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ROS常用数据类型
|ROSROS Kinetic知识|
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geometry_msgs 系列

  • geometry_msgs/Pose

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    geometry_msgs/Point position
    geometry_msgs/Quaternion orientation

  • geometry_msgs::PoseStamped

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    std_msgs/Header  header
    geometry_msgs/Pose  pose

  • geometry_msgs::Point

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    float64 x
    float64 y
    float64 z

  • geometry_msgs::Quaternion

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    float64 x
    float64 y
    float64 z
    float64 w

  • geometry_msgs/PoseArray

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    std_msgs/Header header
    geometry_msgs/Pose[] poses

  • geometry_msgs/Pose2D

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    float64 x
    float64 y
    float64 theta

  • geometry_msgs/Transform

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    geometry_msgs/Vector3 translation
    geometry_msgs/Quaternion rotation

  • geometry_msgs/PoseWithCovariance

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    geometry_msgs/Pose  pose
    float64[36]  covariance

  • geometry_msgs::Polygon

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    geometry_msgs/Point32[]  points

tf 系列

以下两个类都继承 tf::Transform

tf::Pose

tf::Stamped对数据类型做模板化（除了tf::Transform），并附带元素frameid和stamp、
setData成员函数

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tf::Stamped<tf::Pose> pose;
getOrigin().getX();
getOrigin().getY();
tf::getYaw(pose.getRotation())

tf::StampedTransform

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double x= transform.getOrigin().getX();
double y= transform.getOrigin().getY();
double z= transform.getOrigin().getZ();
double angle = transform.getRotation().getAngle();
ROS_INFO("x: %f, y: %f, z: %f, angle: %f",x,y,z,angle);
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const geometry_msgs::PoseStamped& pose = ;
tf::StampedTransform  transform;
geometry_msgs::PoseStamped new_pose;

tf::Stamped<tf::Pose> tf_pose;
tf::poseStampedMsgToTF(pose, tf_pose);

tf_pose.setData(transform * tf_pose);
tf_pose.stamp_ = transform.stamp_;
tf_pose.frame_id_ = global_frame;
tf::poseStampedTFToMsg(tf_pose, new_pose);  //转为 geometry_msgs::PoseStamped类型

tf::poseStampedMsgToTF函数，把geometry_msgs::PoseStamped转化为Stamped<Pose>


PoseSE2

源码在pose_se2.h，有两个private成员

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Eigen::Vector2d  _position; 
double _theta;

支持下列函数:
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PoseSE2(double x, double y, double theta)
PoseSE2(const geometry_msgs::Pose& pose)
PoseSE2(const tf::Pose& pose)

friend std::ostream& operator<< (std::ostream& stream, const PoseSE2& pose)

另外还支持运算符* + - =

Eigen::Vector2d orientationUnitVec() const: 获得当前朝向的单位向量

PoseSE2::average(start, goal);

costmap_converter/ObstacleArrayMsg

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std_msgs/Header header    # frame_id 为map
costmap_converter/ObstacleMsg[] obstacles

# costmap_converter/ObstacleMsg 的成员如下
std_msgs/Header header    # frame_id 为map
# Obstacle footprint (polygon descriptions)
geometry_msgs/Polygon polygon
# radius for circular/point obstacles
float64 radius
# Obstacle ID
# Specify IDs in order to provide (temporal) relationships
# between obstacles among multiple messages.
int64 id
# Individual orientation (centroid)
geometry_msgs/Quaternion orientation
# Individual velocities (centroid)
geometry_msgs/TwistWithCovariance velocities

类Obstacle定义在obstacle.h，派生类有PointObstacle, CircularObstacle, LineObstacle,PolygonObstacle

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typedef boost::shared_ptr<Obstacle> ObstaclePtr;
typedef std::vector<ObstaclePtr>  ObstContainer;

PoseSequence posevec; //!< Internal container storing the sequence of optimzable pose vertices

TimeDiffSequence timediffvec; //!< Internal container storing the sequence of optimzable timediff vertices

VertexPose 继承g2o::BaseVertex<3, PoseSE2 >。
This class stores and wraps a SE2 pose (position and orientation) into a vertex that can be optimized via g2o

VertexTimeDiff继承g2o::BaseVertex<1, double>。This class stores and wraps a time difference \f$ \Delta T \f$ into a vertex that can be optimized via g2o

判断初始化：bool isInit() const {return !timediff_vec_.empty() && !pose_vec_.empty(); }

TimedElasticBand::clearTimedElasticBand(): 清空 timediffvec posevec

addPoseAndTimeDiff: Add one single Pose first. Timediff describes the time difference between last conf and given conf”;