Drake
drake::manipulation::perception Namespace Reference

Classes

class  OptitrackPoseExtractor
 Extracts and provides an output of the pose of a desired object as an Eigen::Isometry3d from an Optitrack LCM OPTITRACK_FRAME_T message, the pose transformed to a desired coordinate frame. More...
 
class  PoseSmoother
 This class accepts the pose of a rigid body (composed by a Eigen::Isometry3d) and returns a smoothed pose by performing either the first or both of these processes : i. More...
 

Functions

Isometry3< doubleExtractOptitrackPose (const optitrack::optitrack_rigid_body_t &message)
 Gets the pose of an Optitrack rigid body. More...
 
std::map< int, Isometry3< double > > ExtractOptitrackPoses (const optitrack::optitrack_frame_t &frame)
 Extracts poses of all objects from an Optitrack message. More...
 
optional< optitrack::optitrack_rigid_body_t > FindOptitrackBody (const optitrack::optitrack_frame_t &message, int object_id)
 Gets a rigid body from an optitrack frame message given an object ID. More...
 
optional< intFindOptitrackObjectId (const optitrack::optitrack_data_descriptions_t &message, const std::string &object_name)
 Gets the object ID from an Optitrack description message. More...
 
 TEST_F (OptitrackPoseTest, InvalidObjectTest)
 
 TEST_F (OptitrackPoseTest, InvalidObjectIDTest)
 
 TEST_F (OptitrackPoseTest, PoseComparisonTest)
 
 TEST_F (OptitrackPoseTest, FindObject)
 

Variables

constexpr double kTolerance = 1e-6
 

Function Documentation

Isometry3< double > ExtractOptitrackPose ( const optitrack::optitrack_rigid_body_t &  message)

Gets the pose of an Optitrack rigid body.

Returns
X_OB, the pose of the body B in the optitrack frame O.

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std::map< int, Isometry3< double > > ExtractOptitrackPoses ( const optitrack::optitrack_frame_t &  frame)

Extracts poses of all objects from an Optitrack message.

Returns
Mapping from object ID to pose.

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optional< optitrack::optitrack_rigid_body_t > FindOptitrackBody ( const optitrack::optitrack_frame_t &  message,
int  object_id 
)

Gets a rigid body from an optitrack frame message given an object ID.

Parameters
messageOptitrack message.
object_idID to be searched for in the frame message.
Returns
Rigid body object, or nullopt if not found.

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optional< int > FindOptitrackObjectId ( const optitrack::optitrack_data_descriptions_t &  message,
const std::string &  object_name 
)

Gets the object ID from an Optitrack description message.

Parameters
messageDescription message.
Returns
Object ID if found, or nullopt if not found.

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drake::manipulation::perception::TEST_F ( OptitrackPoseTest  ,
InvalidObjectTest   
)
drake::manipulation::perception::TEST_F ( OptitrackPoseTest  ,
InvalidObjectIDTest   
)
drake::manipulation::perception::TEST_F ( OptitrackPoseTest  ,
PoseComparisonTest   
)

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drake::manipulation::perception::TEST_F ( OptitrackPoseTest  ,
FindObject   
)

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Variable Documentation

constexpr double kTolerance = 1e-6