHandle & _nh,
    std::string const & parameter_name,
    T default_value,
    bool delete_param
)

Get the Parameters object.

Parameters:

_nh ros nodehandle
parameter_name string with parameter name
default_value default value of the parameter
delete_param boolean to delete or not the parameter from parameter server

Template Parameters:

T the type of data of a desired parameter

Return: T parameter value

Note: Option considering default value. Even if the parameter doesn't exist in config file it is possible to use a default value. Removes parameter from parameter server

function spherical_to_cartesian

void spherical_to_cartesian(
    double bearing,
    double elevation,
    double range,
    double * out_pos_cart
)

Convert from spherical to cartesian coordinates. Used mainly with usbl fixes.

Parameters:

bearing horizontal angle between the direction of an object and another object or between it and the true north direction in degrees.
elevation angle measured between the horizontal and the vehicle line of sight to the object
range distance to the object
out_pos_cart cartesian coordinates pointer

function signVal

int signVal(
    double v
)

Returns the sign of a double.

Parameters:

v double value

Return:

int 1 if value is positive
int 0 if value is 0
int -1 if value is negative

function wrap2pi

double wrap2pi(
    double theta,
    const int mode
)

Wraps angle between [0, 2PI] or [-PI, PI].

Parameters:

theta angle in radians
mode 0 = Wrap from [0, 2*pi]; 1 = Wrap from [-pi, pi]

Return: double wraped angle

function wrapTo2pi

double wrapTo2pi(
    double in
)

Wrap angle between [0, 2PI].

Parameters:

in angle in radians

Return: double wraped angle

function angleDiff

double angleDiff(
    double a,
    double b
)

Method to calculate the diference between angles correctly even if they wrap between -pi and pi.

Parameters:

a angle 1 in radians
b angle 2 in radians

Return: double

function publishValue

template <typename A ,
typename B >
void publishValue(
    ros::Publisher & pub,
    B & value
)

Parameters:

pub publisher
value value

Template Parameters:

A value type
B publisher type

Attributes Documentation

variable PI

const double PI = 3.14159265;

PI value.

Updated on 2024-03-07 at 10:30:47 +0000

Last update: March 7, 2024