math::geometry Namespace Reference

Classes
struct	DistancesFromCenterToEdge
class	Plane
	Represents a plane in 3D space, defined by a normal vector and a point on the plane. More...
class	LineSegment
struct	IsLikeQuaternion
struct	IsLikeQuaternion< T, std::void_t< decltype(std::declval< T >().x), decltype(std::declval< T >().y), decltype(std::declval< T >().z), decltype(std::declval< T >().w)> >
class	PolynomialSolver
class	CatmullRomSpline
class	CatmullRomSplineInterface
class	CatmullRomSubspline
class	HermiteCurve
struct	HasMemberW
struct	HasMemberW< T, std::void_t< decltype(std::declval< T >().w)> >
struct	IsLikeVector3
struct	IsLikeVector3< T, std::void_t< decltype(std::declval< T >().x), decltype(std::declval< T >().y), decltype(std::declval< T >().z), std::enable_if_t<!HasMemberW< T >::value > > >

Typedefs
using	boost_point = boost::geometry::model::d2::point_xy< double >
using	boost_polygon = boost::geometry::model::polygon< boost_point >

Enumerations
enum class	Axis { X = 0 , Y = 1 , Z = 2 }

Functions
std::optional< double >	getPolygonDistance (const geometry_msgs::msg::Pose &pose0, const traffic_simulator_msgs::msg::BoundingBox &bbox0, const geometry_msgs::msg::Pose &pose1, const traffic_simulator_msgs::msg::BoundingBox &bbox1)
	Get the Polygon Distance object. More...
std::optional< std::pair< geometry_msgs::msg::Pose, geometry_msgs::msg::Pose > >	getClosestPoses (const geometry_msgs::msg::Pose &pose0, const traffic_simulator_msgs::msg::BoundingBox &bbox0, const geometry_msgs::msg::Pose &pose1, const traffic_simulator_msgs::msg::BoundingBox &bbox1)
boost_point	pointToSegmentProjection (const boost_point &p, const boost_point &p1, const boost_point &p2)
boost_point	toBoostPoint (const geometry_msgs::msg::Point &point)
boost_polygon	toBoostPolygon (const std::vector< geometry_msgs::msg::Point > &points)
geometry_msgs::msg::Pose	toPose (const boost_point &point)
geometry_msgs::msg::Pose	subtractPoses (const geometry_msgs::msg::Pose &pose1, const geometry_msgs::msg::Pose &pose2)
auto	toPolygon2D (const traffic_simulator_msgs::msg::BoundingBox &bounding_box) -> std::vector< geometry_msgs::msg::Point >
auto	toPolygon2D (const geometry_msgs::msg::Pose &pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box) -> boost_polygon
std::vector< geometry_msgs::msg::Point >	getPointsFromBbox (const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const double width_extension_right=0.0, const double width_extension_left=0.0, const double length_extension_front=0.0, const double length_extension_rear=0.0)
DistancesFromCenterToEdge	getDistancesFromCenterToEdge (const traffic_simulator_msgs::msg::BoundingBox &bounding_box)
boost_point	getClosestPointOnPolygon (const boost_point &query_point, const boost_polygon &polygon)
double	getDistance (const geometry_msgs::msg::Point &p0, const geometry_msgs::msg::Point &p1)
double	getDistance (const geometry_msgs::msg::Pose &p0, const geometry_msgs::msg::Point &p1)
double	getDistance (const geometry_msgs::msg::Point &p0, const geometry_msgs::msg::Pose &p1)
double	getDistance (const geometry_msgs::msg::Pose &p0, const geometry_msgs::msg::Pose &p1)
double	getDistance2D (const std::vector< geometry_msgs::msg::Point > &polygon0, const std::vector< geometry_msgs::msg::Point > &polygon1)
bool	checkCollision2D (const geometry_msgs::msg::Pose &pose0, const traffic_simulator_msgs::msg::BoundingBox &bbox0, const geometry_msgs::msg::Pose &pose1, const traffic_simulator_msgs::msg::BoundingBox &bbox1)
bool	contains (const std::vector< geometry_msgs::msg::Point > &polygon, const geometry_msgs::msg::Point &point)
bool	isIntersect2D (const LineSegment &line0, const LineSegment &line1)
bool	isIntersect2D (const std::vector< LineSegment > &lines)
std::optional< geometry_msgs::msg::Point >	getIntersection2D (const LineSegment &line0, const LineSegment &line1)
std::vector< geometry_msgs::msg::Point >	getIntersection2D (const std::vector< LineSegment > &lines)
auto	getLineSegments (const std::vector< geometry_msgs::msg::Point > &points, const bool close_start_end) -> std::vector< LineSegment >
	Get the line segments from points. More...
double	getMaxValue (const std::vector< geometry_msgs::msg::Point > &points, const Axis &axis)
double	getMinValue (const std::vector< geometry_msgs::msg::Point > &points, const Axis &axis)
std::vector< double >	filterByAxis (const std::vector< geometry_msgs::msg::Point > &points, const Axis &axis)
std::vector< geometry_msgs::msg::Point >	get2DConvexHull (const std::vector< geometry_msgs::msg::Point > &points)
auto	convertDirectionToQuaternion (const double dx, const double dy, const double dz)
template<typename T , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >>, std::nullptr_t > = nullptr>
auto	convertDirectionToQuaternion (const T &v)
template<typename T , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >>, std::nullptr_t > = nullptr>
