Mht implementation main header. More...
#include <ros/ros.h>#include <features.h>#include <stddef.h>#include <string>#include <iostream>#include <cmath>#include <stdexcept>#include "duration.h"#include <boost/config.hpp>#include <boost/limits.hpp>#include <limits.h>#include <boost/detail/workaround.hpp>#include <algorithm>#include <climits>#include <iomanip>#include <cerrno>#include <boost/config/no_tr1/cmath.hpp>#include <boost/math/tools/config.hpp>#include <boost/mpl/aux_/na.hpp>#include <boost/mpl/aux_/config/preprocessor.hpp>#include <boost/preprocessor/inc.hpp>#include <boost/preprocessor/cat.hpp>#include <boost/preprocessor/config/config.hpp>#include <boost/mpl/aux_/config/dtp.hpp>#include <boost/mpl/aux_/config/ttp.hpp>#include <boost/mpl/aux_/config/ctps.hpp>#include <boost/mpl/aux_/config/msvc.hpp>#include <boost/mpl/aux_/config/gcc.hpp>#include <boost/mpl/aux_/config/workaround.hpp>#include <boost/preprocessor/stringize.hpp>#include <boost/mpl/bool.hpp>#include <boost/mpl/aux_/yes_no.hpp>#include <boost/mpl/aux_/config/overload_resolution.hpp>#include <boost/mpl/aux_/config/static_constant.hpp>#include <boost/mpl/has_xxx.hpp>#include <boost/mpl/aux_/na_spec.hpp>#include <boost/mpl/aux_/config/eti.hpp>#include <boost/mpl/contains_fwd.hpp>#include <boost/mpl/begin_end_fwd.hpp>#include <boost/mpl/sequence_tag_fwd.hpp>#include <boost/mpl/void_fwd.hpp>#include <boost/mpl/if.hpp>#include <boost/mpl/aux_/lambda_support.hpp>#include <boost/mpl/aux_/has_begin.hpp>#include <boost/mpl/void.hpp>#include <boost/mpl/aux_/preprocessor/params.hpp>#include <boost/mpl/aux_/config/lambda.hpp>#include <boost/mpl/sequence_tag.hpp>#include <boost/mpl/aux_/config/use_preprocessed.hpp>#include <boost/mpl/aux_/include_preprocessed.hpp>#include <boost/mpl/aux_/arity.hpp>#include <boost/mpl/aux_/config/has_xxx.hpp>#include <boost/mpl/aux_/adl_barrier.hpp>#include <boost/mpl/aux_/nttp_decl.hpp>#include <boost/mpl/aux_/value_wknd.hpp>#include <boost/mpl/aux_/nested_type_wknd.hpp>#include <boost/mpl/aux_/config/nttp.hpp>#include <cstddef>#include <boost/mpl/int.hpp>#include <boost/mpl/limits/arity.hpp>#include <boost/mpl/aux_/template_arity_fwd.hpp>#include <boost/mpl/lambda_fwd.hpp>#include <boost/mpl/placeholders.hpp>#include <boost/mpl/apply_wrap.hpp>#include <boost/mpl/aux_/arity_spec.hpp>#include <boost/mpl/aux_/type_wrapper.hpp>#include <boost/mpl/aux_/config/bind.hpp>#include <boost/mpl/bind_fwd.hpp>#include <boost/mpl/protect.hpp>#include <boost/mpl/arg.hpp>#include <boost/mpl/int_fwd.hpp>#include <boost/mpl/aux_/lambda_arity_param.hpp>#include <boost/mpl/aux_/is_msvc_eti_arg.hpp>#include <boost/mpl/not.hpp>#include <boost/mpl/begin_end.hpp>#include <boost/mpl/aux_/preprocessor/def_params_tail.hpp>#include <boost/mpl/eval_if.hpp>#include <boost/mpl/apply.hpp>#include <boost/mpl/next.hpp>#include <boost/type_traits/is_same.hpp>#include <boost/mpl/aux_/common_name_wknd.hpp>#include <boost/mpl/aux_/config/forwarding.hpp>#include <boost/mpl/aux_/traits_lambda_spec.hpp>#include <boost/mpl/find_if.hpp>#include <boost/mpl/O1_size_fwd.hpp>#include <boost/mpl/aux_/integral_wrapper.hpp>#include <boost/mpl/next_prior.hpp>#include <boost/mpl/deref.hpp>#include <boost/mpl/O1_size.hpp>#include <boost/mpl/identity.hpp>#include <boost/mpl/lambda.hpp>#include <boost/mpl/push_back_fwd.hpp>#include <boost/mpl/assert.hpp>#include <boost/mpl/aux_/has_type.hpp>#include <boost/mpl/push_front_fwd.hpp>#include <boost/mpl/inserter.hpp>#include <boost/mpl/push_back.hpp>#include <boost/mpl/push_front.hpp>#include <boost/mpl/back_inserter.hpp>#include <boost/mpl/front_inserter.hpp>#include <boost/mpl/clear_fwd.hpp>#include <boost/mpl/aux_/has_tag.hpp>#include <boost/mpl/numeric_cast.hpp>#include <boost/mpl/aux_/msvc_eti_base.hpp>#include <boost/mpl/integral_c.hpp>#include <boost/mpl/aux_/config/integral.hpp>#include <boost/mpl/long.hpp>#include <boost/mpl/tag.hpp>#include <boost/mpl/size_fwd.hpp>#include <boost/mpl/aux_/comparison_op.hpp>#include <boost/mpl/less.hpp>#include <boost/static_assert.hpp>#include <boost/assert.hpp>#include <limits>#include <stdlib.h>#include <boost/math/policies/policy.hpp>#include <math.h>#include <boost/cstdint.hpp>#include <vector>#include <locale>#include <streambuf>#include <ostream>#include <iosfwd>#include <boost/format/detail/compat_workarounds.hpp>#include <boost/format/format_fwd.hpp>#include <new>#include <boost/type_traits/intrinsics.hpp>#include <boost/type_traits/detail/template_arity_spec.hpp>#include <boost/type_traits/integral_constant.hpp>#include <boost/preprocessor/list/for_each_i.hpp>#include <boost/preprocessor/tuple/to_list.hpp>#include <boost/preprocessor/debug/error.hpp>#include <boost/preprocessor/detail/auto_rec.hpp>#include <boost/preprocessor/control/while.hpp>#include <boost/preprocessor/control/expr_iif.hpp>#include <boost/preprocessor/control/iif.hpp>#include <boost/preprocessor/list/adt.hpp>#include <boost/preprocessor/tuple/eat.hpp>#include <boost/preprocessor/list/fold_right.hpp>#include <boost/preprocessor/logical/bitand.hpp>#include <boost/preprocessor/logical/bool.hpp>#include <boost/preprocessor/list/fold_left.hpp>#include <boost/preprocessor/tuple/elem.hpp>#include <boost/preprocessor/tuple/rem.hpp>#include <boost/type_traits/alignment_of.hpp>#include <boost/type_traits/config.hpp>#include <boost/type_traits/is_void.hpp>#include <boost/type_traits/is_arithmetic.hpp>#include <boost/type_traits/is_enum.hpp>#include <boost/type_traits/is_pointer.hpp>#include <boost/type_traits/is_member_pointer.hpp>#include <boost/type_traits/detail/ice_or.hpp>#include <boost/type_traits/detail/bool_trait_def.hpp>#include <boost/type_traits/detail/bool_trait_undef.hpp>#include <boost/type_traits/broken_compiler_spec.hpp>#include <boost/type_traits/detail/type_trait_def.hpp>#include <boost/type_traits/detail/type_trait_undef.hpp>#include "boost/type_traits/is_reference.hpp"#include <boost/type_traits/is_volatile.hpp>#include <boost/type_traits/is_pod.hpp>#include <boost/type_traits/detail/ice_and.hpp>#include <boost/type_traits/detail/ice_not.hpp>#include <functional>#include <boost/preprocessor/arithmetic/inc.hpp>#include <boost/preprocessor/punctuation/comma_if.hpp>#include <boost/preprocessor/repetition/repeat.hpp>#include <boost/preprocessor/arithmetic/dec.hpp>#include <boost/shared_ptr.hpp>#include <boost/optional.hpp>#include <boost/format/internals_fwd.hpp>#include <boost/format/internals.hpp>#include <boost/format/alt_sstream.hpp>#include <boost/throw_exception.hpp>#include <boost/format/format_class.hpp>#include <boost/format/group.hpp>#include <boost/format/exceptions.hpp>#include <boost/math/special_functions/detail/round_fwd.hpp>#include <boost/type_traits/is_floating_point.hpp>#include <boost/type_traits/is_integral.hpp>#include <boost/type_traits/is_convertible.hpp>#include <boost/type_traits/remove_cv.hpp>#include <boost/mpl/and.hpp>#include <boost/mpl/or.hpp>#include <boost/mpl/comparison.hpp>#include <complex>#include <cstring>#include <endian.h>#include "rostime_decl.h"#include <sys/time.h>#include "ros/time.h"#include <cstdio>#include <sstream>#include <cstdarg>#include <log4cxx/logstring.h>#include <log4cxx/log4cxx.h>#include <log4cxx/helpers/objectptr.h>#include <map>#include <log4cxx/helpers/object.h>#include <log4cxx/helpers/objectimpl.h>#include <log4cxx/helpers/pool.h>#include <log4cxx/helpers/mutex.h>#include <log4cxx/appender.h>#include <log4cxx/logger.h>#include <log4cxx/level.h>#include "ros/console.h"#include <ros/platform.h>#include <bits/wchar.h>#include <bits/wordsize.h>#include <assert.h>#include "ros/assert.h"#include <set>#include <list>#include <memory>#include <boost/smart_ptr/detail/shared_count.hpp>#include <boost/smart_ptr/shared_ptr.hpp>#include <boost/preprocessor/array/size.hpp>#include <cassert>#include <typeinfo>#include <boost/integer_traits.hpp>#include <boost/type_traits/has_trivial_copy.hpp>#include <boost/type_traits/is_const.hpp>#include <boost/type_traits/is_array.hpp>#include <boost/type_traits/is_member_function_pointer.hpp>#include <boost/type_traits/is_union.hpp>#include <boost/type_traits/ice.hpp>#include <boost/config/no_tr1/memory.hpp>#include <boost/preprocessor/repetition/enum_params.hpp>#include <ros/macros.h>#include "roscpp_serialization_macros.h"#include <boost/checked_delete.hpp>#include <boost/smart_ptr/detail/operator_bool.hpp>#include <boost/shared_array.hpp>#include <stdint.h>#include "ros/forwards.h"#include "ros/common.h"#include <iterator>#include <ros/types.h>#include "serialized_message.h"#include "message_forward.h"#include <boost/utility/enable_if.hpp>#include <boost/type_traits/detail/cv_traits_impl.hpp>#include <boost/type_traits/remove_reference.hpp>#include "message_traits.h"#include "ros/exception.h"#include <boost/array.hpp>#include <boost/call_traits.hpp>#include <boost/ref.hpp>#include <boost/mem_fn.hpp>#include <boost/type.hpp>#include <boost/is_placeholder.hpp>#include <boost/bind/arg.hpp>#include "common.h"#include <ros/message_traits.h>#include <boost/type_traits/is_class.hpp>#include <boost/type_traits/add_const.hpp>#include <boost/type_traits/remove_const.hpp>#include <boost/function.hpp>#include <boost/type_traits/type_with_alignment.hpp>#include <ros/static_assert.h>#include "ros/builtin_message_traits.h"#include "ros/serialization.h"#include "ros/message_event.h"#include <boost/type_traits/is_base_of.hpp>#include <boost/make_shared.hpp>#include "forwards.h"#include "timer_options.h"#include "ros/rate.h"#include "wall_timer_options.h"#include "ros/message.h"#include "ros/service_traits.h"#include <boost/lexical_cast.hpp>#include "subscription_callback_helper.h"#include "ros/spinner.h"#include <boost/bind.hpp>#include <time.h>#include "ros/publisher.h"#include <boost/utility/addressof.hpp>#include <boost/utility/base_from_member.hpp>#include <boost/preprocessor/facilities/identity.hpp>#include <boost/preprocessor/control/if.hpp>#include <boost/preprocessor/facilities/empty.hpp>#include <boost/preprocessor/seq/seq.hpp>#include <boost/preprocessor/seq/size.hpp>#include <boost/preprocessor/seq/fold_left.hpp>#include <boost/preprocessor/arithmetic/sub.hpp>#include <boost/preprocessor/logical/compl.hpp>#include "ros/service_server.h"#include "ros/subscriber.h"#include "ros/node_handle.h"#include "ros/init.h"#include "XmlRpcValue.h"#include "node_handle.h"#include "ros/names.h"#include "ros/message_operations.h"#include "geometry_msgs/Point.h"#include "std_msgs/ColorRGBA.h"#include <mtt/graph_wrapper.h>#include <mtt/mht_declaration.h>#include <mtt/k_best.h>#include <mtt/cluster.h>#include <utility>#include <boost/mpl/integral_c_tag.hpp>#include <boost/type_traits/is_base_and_derived.hpp>#include <boost/mpl/equal_to.hpp>#include <boost/mpl/greater.hpp>#include <boost/serialization/level.hpp>#include <boost/serialization/level_enum.hpp>#include <boost/serialization/tracking_enum.hpp>#include <boost/serialization/access.hpp>#include <boost/serialization/force_include.hpp>#include <boost/serialization/traits.hpp>#include <boost/serialization/split_member.hpp>#include <boost/serialization/wrapper.hpp>#include <boost/mpl/always.hpp>#include <boost/serialization/nvp.hpp>#include <boost/noncopyable.hpp>#include <boost/numeric/ublas/detail/config.hpp>#include <boost/numeric/ublas/exception.hpp>#include <boost/mpl/at_fwd.hpp>#include <boost/mpl/aux_/config/typeof.hpp>#include <boost/mpl/vector/aux_/at.hpp>#include <boost/mpl/vector/aux_/tag.hpp>#include <boost/mpl/aux_/numeric_op.hpp>#include <boost/mpl/aux_/arithmetic_op.hpp>#include <boost/mpl/advance_fwd.hpp>#include <boost/mpl/distance_fwd.hpp>#include <boost/mpl/prior.hpp>#include <boost/mpl/minus.hpp>#include <boost/mpl/vector/aux_/O1_size.hpp>#include <boost/mpl/vector/aux_/iterator.hpp>#include <boost/mpl/vector/aux_/vector0.hpp>#include <boost/mpl/vector/aux_/include_preprocessed.hpp>#include <boost/mpl/at.hpp>#include "boost/type_traits/add_reference.hpp"#include "boost/type_traits/add_volatile.hpp"#include "boost/type_traits/has_nothrow_copy.hpp"#include <boost/type_traits/has_trivial_destructor.hpp>#include "boost/type_traits/has_trivial_assign.hpp"#include "boost/type_traits/has_trivial_constructor.hpp"#include "boost/type_traits/is_signed.hpp"#include "boost/type_traits/is_unsigned.hpp"#include "boost/type_traits/is_abstract.hpp"#include <boost/type_traits/is_fundamental.hpp>#include "boost/type_traits/is_float.hpp"#include <boost/type_traits/is_function.hpp>#include "boost/type_traits/is_polymorphic.hpp"#include "boost/type_traits/is_scalar.hpp"#include <boost/type_traits/is_empty.hpp>#include <boost/type_traits/detail/size_t_trait_def.hpp>#include <boost/type_traits/detail/size_t_trait_undef.hpp>#include <boost/type_traits/add_pointer.hpp>#include <boost/type_traits/integral_promotion.hpp>#include <boost/type_traits/floating_point_promotion.hpp>#include <boost/type_traits/make_unsigned.hpp>#include <boost/type_traits/remove_bounds.hpp>#include <boost/numeric/ublas/detail/iterator.hpp>#include <boost/numeric/ublas/traits.hpp>#include <boost/numeric/ublas/detail/definitions.hpp>#include <boost/numeric/ublas/functional.hpp>#include <boost/serialization/collection_size_type.hpp>#include <boost/numeric/ublas/vector_expression.hpp>#include <boost/serialization/array.hpp>#include <boost/thread/mutex.hpp>#include "std_msgs/Header.h"#include "geometry_msgs/Vector3.h"#include "geometry_msgs/Quaternion.h"#include "geometry_msgs/Pose.h"#include "btMatrix3x3.h"#include "tf/exceptions.h"#include "LinearMath/btTransform.h"#include <boost/functional/hash/hash_fwd.hpp>#include <boost/functional/hash/detail/float_functions.hpp>#include <boost/integer/static_log2.hpp>#include <boost/functional/hash/detail/limits.hpp>#include <boost/functional/hash/hash.hpp>#include <boost/iterator.hpp>#include <boost/detail/iterator.hpp>#include <boost/type_traits/aligned_storage.hpp>#include <boost/utility/swap.hpp>#include <boost/preprocessor/repetition/enum_binary_params.hpp>#include <boost/preprocessor/repetition/repeat_from_to.hpp>#include <boost/unordered/detail/hash_table_impl.hpp>#include <boost/unordered/detail/config.hpp>#include <initializer_list>#include <boost/type_traits/function_traits.hpp>#include <boost/weak_ptr.hpp>#include <boost/smart_ptr/detail/sp_convertible.hpp>#include <boost/config/no_tr1/functional.hpp>#include <boost/smart_ptr/weak_ptr.hpp>#include <boost/operators.hpp>#include <boost/utility.hpp>#include <boost/signals/detail/signals_common.hpp>#include <boost/signals/connection.hpp>#include <boost/type_traits.hpp>#include <boost/visit_each.hpp>#include <boost/signals/detail/config.hpp>#include <boost/function/detail/prologue.hpp>#include <boost/iterator/detail/config_def.hpp>#include <boost/iterator/detail/config_undef.hpp>#include <boost/iterator/iterator_categories.hpp>#include <boost/type_traits/remove_pointer.hpp>#include <boost/signals/trackable.hpp>#include <boost/signals/slot.hpp>#include <boost/smart_ptr.hpp>#include <boost/function/function2.hpp>#include <boost/iterator/iterator_facade.hpp>#include <boost/signals/signal_template.hpp>#include "sensor_msgs/PointCloud.h"#include "src/Core/util/DisableStupidWarnings.h"#include "src/Core/util/Macros.h"#include <cstdlib>#include "src/Core/util/Constants.h"#include "src/Core/util/ForwardDeclarations.h"#include "src/Core/util/Meta.h"#include "src/Core/util/XprHelper.h"#include "src/Core/util/StaticAssert.h"#include "src/Core/util/Memory.h"#include "src/Core/NumTraits.h"#include "src/Core/MathFunctions.h"#include "src/Core/GenericPacketMath.h"#include "src/Core/arch/Default/Settings.h"#include "src/Core/Functors.h"#include "src/Core/DenseCoeffsBase.h"#include "src/Core/DenseBase.h"#include "src/Core/MatrixBase.h"#include "src/Core/EigenBase.h"#include "src/Core/Assign.h"#include "src/Core/util/BlasUtil.h"#include "src/Core/DenseStorage.h"#include "src/Core/NestByValue.h"#include "src/Core/ForceAlignedAccess.h"#include "src/Core/ReturnByValue.h"#include "src/Core/NoAlias.h"#include "src/Core/PlainObjectBase.h"#include "src/Core/Matrix.h"#include "src/Core/Array.h"#include "src/Core/CwiseBinaryOp.h"#include "src/Core/CwiseUnaryOp.h"#include "src/Core/CwiseNullaryOp.h"#include "src/Core/CwiseUnaryView.h"#include "src/Core/SelfCwiseBinaryOp.h"#include "src/Core/Dot.h"#include "src/Core/StableNorm.h"#include "src/Core/MapBase.h"#include "src/Core/Stride.h"#include "src/Core/Map.h"#include "src/Core/Block.h"#include "src/Core/VectorBlock.h"#include "src/Core/Transpose.h"#include "src/Core/DiagonalMatrix.h"#include "src/Core/Diagonal.h"#include "src/Core/DiagonalProduct.h"#include "src/Core/PermutationMatrix.h"#include "src/Core/Transpositions.h"#include "src/Core/Redux.h"#include "src/Core/Visitor.h"#include "src/Core/Fuzzy.h"#include "src/Core/IO.h"#include "src/Core/Swap.h"#include "src/Core/CommaInitializer.h"#include "src/Core/Flagged.h"#include "src/Core/ProductBase.h"#include "src/Core/Product.h"#include "src/Core/TriangularMatrix.h"#include "src/Core/SelfAdjointView.h"#include "src/Core/SolveTriangular.h"#include "src/Core/products/Parallelizer.h"#include "src/Core/products/CoeffBasedProduct.h"#include "src/Core/products/GeneralBlockPanelKernel.h"#include "src/Core/products/GeneralMatrixVector.h"#include "src/Core/products/GeneralMatrixMatrix.h"#include "src/Core/products/GeneralMatrixMatrixTriangular.h"#include "src/Core/products/SelfadjointMatrixVector.h"#include "src/Core/products/SelfadjointMatrixMatrix.h"#include "src/Core/products/SelfadjointProduct.h"#include "src/Core/products/SelfadjointRank2Update.h"#include "src/Core/products/TriangularMatrixVector.h"#include "src/Core/products/TriangularMatrixMatrix.h"#include "src/Core/products/TriangularSolverMatrix.h"#include "src/Core/products/TriangularSolverVector.h"#include "src/Core/BandMatrix.h"#include "src/Core/BooleanRedux.h"#include "src/Core/Select.h"#include "src/Core/VectorwiseOp.h"#include "src/Core/Random.h"#include "src/Core/Replicate.h"#include "src/Core/Reverse.h"#include "src/Core/ArrayBase.h"#include "src/Core/ArrayWrapper.h"#include "src/Core/GlobalFunctions.h"#include "src/Core/util/ReenableStupidWarnings.h"#include <stdarg.h>#include <stdio.h>#include <Eigen/Core>#include <bitset>#include <sensor_msgs/PointField.h>#include <boost/type_traits/remove_all_extents.hpp>#include <boost/mpl/vector.hpp>#include <boost/aligned_storage.hpp>#include <boost/type_traits/add_cv.hpp>#include <boost/type_traits/remove_volatile.hpp>#include <boost/swap.hpp>#include <boost/preprocessor/seq/enum.hpp>#include <boost/preprocessor/repetition/for.hpp>#include <boost/preprocessor/seq/transform.hpp>#include "pcl/win32_macros.h"#include <boost/mpl/is_sequence.hpp>#include <boost/config/no_tr1/utility.hpp>#include "Core"#include "src/StlSupport/StdVector.h"#include "pcl/pcl_macros.h"#include <sensor_msgs/PointCloud2.h>#include <Eigen/StdVector>#include "SVD"#include "LU"#include "src/Geometry/OrthoMethods.h"#include "src/Geometry/EulerAngles.h"#include "src/Geometry/Homogeneous.h"#include "src/Geometry/RotationBase.h"#include "src/Geometry/Rotation2D.h"#include "src/Geometry/Quaternion.h"#include "src/Geometry/AngleAxis.h"#include "src/Geometry/Transform.h"#include "src/Geometry/Translation.h"#include "src/Geometry/Scaling.h"#include "src/Geometry/Hyperplane.h"#include "src/Geometry/ParametrizedLine.h"#include "src/Geometry/AlignedBox.h"#include "src/Geometry/Umeyama.h"#include <pcl/console/print.h>#include "pcl/PointIndices.h"#include "pcl/point_cloud.h"#include "pcl/ros/point_traits.h"#include <boost/mpl/remove_if.hpp>#include <boost/mpl/contains.hpp>#include <boost/mpl/aux_/unwrap.hpp>#include "pcl/exceptions.h"#include <boost/mpl/logical.hpp>#include <boost/range/config.hpp>#include <boost/type_traits/detail/yes_no_type.hpp>#include <string.h>#include <wchar.h>#include <boost/iterator/iterator_traits.hpp>#include <boost/range/const_iterator.hpp>#include <boost/range/iterator.hpp>#include <boost/range/begin.hpp>#include <boost/iterator/detail/enable_if.hpp>#include <boost/range/end.hpp>#include <boost/range/reverse_iterator.hpp>#include "pcl/ros/conversions.h"#include "boost/numeric/conversion/detail/meta.hpp"#include <boost/mpl/aux_/preprocessor/default_params.hpp>#include "boost/numeric/conversion/detail/int_float_mixture.hpp"#include "boost/numeric/conversion/detail/sign_mixture.hpp"#include "boost/numeric/conversion/detail/udt_builtin_mixture.hpp"#include "boost/numeric/conversion/detail/conversion_traits.hpp"#include "pcl/point_types.h"#include "pcl/kdtree/kdtree_flann.h"#include "flann/general.h"#include "flann/util/matrix.h"#include "flann/util/result_set.h"#include "flann/algorithms/nn_index.h"#include "flann/util/logger.h"#include "flann/util/saving.h"#include "flann/util/heap.h"#include "flann/util/allocator.h"#include "flann/util/random.h"#include "flann/algorithms/kdtree_index.h"#include "flann/algorithms/kmeans_index.h"#include "flann/algorithms/dist.h"#include "flann/nn/index_testing.h"#include "flann/algorithms/kdtree_single_index.h"#include "flann/algorithms/composite_index.h"#include "flann/algorithms/linear_index.h"#include <pcl/pcl_base.h>#include "pcl/kdtree/kdtree.h"#include "QR"#include "Householder"#include "Jacobi"#include "src/misc/Solve.h"#include "src/SVD/JacobiSVD.h"#include "src/SVD/UpperBidiagonalization.h"#include <Eigen/Dense>#include <Eigen/Cholesky>#include <istream>#include <fstream>#include <boost/thread/detail/platform.hpp>#include "platform.hpp"#include <boost/config/auto_link.hpp>#include <boost/config/abi_prefix.hpp>#include <boost/config/abi_suffix.hpp>#include <boost/thread/detail/config.hpp>#include <ctime>#include <boost/date_time/compiler_config.hpp>#include "boost/date_time/c_time.hpp"#include "boost/date_time/time_clock.hpp"#include "boost/date_time/microsec_time_clock.hpp"#include <boost/date_time/time_defs.hpp>#include "boost/date_time/special_defs.hpp"#include "boost/date_time/locale_config.hpp"#include <exception>#include "boost/date_time/constrained_value.hpp"#include "boost/date_time/year_month_day.hpp"#include "boost/date_time/date_defs.hpp"#include <cctype>#include "boost/date_time/int_adapter.hpp"#include <boost/date_time/date_duration.hpp>#include <boost/date_time/date.hpp>#include <boost/date_time/gregorian/greg_calendar.hpp>#include <boost/date_time/gregorian/greg_duration.hpp>#include <boost/date_time/date_duration_types.hpp>#include "boost/date_time/gregorian/greg_date.hpp"#include "boost/date_time/adjust_functors.hpp"#include <boost/date_time/wrapping_int.hpp>#include "boost/date_time/gregorian/greg_duration_types.hpp"#include "boost/date_time/posix_time/ptime.hpp"#include "boost/date_time/posix_time/posix_time_config.hpp"#include "boost/date_time/posix_time/posix_time_system.hpp"#include "boost/date_time/period.hpp"#include "boost/date_time/posix_time/posix_time_duration.hpp"#include "boost/date_time/date_generators.hpp"#include "boost/date_time/filetime_functions.hpp"#include <boost/date_time/gregorian/gregorian_types.hpp>
Go to the source code of this file.
