easynav Namespace Reference

Classes
class	CircularBuffer
	Fixed-size circular buffer, thread-safe (mutex-based), copyable. More...
class	ControllerNode
	ROS 2 lifecycle node that manages calculating speeds for the Easy Navigation system. More...
class	DetectionsPerception
class	DetectionsPerceptionsHandler
	Handles the creation and updating of DetectionsPerceptions instances from sensor_msgs::msg::Image messages. More...
class	DummyController
	A default "dummy" implementation for the Control Method. More...
class	DummyLocalizer
	A default "do-nothing" implementation of LocalizerMethodBase. More...
class	DummyMapsManager
	A default "do-nothing" implementation of MapsManagerBase. More...
class	DummyPlanner
	A default "do-nothing" implementation of PlannerMethodBase. More...
class	GNSSPerception
	Represents a single GNSS perception from a sensor. More...
class	GNSSPerceptionHandler
	Handles the creation and updating of GNSSPerception instances from sensor_msgs::msg::NavSatFix messages. More...
class	GoalManager
	Handles navigation goals, their lifecycle, and command interface. More...
class	GoalManagerClient
	Client-side interface for interacting with GoalManager. More...
class	ImagePerception
	Represents a single image perception from a sensor. More...
class	ImagePerceptionHandler
	Handles the creation and updating of ImagePerception instances from sensor_msgs::msg::Image messages. More...
class	IMUPerception
	Represents a single IMU perception from a sensor. More...
class	IMUPerceptionHandler
	Handles the creation and updating of IMUPerception instances from sensor_msgs::msg::Imu messages. More...
class	LocalizerNode
	ROS 2 lifecycle node that manages localization in Easy Navigation. More...
class	MapsManagerNode
	ROS 2 lifecycle node that manages map-related plugins in Easy Navigation. More...
class	NavState
	A generic, type-safe, thread-safe blackboard to hold runtime state. More...
class	PerceptionBase
	Abstract base class for representing a single sensor perception. More...
class	PerceptionHandler
	Abstract base interface for group-specific perception handlers. More...
struct	PerceptionPtr
	Represents a perception entry with its state and ROS subscription. More...
class	PlannerNode
	ROS 2 lifecycle node that manages path planning in Easy Navigation. More...
class	PointPerception
	Concrete perception class for 3D point cloud data. More...
struct	PointPerceptionBufferType
class	PointPerceptionHandler
	PerceptionHandler implementation for sensors producing point-based data. More...
class	PointPerceptionsOpsView
	Provides efficient, non-destructive, chainable operations over a set of point-based perceptions. More...
class	RTTFBuffer
	Provides functionality for RTTFBuffer. More...
class	SensorsNode
	ROS 2 lifecycle node that manages sensor fusion in Easy Navigation. More...
class	Singleton
class	SystemNode
	ROS 2 lifecycle node coordinating all Easy Navigation components. More...
struct	SystemNodeInfo
	Structure holding runtime information for a subnode. More...
struct	TFInfo
	Aggregated TF configuration used across EasyNav. More...
class	YTSession
	A Yaets Tracing Session. More...

Typedefs
using	CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
using	DetectionsPerceptions
using	GNSSPerceptions
	Alias for a vector of shared pointers to GNSSPerception objects.
using	ImagePerceptions
	Alias for a vector of shared pointers to ImagePerception objects.
using	IMUPerceptions
	Alias for a vector of shared pointers to IMUPerception objects.
using	PerceptionBasePtr = std::shared_ptr<PerceptionBase>
	Shared pointer alias to PerceptionBase.
using	PointPerceptions
	Alias for a vector of shared pointers to PointPerception objects.