auto	convertEulerAngleToQuaternion (const T &v)
template<typename T , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >>, std::nullptr_t > = nullptr>
auto	getAngleDifference (const T &quat1, const T &quat2) -> double
template<typename T , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >>, std::nullptr_t > = nullptr>
auto	getNormalVector (const T &orientation) -> geometry_msgs::msg::Vector3
template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >, IsLikeQuaternion< U >>, std::nullptr_t > = nullptr>
auto	getRotation (T from, U to)
template<typename T , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >>, std::nullptr_t > = nullptr>
auto	getRotationMatrix (T quat) -> Eigen::Matrix3d
template<typename T , typename U , typename V , typename W , std::enable_if_t< std::conjunction_v< std::is_scalar< T >, std::is_scalar< U >, std::is_scalar< V >, std::is_scalar< W >>, std::nullptr_t > = nullptr>
auto	makeQuaternion (const T &x, const U &y, const V &z, const W &w)
template<typename T , std::enable_if_t< IsLikeQuaternion< T >::value, std::nullptr_t > = nullptr>
auto	norm (const T &q)
template<typename T , std::enable_if_t< IsLikeQuaternion< T >::value, std::nullptr_t > = nullptr>
auto	normalize (const T &q)
template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >, IsLikeQuaternion< U >>, std::nullptr_t > = nullptr>
auto	operator+ (const T &a, const U &b)
template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >, IsLikeQuaternion< U >>, std::nullptr_t > = nullptr>
auto	operator- (const T &a, const U &b)
template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >, IsLikeQuaternion< U >>, std::nullptr_t > = nullptr>
auto	operator* (const T &a, const U &b)
template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >, IsLikeQuaternion< U >>, std::nullptr_t > = nullptr>
auto	operator+= (T &a, const U &b) -> decltype(auto)
template<typename T , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >>, std::nullptr_t > = nullptr>
auto	convertQuaternionToEulerAngle (const T &q)
template<typename T , typename U , typename V , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >, IsLikeQuaternion< U >, std::is_scalar< V >>, std::nullptr_t > = nullptr>
auto	slerp (T quat1, U quat2, V t)
const geometry_msgs::msg::Pose	getRelativePose (const geometry_msgs::msg::Pose &from, const geometry_msgs::msg::Pose &to)
	Get the relative pose between two poses. More...
const geometry_msgs::msg::Point	transformPoint (const geometry_msgs::msg::Pose &pose, const geometry_msgs::msg::Point &point)
	Get transformed pose in world frame. More...
const geometry_msgs::msg::Point	transformPoint (const geometry_msgs::msg::Pose &pose, const geometry_msgs::msg::Pose &sensor_pose, const geometry_msgs::msg::Point &point)
	Get transformed pose in sensor frame. More...
std::vector< geometry_msgs::msg::Point >	transformPoints (const geometry_msgs::msg::Pose &pose, const std::vector< geometry_msgs::msg::Point > &points)
	Get transformed points in world frame. More...
std::vector< geometry_msgs::msg::Point >	transformPoints (const geometry_msgs::msg::Pose &pose, const geometry_msgs::msg::Pose &sensor_pose, const std::vector< geometry_msgs::msg::Point > &points)
	Get transformed points in sensor frame. More...
template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, IsLikeVector3< U >>, std::nullptr_t > = nullptr>
auto	cross2d (const T &a, const U &b)
template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, IsLikeVector3< U >>, std::nullptr_t > = nullptr>
auto	hypot (const T &from, const U &to)
template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, IsLikeVector3< U >>, std::nullptr_t > = nullptr>
auto	innerProduct (const T &v0, const U &v1)
template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, IsLikeVector3< U >>, std::nullptr_t > = nullptr>
auto	getInternalAngle (const T &v0, const U &v1)
template<typename T , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >>, std::nullptr_t > = nullptr>
auto	operator+ (const T &v, const Eigen::Vector3d &eigen_v) -> T
template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, std::is_scalar< U >>, std::nullptr_t > = nullptr>
auto	operator/ (const T &a, const U &b)
template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, IsLikeVector3< U >>, std::nullptr_t > = nullptr>
auto	operator== (const T &a, const U &b) -> bool
auto	castToVec (const geometry_msgs::msg::Point &p) -> geometry_msgs::msg::Vector3
auto	castToPoint (const geometry_msgs::msg::Vector3 &p) -> geometry_msgs::msg::Point
template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, std::is_scalar< U >>, std::nullptr_t > = nullptr>
auto	truncate (const T &v, const U &max)
template<typename T , typename U , typename V , std::enable_if_t< std::conjunction_v< std::is_scalar< T >, std::is_scalar< U >, std::is_scalar< V >>, std::nullptr_t > = nullptr>
auto	vector3 (const T &x, const U &y, const V &z)

