Inheritance diagram for planning_scene::SceneTransforms:
Collaboration diagram for planning_scene::SceneTransforms:
Public Member Functions | |
| SceneTransforms (const PlanningScene *scene) | |
| bool | canTransform (const std::string &from_frame) const override |
| Check whether data can be transformed from a particular frame. More... | |
| bool | isFixedFrame (const std::string &frame) const override |
| Check whether a frame stays constant as the state of the robot model changes. This is true for any transform mainatined by this object. More... | |
| const Eigen::Isometry3d & | getTransform (const std::string &from_frame) const override |
| Get transform for from_frame (w.r.t target frame) More... | |
 Public Member Functions inherited from moveit::core::Transforms | |
| Transforms (const Transforms &)=delete | |
| Transforms cannot be copy-constructed. More... | |
| Transforms & | operator= (const Transforms &)=delete |
| Transforms cannot be copy-assigned. More... | |
| Transforms (const std::string &target_frame) | |
| Construct a transform list. More... | |
| virtual | ~Transforms () |
| Destructor. More... | |
| const std::string & | getTargetFrame () const |
| Get the planning frame corresponding to this set of transforms. More... | |
| const FixedTransformsMap & | getAllTransforms () const |
| Return all the transforms. More... | |
| void | copyTransforms (std::vector< geometry_msgs::msg::TransformStamped > &transforms) const |
| Get a vector of all the transforms as ROS messages. More... | |
| void | setTransform (const Eigen::Isometry3d &t, const std::string &from_frame) |
| Set a transform in the transform tree (adding it if necessary) More... | |
| void | setTransform (const geometry_msgs::msg::TransformStamped &transform) |
| Set a transform in the transform tree (adding it if necessary) More... | |
| void | setTransforms (const std::vector< geometry_msgs::msg::TransformStamped > &transforms) |
| Set a transform in the transform tree (adding it if necessary) More... | |
| void | setAllTransforms (const FixedTransformsMap &transforms) |
| Set all the transforms: a map from string names of frames to corresponding Eigen::Isometry3d (w.r.t the planning frame) More... | |
| void | transformVector3 (const std::string &from_frame, const Eigen::Vector3d &v_in, Eigen::Vector3d &v_out) const |
| Transform a vector in from_frame to the target_frame Note: assumes that v_in and v_out are "free" vectors, not points. More... | |
| void | transformQuaternion (const std::string &from_frame, const Eigen::Quaterniond &q_in, Eigen::Quaterniond &q_out) const |
| Transform a quaternion in from_frame to the target_frame. More... | |
| void | transformRotationMatrix (const std::string &from_frame, const Eigen::Matrix3d &m_in, Eigen::Matrix3d &m_out) const |
| Transform a rotation matrix in from_frame to the target_frame. More... | |
| void | transformPose (const std::string &from_frame, const Eigen::Isometry3d &t_in, Eigen::Isometry3d &t_out) const |
| Transform a pose in from_frame to the target_frame. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from moveit::core::Transforms | |
| static bool | sameFrame (const std::string &frame1, const std::string &frame2) |
| Check if two frames end up being the same once the missing / are added as prefix (if they are missing) More... | |
| Protected Attributes inherited from moveit::core::Transforms | |
| std::string | target_frame_ |
| FixedTransformsMap | transforms_map_ |
Detailed Description
Definition at line 62 of file planning_scene.cpp.
Constructor & Destructor Documentation
◆ SceneTransforms()
|
inline |
Definition at line 65 of file planning_scene.cpp.
Member Function Documentation
◆ canTransform()
|
inlineoverridevirtual |
Check whether data can be transformed from a particular frame.
Reimplemented from moveit::core::Transforms.
Definition at line 69 of file planning_scene.cpp.
Here is the call graph for this function:
◆ getTransform()
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inlineoverridevirtual |
Get transform for from_frame (w.r.t target frame)
- Parameters
-
from_frame The string id of the frame for which the transform is being computed
- Returns
- The required transform. It is guaranteed to be a valid isometry.
Reimplemented from moveit::core::Transforms.
Definition at line 86 of file planning_scene.cpp.
Here is the call graph for this function:
◆ isFixedFrame()
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inlineoverridevirtual |
Check whether a frame stays constant as the state of the robot model changes. This is true for any transform mainatined by this object.
Reimplemented from moveit::core::Transforms.
Definition at line 74 of file planning_scene.cpp.
The documentation for this class was generated from the following file:
- moveit_core/planning_scene/src/planning_scene.cpp
