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Package Summary

This package contains resources for probabilistic scene modelling

Package Summary

This package contains resources for probabilistic scene modelling

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Description

This package contains resources for probabilistic scene modelling (PSM) for use in PSM-related packages like asr_psm.

It specifically contains a class representing an object pose and operations on it.

Functionality

The class Pose describes an object pose in 3D. The position is represented as an Eigen::Vector3d, the orientation as an Eigen::Quaternion<double>. It offers the possibility to transform a Pose into another frame.

Usage

A Pose can be constructed from an asr_msgs::AsrObject, a geometry_msgs::Pose or a SceneModel::Object (from the package asr_relation_graph_generator).

Access position and orientation through getPosition() and getOrientation(), respectively. To transform an pose into another frame use convertPoseIntoFrame(frame, result), where both parameters are boost shared pointers to Pose.

Needed packages

Needed software

Start system

Used in asr_psm. Has no parameters.


2020-08-08 12:28