Functions
std::string	backtrace_to_string (std::size_t max_frames=64, std::size_t skip=0)
double	calculate_angle (const geometry_msgs::msg::Pose &pose1, const geometry_msgs::msg::Pose &pose2)
	Get the (absolute) yaw angle difference between two poses.
double	calculate_distance_xy (const geometry_msgs::msg::Pose &pose1, const geometry_msgs::msg::Pose &pose2)
	Internal utility functions.
void	convert (const sensor_msgs::msg::LaserScan &scan, pcl::PointCloud< pcl::PointXYZ > &pc)
	Converts a LaserScan message into a point cloud.
std::string	demangle (const char *name)
	Demangles a C++ RTTI type name if possible.
rclcpp::Time	get_latest_detections_perceptions_stamp (const DetectionsPerceptions &perceptions)
	Retrieves the latest timestamp among a set of detection-based perceptions.
rclcpp::Time	get_latest_gnss_perceptions_stamp (const GNSSPerceptions &perceptions)
	Retrieves the latest timestamp among a set of GNSS perceptions.
rclcpp::Time	get_latest_image_perceptions_stamp (const ImagePerceptions &perceptions)
	Retrieves the latest timestamp among a set of image-based perceptions.
rclcpp::Time	get_latest_imu_perceptions_stamp (const IMUPerceptions &perceptions)
	Retrieves the latest timestamp among a set of IMU perceptions.
rclcpp::Time	get_latest_point_perceptions_stamp (const PointPerceptions &perceptions)
	Retrieves the latest timestamp among a set of point-based perceptions.
template<typename T = PerceptionBase>
std::vector< std::shared_ptr< T > >	get_perceptions (const std::vector< PerceptionPtr > &src)
	Extracts a homogeneous collection of perceptions of type T from a heterogeneous vector.
PointPerceptions	get_point_perceptions (std::vector< PerceptionPtr > &perceptionptr)
	Extracts all PointPerception objects from a heterogeneous collection.
constexpr double	norm_angle (const double angle)
	Angle normalization to [-pi, pi) range (in radians)
sensor_msgs::msg::PointCloud2	perception_to_rosmsg (const PointPerception &perception)
	Converts a PointPerception into a sensor_msgs::msg::PointCloud2 message.
sensor_msgs::msg::PointCloud2	points_to_rosmsg (const pcl::PointCloud< pcl::PointXYZ > &points)
	Converts a PCL point cloud into a sensor_msgs::msg::PointCloud2 message.
std::string	stacktrace (std::size_t skip=1, std::size_t max_frames=64)
	Captures a C/C++ stack trace as a string.

Variables
template<class C>
std::once_flag	Singleton< C >::init_flag_
template<class C>
std::unique_ptr< C >	Singleton< C >::instance_ = nullptr

Typedef Documentation

CallbackReturnT

using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

DetectionsPerceptions

using DetectionsPerceptions

Initial value:

 
  std::vector<std::shared_ptr<DetectionsPerception>>

GNSSPerceptions

using GNSSPerceptions

Initial value:

 
  std::vector<std::shared_ptr<GNSSPerception>>

Alias for a vector of shared pointers to GNSSPerception objects.

The container can represent a time-ordered or batched collection, depending on producer logic.

ImagePerceptions

using ImagePerceptions

Initial value:

 
  std::vector<std::shared_ptr<ImagePerception>>

Alias for a vector of shared pointers to ImagePerception objects.

The container can represent a time-ordered or batched collection, depending on producer logic.

IMUPerceptions

using IMUPerceptions

Initial value:

 
  std::vector<std::shared_ptr<IMUPerception>>

Alias for a vector of shared pointers to IMUPerception objects.

The container can represent a time-ordered or batched collection, depending on producer logic.

PerceptionBasePtr

using PerceptionBasePtr = std::shared_ptr<PerceptionBase>

Shared pointer alias to PerceptionBase.

PointPerceptions

using PointPerceptions

Initial value:

 
  std::vector<std::shared_ptr<PointPerception>>

Alias for a vector of shared pointers to PointPerception objects.

Function Documentation

backtrace_to_string()

std::string backtrace_to_string	(	std::size_t	max_frames = 64,
		std::size_t	skip = 0 )

calculate_angle()

double calculate_angle	(	const geometry_msgs::msg::Pose &	pose1,
		const geometry_msgs::msg::Pose &	pose2 )

Get the (absolute) yaw angle difference between two poses.

Parameters

pose1	First pose
pose2	Second pose

calculate_distance_xy()

double calculate_distance_xy	(	const geometry_msgs::msg::Pose &	pose1,
		const geometry_msgs::msg::Pose &	pose2 )

Internal utility functions.

Get the x/y distance between two poses

Parameters

pose1	First pose
pose2	Second pose

convert()

void convert	(	const sensor_msgs::msg::LaserScan &	scan,
		pcl::PointCloud< pcl::PointXYZ > &	pc )

Converts a LaserScan message into a point cloud.

Parameters

scan	Input laser scan message.
pc	Output point cloud (XYZ).

demangle()

std::string demangle

(

const char *

name

)

Demangles a C++ RTTI type name if possible.

Parameters

name	Mangled type name (from typeid(T).name()).