Typedef Documentation

boost_point

typedef boost::geometry::model::d2::point_xy< double > math::geometry::boost_point

boost_polygon

typedef boost::geometry::model::polygon< boost_point > math::geometry::boost_polygon

Enumeration Type Documentation

Axis

enum math::geometry::Axis

strong

Enumerator
X
Y
Z

Function Documentation

castToPoint()

auto math::geometry::castToPoint

(

const geometry_msgs::msg::Vector3 &

p

)

-> geometry_msgs::msg::Point

castToVec()

auto math::geometry::castToVec

(

const geometry_msgs::msg::Point &

p

)

-> geometry_msgs::msg::Vector3

checkCollision2D()

bool math::geometry::checkCollision2D	(	const geometry_msgs::msg::Pose &	pose0,
		const traffic_simulator_msgs::msg::BoundingBox &	bbox0,
		const geometry_msgs::msg::Pose &	pose1,
		const traffic_simulator_msgs::msg::BoundingBox &	bbox1
	)

contains()

bool math::geometry::contains	(	const std::vector< geometry_msgs::msg::Point > &	polygon,
		const geometry_msgs::msg::Point &	point
	)

convertDirectionToQuaternion() [1/2]

auto math::geometry::convertDirectionToQuaternion	(	const double	dx,
		const double	dy,
		const double	dz
	)

convertDirectionToQuaternion() [2/2]

template<typename T , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >>, std::nullptr_t > = nullptr>

auto math::geometry::convertDirectionToQuaternion

(

const T &

v

)

convertEulerAngleToQuaternion()

template<typename T , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >>, std::nullptr_t > = nullptr>

auto math::geometry::convertEulerAngleToQuaternion

(

const T &

v

)

convertQuaternionToEulerAngle()

template<typename T , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >>, std::nullptr_t > = nullptr>

auto math::geometry::convertQuaternionToEulerAngle

(

const T &

q

)

cross2d()

template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, IsLikeVector3< U >>, std::nullptr_t > = nullptr>

