tuw_geometry

Classes to handle and visualize 2D and 3D objects such as points, poses, lines as well as a plot windows for debugging.

geo_handler

If using the geo_handler.hpp one must link the GeographicLib. Under Ubuntu 22.04 this can be done by installing the libgeographic-dev using sudo apt install libgeographic-dev, by adding the following statement to your CMakeLists.txt and <depend>geographiclib</depend> to your package.xml.

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "/usr/share/cmake/geographiclib/")
find_package(GeographicLib QUIET)
if(GeographicLib_FOUND)
  message(STATUS "GeographicLib found: building geo_map!")
else()
  message(ERROR "GeographicLib NOT found: not building geo_map!")
endif()

doxygen

cd tuw_geometry
doxygen Doxyfile

Build

GeographicLib

The geo_map.cpp depends on the GeographicLib. If you cannot install it or if you like to go on without the GeographicLib you have to remove the geographiclib entries from the package.xml as well as the lines pointing to geo_map.cpp and the GeographicLib from the CMakeFile.txt.

Test

Unittests can be run by

colcon build --packages-select tuw_geometry --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug --cmake-args -DBUILD_TESTING=true
run tuw_geometry test_geometry

Changelog for package tuw_geometry

0.1.4 (2025-06-01)

• ament_target_dependencies replaced by target_link_libraries
• Contributors: Markus Bader

0.1.3 (2025-04-24)

• package updates
• CMakefile update
• Merge pull request #6 from yashphalle/ros2 fix: Added explicit dependencies for ament_cmake_ros and gtest_vendor
• Merge pull request #7 from GAUTHAMPSANKAR/fix-regression-deps Fix regression: add gtest_vendor and ament_cmake_ros dependencies
• Fix regression: add gtest_vendor and ament_cmake_ros dependencies
• fix: added explicit dependencies for ament_cmake_ros and gtest_vendor
• Contributors: GAUTHAM P SANKAR, Markus Bader, yashphalle

0.1.2 (2024-12-05)

• unittest fixed
• reformatted
• init map updated
• origin struct removed
• update on geo_handler
• point update
• direction vector on lines added
• WorldFile class enhanced
• GeographicLib from export_dependencies removed
• Update ament_export_dependencies
• spaces removed
• formating fixed
• uncrustify
• minor
• cv support enhanced
• minor
• geo handler added
• map_handler added
• map to utm added
• WorldFile added
• uncrustified
• tests updated
• Makefile added
• doku added
• codeformatierung fixed
• geomap added
• figure inti with matrix
• export dependencies for sensor_msgs std_msgs OpenCV added
• export dependencies for sensor_msgs std_msgs OpenCV added
• coding fixed
• reformated
• warning in test removed
• uncrustify
• plan3d added
• plan3d added
• plan3d added
• <test_depend>ament_cmake_cppcheck</test_depend> added
• Contributors: Alexander Lampalzer, Markus Bader, markus

0.1.1 (2023-06-25)

• docs updated
• Doxyfile added
• Contributors: Markus Bader

0.0.9 (2023-05-15)

• connand2d files added
• Contributors: Markus Bader

0.0.8 (2023-03-30)

• command to command2d
• sample2d removed
• sample template added
• Contributors: Markus Bader

0.0.7 (2023-03-26)

• lint_cmake error fixed
• uncrustify reformated
• minor
• 2D sample class added
• Merge branch 'humble' into ros2
• quaternion support enhanced
• Contributors: Markus Bader

0.0.5 (2023-03-24)

• boost lexical_cast removed
• Contributors: Markus Bader

0.0.4 (2023-03-20)

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