#include <RRConversionUtils.h>

Inheritance diagram for URRConversionUtils:

Collaboration diagram for URRConversionUtils:

Static Public Member Functions
static FVector	ConvertHandedness (const FVector &InLocation)

template<typename T >
static T	DistanceROSToUE (const T &InROSDistance)

template<typename T >
static T	SizeROSToUE (const T &InROSSize)

template<typename T >
static T	DistanceUEToROS (const T &InUESize)

template<typename T >
static T	SizeUEToROS (const T &InUESize)

static FVector	VectorUEToROS (const FVector &Input)

static FORCEINLINE void	VectorUEToROS (const double &InputX, const double &InputY, const double &InputZ, double &OutputX, double &OutputY, double &OutputZ)

static FVector	RotationUEVectorToROS (const FVector &Input, const bool bDegToRad=true)
	Convert UE Rotation to ROS Vector with optional Deg->Rad conversion. More...

static FRotator	RotatorUEToROS (const FRotator &Input, const bool bDegToRad=true)

static FQuat	QuatUEToROS (const FQuat &Input)

static FTransform	TransformUEToROS (const FTransform &Input)

static FROSOdom	OdomUEToROS (const FROSOdom &Input)

static FVector	VectorROSToUE (const FVector &Input)

static FORCEINLINE void	VectorROSToUE (const FVector &Input, FVector &Output)

static FORCEINLINE void	VectorROSToUE (const double &InputX, const double &InputY, const double &InputZ, double &OutputX, double &OutputY, double &OutputZ)

static FVector	RotationROSToUEVector (const FVector &Input, const bool bRadToDeg=true)
	Convert ROS Rotation Euler (rad) to UE Vector with optional Rad->Deg conversion. More...

static FRotator	RotatorROSToUE (const FRotator &Input, const bool bRadToDeg=true)

static FQuat	QuatROSToUE (const FQuat &Input)

static FTransform	TransformROSToUE (const FTransform &Input)

static FROSOdom	OdomROSToUE (const FROSOdom &Input)
	Convert Odom from ROS system to UE system. More...

static FTransform	PoseROSToUETransform (const FROSPose &InROSPose)
	Convert ROS Pose to UE Transform. More...

static FROSTime	FloatToROSStamp (const float InTimeSec)

static FROSTime	GetCurrentROS2Time (const UObject *InContextObject)

static float	ROSStampToFloat (const FROSTime &InTimeStamp)

template<typename T >
static FString	ToString (const T &InValue)

template<typename T >
static FString	ArrayToString (const TArray< T > &InArray, const TCHAR *InDelimiter=TEXT(","))

template<typename T , std::size_t N>
static FString	ArrayToString (const T(&InArray)[N], const TCHAR *InDelimiter=TEXT(","))

static FROSHitResult	HitResultUEToROS (const FHitResult &InHit)

Detailed Description

UCLASS()

Member Function Documentation

◆ ArrayToString() [1/2]

template<typename T , std::size_t N>

static FString URRConversionUtils::ArrayToString	(	const T(&)	InArray[N],
		const TCHAR *	InDelimiter = `TEXT(",")`
	)

inlinestatic

◆ ArrayToString() [2/2]

template<typename T >

static FString URRConversionUtils::ArrayToString	(	const TArray< T > &	InArray,
		const TCHAR *	InDelimiter = `TEXT(",")`
	)

inlinestatic

◆ ConvertHandedness()

static FVector URRConversionUtils::ConvertHandedness ( const FVector & InLocation )

inlinestatic

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ DistanceROSToUE()

template<typename T >

static T URRConversionUtils::DistanceROSToUE ( const T & InROSDistance )

inlinestatic

◆ DistanceUEToROS()

template<typename T >

static T URRConversionUtils::DistanceUEToROS ( const T & InUESize )

inlinestatic

◆ FloatToROSStamp()

static FROSTime URRConversionUtils::FloatToROSStamp ( const float InTimeSec )

inlinestatic

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ GetCurrentROS2Time()

static FROSTime URRConversionUtils::GetCurrentROS2Time ( const UObject * InContextObject )

inlinestatic

◆ HitResultUEToROS()

static FROSHitResult URRConversionUtils::HitResultUEToROS ( const FHitResult & InHit )

inlinestatic

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ OdomROSToUE()

static FROSOdom URRConversionUtils::OdomROSToUE ( const FROSOdom & Input )

inlinestatic

Convert Odom from ROS system to UE system.

Note: pose is cast double to float. it will be resolved in UE5 since FVector uses double as default in UE5

See also: https://docs.unrealengine.com/5.0/en-US/large-world-coordinates-in-unreal-engine-5/#:~:text=Engine%205%2C%20the-,FVector,-casts%20will%20continue

Parameters

Input

Returns: FROSOdom

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ OdomUEToROS()

static FROSOdom URRConversionUtils::OdomUEToROS ( const FROSOdom & Input )

inlinestatic

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ PoseROSToUETransform()

static FTransform URRConversionUtils::PoseROSToUETransform ( const FROSPose & InROSPose )

inlinestatic

Convert ROS Pose to UE Transform.

