motion_common.cpp File Reference

#include "motion_common/motion_common.hpp"
#include <algorithm>
#include <cmath>
#include <limits>
#include "helper_functions/angle_utils.hpp"
#include "tf2/utils.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"

Include dependency graph for motion_common.cpp:

Namespaces
	motion
	motion::motion_common
	geometry_msgs
	geometry_msgs::msg

Functions
MOTION_COMMON_PUBLIC bool	motion::motion_common::is_past_point (const Point &state, const Point &pt) noexcept
	Check if a state is past a given trajectory point, assuming heading is correct. More...
MOTION_COMMON_PUBLIC bool	motion::motion_common::is_past_point (const Point &state, const Point &current_pt, const Point &next_pt) noexcept
MOTION_COMMON_PUBLIC bool	motion::motion_common::is_past_point (const Point &state, const Point &pt, Double nx, Double ny) noexcept
	Given a normal, determine if state is past a point. More...
MOTION_COMMON_PUBLIC bool	motion::motion_common::heading_ok (const Trajectory &traj)
	Check that all heading values in a trajectory are normalized 2D quaternions. More...
MOTION_COMMON_PUBLIC void	motion::motion_common::doTransform (const Point &t_in, Point &t_out, const geometry_msgs::msg::TransformStamped &transform) noexcept
	Apply transform to TrajectoryPoint. More...
MOTION_COMMON_PUBLIC void	motion::motion_common::doTransform (const State &t_in, State &t_out, const geometry_msgs::msg::TransformStamped &transform) noexcept
	Apply transform to VehicleKinematicState. More...
MOTION_COMMON_PUBLIC Double	motion::motion_common::to_angle (Orientation orientation) noexcept
	Converts 3D quaternion to simple heading representation. More...
MOTION_COMMON_PUBLIC Orientation	motion::motion_common::slerp (const Orientation &a, const Orientation &b, const Real t)
	Spherical linear interpolation. More...
MOTION_COMMON_PUBLIC Point	motion::motion_common::interpolate (Point a, Point b, Real t)
	Default point interpolation. More...
MOTION_COMMON_PUBLIC void	motion::motion_common::sample (const Trajectory &in, Trajectory &out, std::chrono::nanoseconds period)
	Trajectory sampling with default interpolation. More...
MOTION_COMMON_PUBLIC void	motion::motion_common::error (const Point &state, const Point &ref, Diagnostic &out) noexcept
	Diagnostic header stuff. More...
MOTION_COMMON_PUBLIC Quaternion	geometry_msgs::msg::operator+ (Quaternion a, Quaternion b) noexcept
	Addition operator. More...
MOTION_COMMON_PUBLIC Quaternion	geometry_msgs::msg::operator- (Quaternion a) noexcept
	Unary minus. More...
MOTION_COMMON_PUBLIC Quaternion	geometry_msgs::msg::operator- (Quaternion a, Quaternion b) noexcept
	Difference operator. More...