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Package Summary

The pose_cov_ops package

mrpt_common: mrpt_bridge | mrpt_libs | mrpt_msgs | pose_cov_ops | rawlog_play

Package Summary

The pose_cov_ops package

Package Summary

C++ library for SE(2/3) pose and 2D/3D point composition operations with uncertainty

Package Summary

Library with C++ functions for SE(2/3) pose and 2D/3D point composition operations with uncertainty

Package Summary

C++ library for SE(2/3) pose and 2D/3D point composition operations with uncertainty

Package Summary

C++ library for SE(2/3) pose and 2D/3D point composition operations with uncertainty

Provided functionality

See the C++ API documentation for the namespace pose_cov_ops.

This module provides implementations for the four main operations between poses (p,p1,p2) and points (a), which are the following (using the "o plus" and "o minus" notation):

  1. p1p2 : Composition of two poses p1 and p2: the resulting pose is p2 "as if" p1 was the new origin of coordinates for p2.

  2. p2p1 : Inverse composition of two poses p1 and p2: the resulting pose is p2 "as seen from" p1.

  3. pa : Composition of a pose p and a point a: the resulting point is a "as if" p was the new origin of coordinates of a.

  4. ap : Inverse composition of a pose p and a point a: the resulting point is a "as seen from" p.

Is better to illustrate these operations graphically:

mrpt_geometry_poses_explained.png

Examples of usage

   1 #include <mrpt_cov_ops/mrpt_cov_ops.h>
   2 
   3 ...
   4 geometry_msgs::PoseWithCovariance p1, p2, p;
   5 
   6 // p = p1 (+) p2
   7 // Pose composition, including uncertainty in both p1 and p2:
   8 pose_cov_ops::compose(p1,p2,  p);
   9 
  10 ...
  11 geometry_msgs::Pose p1;
  12 geometry_msgs::PoseWithCovariance p2, p;
  13 
  14 // p = p1 (+) p2
  15 // Pose composition, including uncertainty only in p2 (and in the output, obviously!):
  16 pose_cov_ops::compose(p1,p2,  p);

References

Further references on the geometry and the maths behind these functions:

Wiki: pose_cov_ops (last edited 2018-05-15 14:45:59 by MartinGuenther)