Orca Robotics

00001 #ifndef ORCANAVUTIL_ORCANAVUTIL_H
00002 #define ORCANAVUTIL_ORCANAVUTIL_H
00003 
00004 #include <hydronavutil/hydronavutil.h>
00005 #include <orca/localise2d.h>
00006 #include <orca/odometry2d.h>
00007 #include <orca/velocitycontrol2d.h>
00008 
00009 namespace orcanavutil {
00010 
00011     //
00012     // Conversion Utilities
00013     //
00015 
00016     //
00017     // orca -> hydro
00018     //
00019 
00020     hydronavutil::Pose     convert( const orca::Frame2d &frame );
00021     hydronavutil::Cov3d    convert( const orca::Covariance2d &c );
00022     hydronavutil::Gaussian convert( const orca::Pose2dHypothesis &hyp );
00023     hydronavutil::Gmm      convert( const orca::Localise2dData &locData );
00024     hydronavutil::Pose     convertToPose( const orca::Odometry2dData &odom );
00025     hydronavutil::Velocity convertToVelocity( const orca::Odometry2dData &odom );
00027     hydronavutil::Velocity convert( const orca::VelocityControl2dData &cmd );
00029     hydronavutil::Pose     convertToPose( const orca::Localise2dData &loc );
00030 
00031     //
00032     // hydro -> orca
00033     //
00034 
00035     orca::Pose2dHypothesis convert( const hydronavutil::Gaussian &g, double weight );
00037     orca::Localise2dData   convert( const hydronavutil::Gmm &gmm, int seconds, int useconds );
00041     orca::Localise2dData convertUpToNHypotheses( const hydronavutil::Gmm &gmm,
00042                                                  int maxHypotheses,
00043                                                  int seconds,
00044                                                  int useconds );
00045     orca::Frame2d convert( const hydronavutil::Pose &pose );
00047     orca::VelocityControl2dData convert( const hydronavutil::Velocity &cmd );
00048 
00049 }
00050 
00051 #endif
orcanavutil.h