auto math::geometry::cross2d	(	const T &	a,
		const U &	b
	)

filterByAxis()

std::vector< double > math::geometry::filterByAxis	(	const std::vector< geometry_msgs::msg::Point > &	points,
		const Axis &	axis
	)

get2DConvexHull()

std::vector< geometry_msgs::msg::Point > math::geometry::get2DConvexHull

(

const std::vector< geometry_msgs::msg::Point > &

points

)

getAngleDifference()

template<typename T , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >>, std::nullptr_t > = nullptr>

auto math::geometry::getAngleDifference	(	const T &	quat1,
		const T &	quat2
	)		-> double

getClosestPointOnPolygon()

boost_point math::geometry::getClosestPointOnPolygon	(	const boost_point &	query_point,
		const boost_polygon &	polygon
	)

getClosestPoses()

std::optional< std::pair< geometry_msgs::msg::Pose, geometry_msgs::msg::Pose > > math::geometry::getClosestPoses	(	const geometry_msgs::msg::Pose &	pose0,
		const traffic_simulator_msgs::msg::BoundingBox &	bbox0,
		const geometry_msgs::msg::Pose &	pose1,
		const traffic_simulator_msgs::msg::BoundingBox &	bbox1
	)

getDistance() [1/4]

double math::geometry::getDistance	(	const geometry_msgs::msg::Point &	p0,
		const geometry_msgs::msg::Point &	p1
	)

getDistance() [2/4]

double math::geometry::getDistance	(	const geometry_msgs::msg::Point &	p0,
		const geometry_msgs::msg::Pose &	p1
	)

getDistance() [3/4]

double math::geometry::getDistance	(	const geometry_msgs::msg::Pose &	p0,
		const geometry_msgs::msg::Point &	p1
	)

getDistance() [4/4]

double math::geometry::getDistance	(	const geometry_msgs::msg::Pose &	p0,
		const geometry_msgs::msg::Pose &	p1
	)

getDistance2D()

double math::geometry::getDistance2D	(	const std::vector< geometry_msgs::msg::Point > &	polygon0,
		const std::vector< geometry_msgs::msg::Point > &	polygon1
	)

getDistancesFromCenterToEdge()

DistancesFromCenterToEdge math::geometry::getDistancesFromCenterToEdge

(

const traffic_simulator_msgs::msg::BoundingBox &

bounding_box

)

getInternalAngle()

template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, IsLikeVector3< U >>, std::nullptr_t > = nullptr>

auto math::geometry::getInternalAngle	(	const T &	v0,
		const U &	v1
	)

getIntersection2D() [1/2]

std::optional< geometry_msgs::msg::Point > math::geometry::getIntersection2D	(	const LineSegment &	line0,
		const LineSegment &	line1
	)

getIntersection2D() [2/2]

std::vector< geometry_msgs::msg::Point > math::geometry::getIntersection2D

(

const std::vector< LineSegment > &

lines

)

getLineSegments()

auto math::geometry::getLineSegments	(	const std::vector< geometry_msgs::msg::Point > &	points,
		const bool	close_start_end
	)		-> std::vector< LineSegment >

Get the line segments from points.

Parameters

points	Points you want to build line segments.
close_start_end	If true, returned line segments are connected their start and end.

Returns

std::vector<LineSegment>

Note

If true, the end point(points[points.size() - 1]) and start point(points[0]) was connected.

If true, the end point(points[points.size() - 1]) and start point(points[0]) was connected.

getMaxValue()

double math::geometry::getMaxValue	(	const std::vector< geometry_msgs::msg::Point > &	points,
		const Axis &	axis
	)

getMinValue()

double math::geometry::getMinValue	(	const std::vector< geometry_msgs::msg::Point > &	points,
		const Axis &	axis
	)

getNormalVector()

template<typename T , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >>, std::nullptr_t > = nullptr>

auto math::geometry::getNormalVector

(

const T &

orientation

)

