track_loader.hpp File Reference

#include <Eigen/Dense>
#include <ament_index_cpp/get_package_prefix.hpp>
#include <rclcpp/rclcpp.hpp>
#include <string>
#include <vector>
#include "yaml-cpp/yaml.h"

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Functions
Node	get_child_node (Node parentNode, std::string tag)
	Get the child node from a parent node by tag.
void	add_landmarks (Eigen::VectorXd &track, const Node &list)
	adds the landmarks in the list to the track.
void	load_initial_state (std::string mapPath, Eigen::Vector3d &start_pose, Eigen::VectorXd &track)
	loads the map from the specified path and fills the start pose and track.
void	load_acceleration_track (Eigen::Vector3d &start_pose, Eigen::VectorXd &track)
	loads the acceleration track from the default path.
void	load_skidpad_track (Eigen::Vector3d &start_pose, Eigen::VectorXd &track)
	loads the skidpad track from the default path.
void	transform_track (Eigen::VectorXd &track, Eigen::Vector3d &start_pose)
	Transforms the track as seen from the start pose.

Function Documentation

add_landmarks()

void add_landmarks	(	Eigen::VectorXd &	track,
		const Node &	list
	)

adds the landmarks in the list to the track.

Parameters

track	vector to which the landmarks will be added [x1, y1, x2, y2, ...]
list	node with landmarks as children each with a "position" key

Definition at line 13 of file track_loader.cpp.

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get_child_node()

Node get_child_node	(	Node	parentNode,
		std::string	tag
	)

Get the child node from a parent node by tag.

Parameters

parentNode	parent node from which to get the child
tag	identifier of the child node to get

Returns

Node child node with the specified tag

Definition at line 3 of file track_loader.cpp.

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load_acceleration_track()

void load_acceleration_track	(	Eigen::Vector3d &	start_pose,
		Eigen::VectorXd &	track
	)

loads the acceleration track from the default path.

Parameters

start_pose	vector to fill with the start pose [x, y, theta]
track	vector to fill with the track data [x1, y1, x2, y2, ...]

Definition at line 47 of file track_loader.cpp.

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load_initial_state()

void load_initial_state	(	std::string	mapPath,
		Eigen::Vector3d &	start_pose,
		Eigen::VectorXd &	track
	)

loads the map from the specified path and fills the start pose and track.

Parameters

mapPath	path to the map file
start_pose	vector to fill with the start pose [x, y, theta]
track	vector to fill with the track data [x1, y1, x2, y2, ...]

Definition at line 24 of file track_loader.cpp.

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load_skidpad_track()

void load_skidpad_track	(	Eigen::Vector3d &	start_pose,
		Eigen::VectorXd &	track
	)

loads the skidpad track from the default path.

Parameters

start_pose	vector to fill with the start pose [x, y, theta]
track	vector to fill with the track data [x1, y1, x2, y2, ...]

Definition at line 54 of file track_loader.cpp.

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transform_track()

void transform_track	(	Eigen::VectorXd &	track,
		Eigen::Vector3d &	start_pose
	)

Transforms the track as seen from the start pose.

Parameters

track	will be transformed in place to the start pose
start_pose	will be set to zero after the transformation

Definition at line 61 of file track_loader.cpp.

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