Writes the PCD header claiming 'num_points' will follow it into 'output_file'.

Writes the PLY header claiming 'num_points' will follow it into 'output_file'.

Perform an N-way merge operation on sorted lists. @param list_of_lists: (really iterable of iterable) of sorted elements (either by natu

@raise ROSBagException: if the file is empty, or the version line can't be parsed

Get the filename.

Returns a pose stamped message from a translation vector and rotation matrix (4x4) for publishing. NOTE: Does not set the target fram

Returns a pose stamped message from a translation vector and rotation matrix (4x4) for publishing. NOTE: Does not set the target fram

wavefront performing wavefront coverage path planning :param transform_matrix: the transform matrix :param start: st

Iterates over every cell in a submap, transforms the center of the cell to the global frame and then adds the submap id and the timestamp of the most

Computes the half resolution index corresponding to the full resolution 'cell_index'.

Clamps probability to be in the range [kMinProbability, kMaxProbability].

TODO(whess): This gives different results for the translational error if 'pose1' and 'pose2' are swapped and 'expected' is inverted. Consider a differ

Builds texture data containing interleaved value and alpha for the visualization from 'accumulated_pixel_data'.

Returns the pulse rate in Hz.

Uses intra-submap constraints and trajectory node timestamps to identify time of the last range data insertion to the submap.

We pick the representative node in the middle of the submap. TODO(whess): Should we consider all nodes inserted into the submap and exclude, e.g. bas

Returns the ratio of the pulse rate (with supplied times) to the wall time rate. For example, if a sensor produces pulses at 10 Hz, but we call Pulse