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Package Summary
This package contains resources for probabilistic scene modelling
- Maintainer: Meißner Pascal <asr-ros AT lists.kit DOT edu>
- Author: Gehrung Joachim, Meißner Pascal
- License: BSD
- Source: git https://github.com/asr-ros/asr_resources_for_psm.git (branch: master)
Package Summary
This package contains resources for probabilistic scene modelling
- Maintainer: Meißner Pascal <asr-ros AT lists.kit DOT edu>
- Author: Gehrung Joachim, Meißner Pascal
- License: BSD
- Source: git https://github.com/asr-ros/asr_resources_for_psm.git (branch: master)
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
- Eigen
Start system
Used in asr_psm. Has no parameters.