moveit2
The MoveIt Motion Planning Framework for ROS 2.
planning_link_updater.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2008, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
38 #include <OgreVector3.h>
39 #include <OgreQuaternion.h>
40 
42  Ogre::Vector3& visual_position,
43  Ogre::Quaternion& visual_orientation,
44  Ogre::Vector3& collision_position,
45  Ogre::Quaternion& collision_orientation) const
46 {
47  const moveit::core::LinkModel* link_model = kinematic_state_->getLinkModel(link_name);
48 
49  if (!link_model)
50  {
51  return false;
52  }
53 
54  // getGlobalLinkTransform() returns a valid isometry by contract
55  const Eigen::Vector3d& robot_visual_position = kinematic_state_->getGlobalLinkTransform(link_model).translation();
56  Eigen::Quaterniond robot_visual_orientation(kinematic_state_->getGlobalLinkTransform(link_model).linear());
57  visual_position = Ogre::Vector3(robot_visual_position.x(), robot_visual_position.y(), robot_visual_position.z());
58  visual_orientation = Ogre::Quaternion(robot_visual_orientation.w(), robot_visual_orientation.x(),
59  robot_visual_orientation.y(), robot_visual_orientation.z());
60  collision_position = visual_position;
61  collision_orientation = visual_orientation;
62 
63  return true;
64 }
A link from the robot. Contains the constant transform applied to the link and its geometry.
Definition: link_model.h:72
bool getLinkTransforms(const std::string &link_name, Ogre::Vector3 &visual_position, Ogre::Quaternion &visual_orientation, Ogre::Vector3 &collision_position, Ogre::Quaternion &collision_orientation) const override
Vec3fX< details::Vec3Data< double > > Vector3d
Definition: fcl_compat.h:89