-> geometry_msgs::msg::Vector3

getPointsFromBbox()

std::vector< geometry_msgs::msg::Point > math::geometry::getPointsFromBbox	(	const traffic_simulator_msgs::msg::BoundingBox &	bounding_box,
		const double	width_extension_right = 0.0,
		const double	width_extension_left = 0.0,
		const double	length_extension_front = 0.0,
		const double	length_extension_rear = 0.0
	)

getPolygonDistance()

std::optional< double > math::geometry::getPolygonDistance	(	const geometry_msgs::msg::Pose &	pose0,
		const traffic_simulator_msgs::msg::BoundingBox &	bbox0,
		const geometry_msgs::msg::Pose &	pose1,
		const traffic_simulator_msgs::msg::BoundingBox &	bbox1
	)

Get the Polygon Distance object.

Parameters

pose0	pose of the first bounding box
bbox0	size of the first bounding box
pose1	pose of the second bounding box
bbox1	size of the second bounding box

Return values

std::nullopt	bounding box intersects
0	<= distance between two bounding boxes

getRelativePose()

const geometry_msgs::msg::Pose math::geometry::getRelativePose	(	const geometry_msgs::msg::Pose &	from,
		const geometry_msgs::msg::Pose &	to
	)

Get the relative pose between two poses.

Parameters

from	origin pose
to	target pose

Returns

const geometry_msgs::msg::Pose relative pose from origin to target

getRotation()

template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >, IsLikeQuaternion< U >>, std::nullptr_t > = nullptr>

auto math::geometry::getRotation	(	T	from,
		U	to
	)

getRotationMatrix()

template<typename T , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >>, std::nullptr_t > = nullptr>

auto math::geometry::getRotationMatrix

(

T

quat

)

-> Eigen::Matrix3d

hypot()

template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, IsLikeVector3< U >>, std::nullptr_t > = nullptr>

auto math::geometry::hypot	(	const T &	from,
		const U &	to
	)

innerProduct()

template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, IsLikeVector3< U >>, std::nullptr_t > = nullptr>

auto math::geometry::innerProduct	(	const T &	v0,
		const U &	v1
	)

isIntersect2D() [1/2]

bool math::geometry::isIntersect2D	(	const LineSegment &	line0,
		const LineSegment &	line1
	)

isIntersect2D() [2/2]

bool math::geometry::isIntersect2D

(

const std::vector< LineSegment > &

lines

)

makeQuaternion()

template<typename T , typename U , typename V , typename W , std::enable_if_t< std::conjunction_v< std::is_scalar< T >, std::is_scalar< U >, std::is_scalar< V >, std::is_scalar< W >>, std::nullptr_t > = nullptr>

auto math::geometry::makeQuaternion	(	const T &	x,
		const U &	y,
		const V &	z,
		const W &	w
	)

norm()

template<typename T , std::enable_if_t< IsLikeQuaternion< T >::value, std::nullptr_t > = nullptr>

auto math::geometry::norm

(

const T &

q

)

normalize()

template<typename T , std::enable_if_t< IsLikeQuaternion< T >::value, std::nullptr_t > = nullptr>

auto math::geometry::normalize

(

const T &

q

)

operator*()

template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >, IsLikeQuaternion< U >>, std::nullptr_t > = nullptr>

auto math::geometry::operator*	(	const T &	a,
		const U &	b
	)

operator+() [1/2]

template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >, IsLikeQuaternion< U >>, std::nullptr_t > = nullptr>

auto math::geometry::operator+	(	const T &	a,
		const U &	b
	)

operator+() [2/2]

template<typename T , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >>, std::nullptr_t > = nullptr>

auto math::geometry::operator+	(	const T &	v,
		const Eigen::Vector3d &	eigen_v
	)		-> T

operator+=()

template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >, IsLikeQuaternion< U >>, std::nullptr_t > = nullptr>

auto math::geometry::operator+=	(	T &	a,
		const U &	b
	)		-> decltype(auto)

operator-()

template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >, IsLikeQuaternion< U >>, std::nullptr_t > = nullptr>

auto math::geometry::operator-	(	const T &	a,
		const U &	b
	)

operator/()

template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, std::is_scalar< U >>, std::nullptr_t > = nullptr>

