55 lines
2.4 KiB
Markdown
Executable File
55 lines
2.4 KiB
Markdown
Executable File
# nav_2d_utils Conversions
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(note: exact syntax differs from below for conciseness, leaving out `const` and `&`)
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## Twist Transformations
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| to `nav_2d_msgs` | from `nav_2d_msgs` |
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| -- | -- |
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| `Twist2D twist3Dto2D(geometry_msgs::Twist)` | `geometry_msgs::Twist twist2Dto3D(Twist2D cmd_vel_2d)`
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## Point Transformations
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| to `nav_2d_msgs` | from `nav_2d_msgs` |
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| -- | -- |
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| `Point2D pointToPoint2D(geometry_msgs::Point)` | `geometry_msgs::Point pointToPoint3D(Point2D)`
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| `Point2D pointToPoint2D(geometry_msgs::Point32)` | `geometry_msgs::Point32 pointToPoint32(Point2D)`
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## Pose Transformations
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| to `nav_2d_msgs` | from `nav_2d_msgs` |
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| -- | -- |
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| `Pose2DStamped poseStampedToPose2D(geometry_msgs::PoseStamped)` | `geometry_msgs::PoseStamped pose2DToPoseStamped(Pose2DStamped)`
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||`geometry_msgs::PoseStamped pose2DToPoseStamped(geometry_msgs::Pose2D, std::string, ros::Time)`|
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||`geometry_msgs::Pose pose2DToPose(geometry_msgs::Pose2D)`|
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| `Pose2DStamped stampedPoseToPose2D(tf::Stamped<tf::Pose>)` | |
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## Path Transformations
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| to `nav_2d_msgs` | from `nav_2d_msgs` |
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| -- | -- |
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| `Path2D pathToPath(nav_msgs::Path)` |`nav_msgs::Path pathToPath(Path2D)`
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| `Path2D posesToPath2D(std::vector<geometry_msgs::PoseStamped>)` | `nav_msgs::Path poses2DToPath(std::vector<geometry_msgs::Pose2D>, std::string, ros::Time)`
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Also, `nav_msgs::Path posesToPath(std::vector<geometry_msgs::PoseStamped>)`
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## Polygon Transformations
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| to `nav_2d_msgs` | from `nav_2d_msgs` |
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| -- | -- |
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| `Polygon2D polygon3Dto2D(geometry_msgs::Polygon)` |`geometry_msgs::Polygon polygon2Dto3D(Polygon2D)`
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| `Polygon2DStamped polygon3Dto2D(geometry_msgs::PolygonStamped)` | `geometry_msgs::PolygonStamped polygon2Dto3D(Polygon2DStamped)`
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## Info Transformations
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| to `nav_2d_msgs` | from `nav_2d_msgs` |
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| -- | -- |
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|`nav_2d_msgs::NavGridInfo toMsg(nav_grid::NavGridInfo)`|`nav_grid::NavGridInfo fromMsg(nav_2d_msgs::NavGridInfo)`|
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| to `nav_grid` info | from `nav_grid` info |
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| -- | -- |
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|`nav_grid::NavGridInfo infoToInfo(nav_msgs::MapMetaData, std::string)` | `nav_msgs::MapMetaData infoToInfo(nav_grid::NavGridInfo)`
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| to two dimensional pose | to three dimensional pose |
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| -- | -- |
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| `Pose2D getOrigin2D(nav_grid::NavGridInfo)` | `geometry_msgs::Pose getOrigin3D(nav_grid::NavGridInfo)`|
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## Bounds Transformations
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| to `nav_2d_msgs` | from `nav_2d_msgs` |
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| -- | -- |
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|`nav_2d_msgs::UIntBounds toMsg(nav_core2::UIntBounds)`|`nav_core2::UIntBounds fromMsg(nav_2d_msgs::UIntBounds)`|
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