Classes | |
| class | Markers |
| Dynamic markers support class. More... | |
Functions | |
| vector < visualization_msgs::Marker > | createClustersMarkers (vector< MeasurementPtr > &clusters) |
| Create markers from clusters. | |
| void | createObjects (vector< PointPtr > &data, vector< MeasurementPtr > &clusters, double clustering_distance) |
| Clustering function. | |
| vector < visualization_msgs::Marker > | createTargetMarkers (vector< TargetPtr > &targets) |
| Create markers from targets. | |
| void | dataHandler (const sensor_msgs::PointCloud2 &msg) |
| Handler for the incoming data. | |
| double | euclideanDistance (Point &p1, Point &p2) |
| Calculate Euclidean distance between Point class types. | |
| void * | graphicalThread (void *data) |
| Graphical thread. | |
| void | gvconfig_plugin_install_from_library (GVC_t *, char *, gvplugin_library_t *) |
| External function used to install a gv plugin from a library. | |
| std_msgs::ColorRGBA | makeColor (double r, double g, double b, double a) |
| Create a std_msgs color from rgba values. | |
| std_msgs::ColorRGBA | makeColor (int id) |
| Create a std_msgs color from a hsv color map. | |
| geometry_msgs::Point | makePose (double x, double y, double z) |
| Create a geometry_msgs::Point from values. | |
| void | pointCloud2ToVector (const sensor_msgs::PointCloud2 &cloud, vector< PointPtr > &data) |
| Convert the point cloud data into a laser scan type structure. | |
Variables | |
| gvplugin_library_t | gvplugin_xgtk_LTX_library |
| Xgtk external graphviz library/plugin (only plugin, there's no need to create a library since it can be linked internally). | |
Mht implementation main header.
Definition in file mht.h.
| vector<visualization_msgs::Marker> createClustersMarkers | ( | vector< MeasurementPtr > & | clusters | ) |
Create markers from clusters.
This function creates a set of markers for the current point clusters, this uses the Markers class to keep a up to date list of the current markers.
| clusters | vector of Measurement 's classes |
| void createObjects | ( | vector< PointPtr > & | data, | |
| vector< MeasurementPtr > & | clusters, | |||
| double | clustering_distance | |||
| ) |
Clustering function.
This functions separates the incoming data vector into a set of clusters based on a clustering_distance.
| data | input point vector (it is in fact a std::vector<Mht::PointPtr> reference since its safer to work with shared_ptr's. | |
| clusters | output vector of clusters, these clusters are treated has measurements and use the Measurement class. | |
| clustering_distance | distance value used to break clusters. |
| vector<visualization_msgs::Marker> createTargetMarkers | ( | vector< TargetPtr > & | targets | ) |
| void dataHandler | ( | const sensor_msgs::PointCloud2 & | msg | ) |
Calculate Euclidean distance between Point class types.
Only the x and y coordinates are used.
| p1 | first point | |
| p2 | second point |
| void* graphicalThread | ( | void * | data | ) |
| void gvconfig_plugin_install_from_library | ( | GVC_t * | , | |
| char * | , | |||
| gvplugin_library_t * | ||||
| ) |
External function used to install a gv plugin from a library.
| std_msgs::ColorRGBA makeColor | ( | double | r, | |
| double | g, | |||
| double | b, | |||
| double | a | |||
| ) |
| std_msgs::ColorRGBA makeColor | ( | int | id | ) |
| geometry_msgs::Point makePose | ( | double | x, | |
| double | y, | |||
| double | z | |||
| ) |
Create a geometry_msgs::Point from values.
| x | x component | |
| y | y component | |
| z | z component |
| void pointCloud2ToVector | ( | const sensor_msgs::PointCloud2 & | cloud, | |
| vector< PointPtr > & | data | |||
| ) |
| gvplugin_library_t gvplugin_xgtk_LTX_library |
Xgtk external graphviz library/plugin (only plugin, there's no need to create a library since it can be linked internally).
Definition at line 256 of file gvplugin_xgtk.cpp.