External Documentation

This is a third party stack with external documentation.

The external documentation offers background material, the explanation of the software design, API documentation, Quick start guide (including installation instructions), user guide, tutorials, FAQs, and use cases.

Package Overview

geometric_semantics

geometric_semantics is the core of the geometric_relations_semantics stack and provides c++ code for the semantic support of geometric relations between rigid bodies (relative position, orientation, pose, translational velocity, rotational velocity, twist, force, torque, and wrench).

If you want to use semantic checking for the geometric relation operations between rigid bodies in your application you can check the geometric_semantics_examples package.

If you want to create support for your own geometry types on top of the geometric_semantics package, the geometric_semantics_kdl provides a good starting point.

geometric_semantics_examples

geometric_semantics_examples groups some examples showing how the geometric_semantics can be used to provide semantic checking for the geometric relations between rigid bodies in your application.

geometric_semantics_msgs

geometric_semantics_msgs provides ROS messages matching the C++ types defined on the geometric_semantics package, in order to support semantic support during message based communication.

geometric_semantics_msgs_conversions

geometric_semantics_msgs_conversions provides support conversions between geometric_semantics_msgs and the C++ geometric_semantics types defined on the geometric_semantics package.

geometric_semantics_kdl

geometric_semantics_kdl provides support for orocos_kdl types on top of the geometric_semantics package (for instance KDL::Frame to represent the relative pose of two rigid bodies).

If you want to create support for your own geometry types on top of the geometric_semantics package, this package provides a good starting point.

geometric_semantics_tf

geometric_semantics_tf provides support for tf datatypes (see http://wiki/tf/Overview/Data%20Types) on top of the geometric_semantics package (for instance tf::Pose to represent the relative pose of two rigid bodies).

geometric_semantics_tf_msgs

geometric_semantics_tf_msgs provides ROS messages matching the C++ types defined on the geometric_semantics_tf package, in order to support semantic support for tf types during message based communication.

geometric_semantics_tf_msgs_conversions

geometric_semantics_tf_msgs_conversions provides support conversions between geometric_semantics_tf_msgs and the C++ geometric_semantics_tf types defined on the geometric_semantics_tf package.

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