orcanavutil.h

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 #include <hydronavutil/vehicledescription.h>
00009 #include <orca/vehicledescription.h>
00010 
00011 namespace orcanavutil {
00012 
00013     //
00014     // Conversion Utilities
00015     //
00017 
00018     //
00019     // orca -> hydro
00020     //
00021 
00022     hydronavutil::Pose     convert( const orca::Frame2d &frame );
00023     hydronavutil::Cov3d    convert( const orca::Covariance2d &c );
00024     hydronavutil::Gaussian convert( const orca::Pose2dHypothesis &hyp );
00025     hydronavutil::Gmm      convert( const orca::Localise2dData &locData );
00026     hydronavutil::Pose     convertToPose( const orca::Odometry2dData &odom );
00027     hydronavutil::Velocity convertToVelocity( const orca::Odometry2dData &odom );
00029     hydronavutil::Velocity convert( const orca::VelocityControl2dData &cmd );
00031     hydronavutil::Pose     convertToPose( const orca::Localise2dData &loc );
00032 
00033     //
00034     // hydro -> orca
00035     //
00036 
00037     orca::Pose2dHypothesis convert( const hydronavutil::Gaussian &g, double weight );
00039     orca::Localise2dData   convert( const hydronavutil::Gmm &gmm, int seconds, int useconds );
00043     orca::Localise2dData convertUpToNHypotheses( const hydronavutil::Gmm &gmm,
00044                                                  int maxHypotheses,
00045                                                  int seconds,
00046                                                  int useconds );
00047     orca::Frame2d convert( const hydronavutil::Pose &pose );
00049     orca::VelocityControl2dData convert( const hydronavutil::Velocity &cmd );
00051     orca::Covariance2d diagonalCovariance( double linearCov, double rotationalCov );
00052 
00053     orca::VehicleGeometryDescriptionPtr convert( const hydronavutil::CylindricalGeometryDescription &geomDescr );
00054     orca::VehicleDescription convert( const hydronavutil::DiffDriveControlDescription    &controlDescr,
00055                                       const hydronavutil::CylindricalGeometryDescription &geomDescr );
00056 }
00057 
00058 #endif