auto math::geometry::operator/	(	const T &	a,
		const U &	b
	)

operator==()

template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, IsLikeVector3< U >>, std::nullptr_t > = nullptr>

auto math::geometry::operator==	(	const T &	a,
		const U &	b
	)		-> bool

pointToSegmentProjection()

boost_point math::geometry::pointToSegmentProjection	(	const boost_point &	p,
		const boost_point &	p1,
		const boost_point &	p2
	)

slerp()

template<typename T , typename U , typename V , std::enable_if_t< std::conjunction_v< IsLikeQuaternion< T >, IsLikeQuaternion< U >, std::is_scalar< V >>, std::nullptr_t > = nullptr>

auto math::geometry::slerp	(	T	quat1,
		U	quat2,
		V	t
	)

subtractPoses()

geometry_msgs::msg::Pose math::geometry::subtractPoses	(	const geometry_msgs::msg::Pose &	pose1,
		const geometry_msgs::msg::Pose &	pose2
	)

toBoostPoint()

boost_point math::geometry::toBoostPoint

(

const geometry_msgs::msg::Point &

point

)

toBoostPolygon()

boost_polygon math::geometry::toBoostPolygon

(

const std::vector< geometry_msgs::msg::Point > &

points

)

toPolygon2D() [1/2]

auto math::geometry::toPolygon2D	(	const geometry_msgs::msg::Pose &	pose,
		const traffic_simulator_msgs::msg::BoundingBox &	bounding_box
	)		-> boost_polygon

toPolygon2D() [2/2]

auto math::geometry::toPolygon2D

(

const traffic_simulator_msgs::msg::BoundingBox &

bounding_box

)

-> std::vector<geometry_msgs::msg::Point>

toPose()

geometry_msgs::msg::Pose math::geometry::toPose

(

const boost_point &

point

)

transformPoint() [1/2]

const geometry_msgs::msg::Point math::geometry::transformPoint	(	const geometry_msgs::msg::Pose &	pose,
		const geometry_msgs::msg::Point &	point
	)

Get transformed pose in world frame.

Parameters

pose	pose world frame
point	point in local frame

Returns

const geometry_msgs::msg::Point transformed point

transformPoint() [2/2]

const geometry_msgs::msg::Point math::geometry::transformPoint	(	const geometry_msgs::msg::Pose &	pose,
		const geometry_msgs::msg::Pose &	sensor_pose,
		const geometry_msgs::msg::Point &	point
	)

Get transformed pose in sensor frame.

Parameters

pose	pose in world frame
sensor_pose	sensor pose in world frame
point	point in local frame

Returns

const geometry_msgs::msg::Point transformed point

transformPoints() [1/2]

std::vector< geometry_msgs::msg::Point > math::geometry::transformPoints	(	const geometry_msgs::msg::Pose &	pose,
		const geometry_msgs::msg::Pose &	sensor_pose,
		const std::vector< geometry_msgs::msg::Point > &	points
	)

Get transformed points in sensor frame.

Parameters

pose	pose in world frame
points	points in local frame

Returns

std::vector<geometry_msgs::msg::Point> transformed points

transformPoints() [2/2]

std::vector< geometry_msgs::msg::Point > math::geometry::transformPoints	(	const geometry_msgs::msg::Pose &	pose,
		const std::vector< geometry_msgs::msg::Point > &	points
	)

Get transformed points in world frame.

Parameters

pose	pose in world frame
points	points in local frame

Returns

std::vector<geometry_msgs::msg::Point> transformed points

truncate()

template<typename T , typename U , std::enable_if_t< std::conjunction_v< IsLikeVector3< T >, std::is_scalar< U >>, std::nullptr_t > = nullptr>

auto math::geometry::truncate	(	const T &	v,
		const U &	max
	)

vector3()

template<typename T , typename U , typename V , std::enable_if_t< std::conjunction_v< std::is_scalar< T >, std::is_scalar< U >, std::is_scalar< V >>, std::nullptr_t > = nullptr>

auto math::geometry::vector3	(	const T &	x,
		const U &	y,
		const V &	z
	)