Returns

Readable (demangled) type name if available; otherwise returns name.

get_latest_detections_perceptions_stamp()

rclcpp::Time get_latest_detections_perceptions_stamp

(

const DetectionsPerceptions &

perceptions

)

Retrieves the latest timestamp among a set of detection-based perceptions.

Parameters

perceptions

Container of detection-based perceptions.

Returns

The most recent timestamp found in perceptions, or a default-constructed rclcpp::Time if perceptions is empty.

get_latest_gnss_perceptions_stamp()

rclcpp::Time get_latest_gnss_perceptions_stamp

(

const GNSSPerceptions &

perceptions

)

Retrieves the latest timestamp among a set of GNSS perceptions.

Parameters

perceptions

Container of GNSS perceptions.

Returns

The most recent timestamp found in perceptions, or a default-constructed rclcpp::Time if perceptions is empty.

get_latest_image_perceptions_stamp()

rclcpp::Time get_latest_image_perceptions_stamp

(

const ImagePerceptions &

perceptions

)

Retrieves the latest timestamp among a set of image-based perceptions.

Parameters

perceptions

Container of image-based perceptions.

Returns

The most recent timestamp found in perceptions, or a default-constructed rclcpp::Time if perceptions is empty.

get_latest_imu_perceptions_stamp()

rclcpp::Time get_latest_imu_perceptions_stamp

(

const IMUPerceptions &

perceptions

)

Retrieves the latest timestamp among a set of IMU perceptions.

Parameters

perceptions

Container of IMU perceptions.

Returns

The most recent timestamp found in perceptions, or a default-constructed rclcpp::Time if perceptions is empty.

get_latest_point_perceptions_stamp()

rclcpp::Time get_latest_point_perceptions_stamp

(

const PointPerceptions &

perceptions

)

Retrieves the latest timestamp among a set of point-based perceptions.

Parameters

perceptions

Container of point-based perceptions.

Returns

The most recent timestamp found in perceptions, or a default-constructed rclcpp::Time if perceptions is empty.

get_perceptions()

template<typename T = PerceptionBase>

std::vector< std::shared_ptr< T > > get_perceptions

(

const std::vector< PerceptionPtr > &

src

)

Extracts a homogeneous collection of perceptions of type T from a heterogeneous vector.

This helper iterates the input vector of PerceptionPtr and:

• If T is exactly PerceptionBase, returns all stored pointers without casting (heterogeneous view).
• Otherwise, attempts a std::dynamic_pointer_cast<T> and includes only those perceptions that match (homogeneous view).

Template Parameters

T	Target perception type. Must inherit from PerceptionBase. Defaults to PerceptionBase.

Parameters

src	Source vector containing heterogeneous perceptions and their subscriptions.

Returns

A vector of std::shared_ptr<T> containing the matching perceptions, in the same order as src.

get_point_perceptions()

PointPerceptions get_point_perceptions

(

std::vector< PerceptionPtr > &

perceptionptr

)

Extracts all PointPerception objects from a heterogeneous collection.

Parameters

perceptionptr

Vector of PerceptionPtr entries possibly holding mixed perception types.

Returns

A vector with the subset of perceptions that are PointPerception.

norm_angle()

double norm_angle ( const double angle )

constexpr

Angle normalization to [-pi, pi) range (in radians)

perception_to_rosmsg()

sensor_msgs::msg::PointCloud2 perception_to_rosmsg

(

const PointPerception &

perception

)

Converts a PointPerception into a sensor_msgs::msg::PointCloud2 message.

Parameters

perception

Perception to convert.

Returns

The resulting ROS PointCloud2 message.

points_to_rosmsg()

sensor_msgs::msg::PointCloud2 points_to_rosmsg

(

const pcl::PointCloud< pcl::PointXYZ > &

points

)

Converts a PCL point cloud into a sensor_msgs::msg::PointCloud2 message.

Parameters

points

Input point cloud.

Returns

The resulting ROS PointCloud2 message.

stacktrace()

std::string stacktrace	(	std::size_t	skip = 1,
		std::size_t	max_frames = 64 )

Captures a C/C++ stack trace as a string.

Parameters

skip	Number of initial frames to skip (e.g., the stacktrace frame itself).
max_frames	Maximum number of frames to capture.

Returns

A multi-line string with one frame per line.

Variable Documentation

Singleton< C >::init_flag_

template<class C>

std::once_flag Singleton< C >::init_flag_

Singleton< C >::instance_

template<class C>

std::unique_ptr<C> Singleton< C >::instance_ = nullptr