See also: https://docs.unrealengine.com/5.0/en-US/large-world-coordinates-in-unreal-engine-5/#:~:text=Engine%205%2C%20the-,FVector,-casts%20will%20continue

Parameters

InROSPose

Returns: FTransform

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ QuatROSToUE()

static FQuat URRConversionUtils::QuatROSToUE ( const FQuat & Input )

inlinestatic

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ QuatUEToROS()

static FQuat URRConversionUtils::QuatUEToROS ( const FQuat & Input )

inlinestatic

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ ROSStampToFloat()

static float URRConversionUtils::ROSStampToFloat ( const FROSTime & InTimeStamp )

inlinestatic

◆ RotationROSToUEVector()

static FVector URRConversionUtils::RotationROSToUEVector	(	const FVector &	Input,
		const bool	bRadToDeg = `true`
	)

inlinestatic

Convert ROS Rotation Euler (rad) to UE Vector with optional Rad->Deg conversion.

Parameters

Input
bRadToDeg	convert radian to degree or not

Returns: FVector

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ RotationUEVectorToROS()

static FVector URRConversionUtils::RotationUEVectorToROS	(	const FVector &	Input,
		const bool	bDegToRad = `true`
	)

inlinestatic

Convert UE Rotation to ROS Vector with optional Deg->Rad conversion.

Parameters

Input
bDegToRad

Returns: FVector

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ RotatorROSToUE()

static FRotator URRConversionUtils::RotatorROSToUE	(	const FRotator &	Input,
		const bool	bRadToDeg = `true`
	)

inlinestatic

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ RotatorUEToROS()

static FRotator URRConversionUtils::RotatorUEToROS	(	const FRotator &	Input,
		const bool	bDegToRad = `true`
	)

inlinestatic

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ SizeROSToUE()

template<typename T >

static T URRConversionUtils::SizeROSToUE ( const T & InROSSize )

inlinestatic

◆ SizeUEToROS()

template<typename T >

static T URRConversionUtils::SizeUEToROS ( const T & InUESize )

inlinestatic

◆ ToString()

template<typename T >

static FString URRConversionUtils::ToString ( const T & InValue )

inlinestatic

◆ TransformROSToUE()

static FTransform URRConversionUtils::TransformROSToUE ( const FTransform & Input )

inlinestatic

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ TransformUEToROS()

static FTransform URRConversionUtils::TransformUEToROS ( const FTransform & Input )

inlinestatic

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ VectorROSToUE() [1/3]

static FORCEINLINE void URRConversionUtils::VectorROSToUE	(	const double &	InputX,
		const double &	InputY,
		const double &	InputZ,
		double &	OutputX,
		double &	OutputY,
		double &	OutputZ
	)

inlinestatic

◆ VectorROSToUE() [2/3]

static FVector URRConversionUtils::VectorROSToUE ( const FVector & Input )

inlinestatic

UFUNCTION(BlueprintCallable, Category = "Conversion")

◆ VectorROSToUE() [3/3]

static FORCEINLINE void URRConversionUtils::VectorROSToUE	(	const FVector &	Input,
		FVector &	Output
	)

inlinestatic

◆ VectorUEToROS() [1/2]

static FORCEINLINE void URRConversionUtils::VectorUEToROS	(	const double &	InputX,
		const double &	InputY,
		const double &	InputZ,
		double &	OutputX,
		double &	OutputY,
		double &	OutputZ
	)

inlinestatic

◆ VectorUEToROS() [2/2]

static FVector URRConversionUtils::VectorUEToROS ( const FVector & Input )

inlinestatic

UFUNCTION(BlueprintCallable, Category = "Conversion")

The documentation for this class was generated from the following file:

/home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Core/RRConversionUtils.h

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ ArrayToString() [1/2]

◆ ArrayToString() [2/2]

◆ ConvertHandedness()

◆ DistanceROSToUE()

◆ DistanceUEToROS()

◆ FloatToROSStamp()

◆ GetCurrentROS2Time()

◆ HitResultUEToROS()

◆ OdomROSToUE()

◆ OdomUEToROS()

◆ PoseROSToUETransform()

◆ QuatROSToUE()

◆ QuatUEToROS()

◆ ROSStampToFloat()

◆ RotationROSToUEVector()

◆ RotationUEVectorToROS()

◆ RotatorROSToUE()

◆ RotatorUEToROS()

◆ SizeROSToUE()

◆ SizeUEToROS()

◆ ToString()

◆ TransformROSToUE()

◆ TransformUEToROS()

◆ VectorROSToUE() [1/3]

◆ VectorROSToUE() [2/3]

◆ VectorROSToUE() [3/3]

◆ VectorUEToROS() [1/2]

◆ VectorUEToROS() [2/2]