Package rst.geometry

Geometry is a branch of mathematics concerned with questions of shape, size, relative position of figures, and the properties of space.

This package contains data types which represent geometrical objects.

See also

Wikipedia article containing the definition above

http://en.wikipedia.org/wiki/Geometry

See also

Corresponding data types in ROS

http://www.ros.org/wiki/geometry_msgs

Messages

• PointPair
• Pose
• Rotation
• PointCloudSet3DFloat
• PointCloud3DFloat
• Translation
• BoundingBox

clearer: should be made invisible via css

Message PointPair

class rst.geometry.PointPair

A message representing a pair of 2D Points

Code author: TODO

first

Type :rst.math.Vec2DFloat

TODO

second

Type :rst.math.Vec2DFloat

TODO

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message PointPair {

    /**
     * TODO
     */
    required math.Vec2DFloat first = 1;

    /**
     * TODO
     */
    required math.Vec2DFloat second = 2;

}

Message Pose

class rst.geometry.Pose

Pose data (camera, robot, ...).

Todo

extend explanation

Code author: Arne Nordmann <anordman@techfak.uni-bielefeld.de>

translation

Type :rst.geometry.Translation

TODO

rotation

Type :rst.geometry.Rotation

TODO

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message Pose {

    /**
     * TODO
     */
    required Translation translation = 1;

    /**
     * TODO
     */
    required Rotation rotation = 2;

}

Message Rotation

class rst.geometry.Rotation

Cartesian 3-dimensional rotatory displacement or orientation.

The displacement or orientation (orientation being a rotation from an origin) is in world coordinates and expressed as unit quaternion (all-zero quaternion denotes an invalid orientation/rotation).

Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>

qw

Type :FLOAT64

TODO

qx

Type :FLOAT64

TODO

qy

Type :FLOAT64

TODO

qz

Type :FLOAT64

TODO

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message Rotation {

    /**
     * TODO
     */
    required double qw = 4;

    /**
     * TODO
     */
    required double qx = 5;

    /**
     * TODO
     */
    required double qy = 6;

    /**
     * TODO
     */
    required double qz = 7;

}

Message PointCloudSet3DFloat

class rst.geometry.PointCloudSet3DFloat

A set of 3D Point clouds.

Code author: Christian Emmerich <cemmeric@cor-lab.de>

clouds

Type :array of rst.geometry.PointCloud3DFloat

Empty collection of clouds is allowed. The order of cloud objects is not significant.

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message PointCloudSet3DFloat {

    /**
     * Empty collection of clouds is allowed.
     * The order of cloud objects is not significant.
     */
    repeated geometry.PointCloud3DFloat clouds = 1;

}

Message PointCloud3DFloat

class rst.geometry.PointCloud3DFloat

A collection of points in 3D space.

Code author: Jordi Sanchez Riera <jordi.sanchez-riera@inrialpes.fr>

Todo

correct author?

points

Type :array of rst.math.Vec3DFloat

TODO @unit(meter?)

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message PointCloud3DFloat {

    /**
     * TODO
     */
    // @unit(meter?)
    repeated math.Vec3DFloat points = 1;

}

Message Translation

class rst.geometry.Translation

Cartesian 3-dimensional translatory displacement or position.

The displacement or position (position being translation from an origin) is expressed in world coordinates.

Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>

x

Type :FLOAT64

Unit: meter

Cartesian displacement along the x axis

y

Type :FLOAT64

Unit: meter

Cartesian displacement along the y axis

z

Type :FLOAT64

Unit: meter

Cartesian displacement along the z axis

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message Translation {

    /**
     * Cartesian displacement along the x axis
     */
    // @unit(meter)
    required double x = 1;

    /**
     * Cartesian displacement along the y axis
     */
    // @unit(meter)
    required double y = 2;

    /**
     * Cartesian displacement along the z axis
     */
    // @unit(meter)
    required double z = 3;

}

Message BoundingBox

class rst.geometry.BoundingBox

Constraint: .top_left.x < .image_width

Constraint: .top_left.x + .width <= .image_width

Constraint: .top_left.y < .image_height

Constraint: .top_left.y + .height <= .image_height

A bounding box, which is associated to a raster image.

(0,0)           Image
+----------------------------------+ ^
|                                  |
|    top_left                    |
|    +---------------+ ^           |
|    |               |             |
|    |               | height    | image_height
|    |               |             |
|    +---------------+ v           |
|    <    width     >            |
|                                  |
+----------------------------------+ v
<         image_width            >

All values are in pixels and refer to the associated image.

Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>

top_left

Type :rst.math.Vec2DInt

Unit: pixel

Coordinates of the top left corner.

width

Type :UINT32

Unit: pixel

Width of the bounding box.

height

Type :UINT32

Unit: pixel

Height of the bounding box.

image_width

Type :UINT32

Unit: pixel

Width of the image the bounding box is based on.

image_height

Type :UINT32

Unit: pixel

Height of the image the bounding box is based on.

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message BoundingBox {

    /**
     * Coordinates of the top left corner.
     */
    // @unit(pixel)
    required math.Vec2DInt top_left = 1;

    /**
     * Width of the bounding box.
     */
    // @unit(pixel)
    required uint32 width = 2;

    /**
     * Height of the bounding box.
     */
    // @unit(pixel)
    required uint32 height = 3;

    /**
     * Width of the image the bounding box is based on.
     */
    // @unit(pixel)
    optional uint32 image_width = 4;

    /**
     * Height of the image the bounding box is based on.
     */
    // @unit(pixel)
    optional uint32 image_height = 5;

}