本文整理汇总了C++中tf::Vector3::rotate方法的典型用法代码示例。如果您正苦于以下问题：C++ Vector3::rotate方法的具体用法？C++ Vector3::rotate怎么用？C++ Vector3::rotate使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类tf::Vector3的用法示例。
在下文中一共展示了Vector3::rotate方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: getSafeVelocityLimit
double getSafeVelocityLimit(tf::Vector3 vel) {
//get current position + orientation
// by listening to the transform from obstacles->header->frame_id to /base_link
tf::StampedTransform transform;
try {
tf_listener->lookupTransform(
obstacles.header.frame_id,
"/base_link",
ros::Time(0),
transform);
}
catch (tf::TransformException ex) {
ROS_ERROR("Couldn't get current position: %s",ex.what());
return min_spd;
}
//estimate future position, current_position+cmd_vel*sometimeconst*orientation
tf::Vector3 future_pos = transform.getOrigin();
tf::Vector3 v = vel.rotate(tf::Vector3(0,0,1),tf::getYaw(transform.getRotation()));
future_pos=future_pos+timestep*v;
//get minimum distance of future position
if (!has_grid) {
ROS_ERROR("Haven't received a grid yet so speed will be fully limited");
return min_spd;
}
double mindist = getMinimumDistance(future_pos,obstacles);
ROS_DEBUG("got minimum distance %f",mindist);
//calculate velocity scale based on mindist of futurepos
// ([email protected]<=minrad --lerp--> [email protected]>=maxrad)
double speed_limit;
if (mindist>inflation_radius) speed_limit=max_spd;
else if (mindist<=stop_radius) speed_limit=min_spd;
else speed_limit = min(min_spd+(max_spd-min_spd)*(mindist-stop_radius)/(inflation_radius-stop_radius),max_spd);
//return it
ROS_DEBUG_STREAM(" computed velocity scale: "<<speed_limit);
return speed_limit;
}