cached_ik_kinematics_plugin::IKCache::Pose Struct Reference

class to represent end effector pose More...

#include <cached_ik_kinematics_plugin.h>

Public Member Functions
	Pose ()=default
	Pose (const geometry_msgs::msg::Pose &pose)
double	distance (const Pose &pose) const

Public Attributes
tf2::Vector3	position
tf2::Quaternion	orientation

Detailed Description

class to represent end effector pose

tf2::Transform stores orientation as a matrix, so we define our own pose class that maps more directly to geometry_msgs::msg::Pose and for which we can more easily define a distance metric.

Definition at line 77 of file cached_ik_kinematics_plugin.h.

Constructor & Destructor Documentation

Pose() [1/2]

cached_ik_kinematics_plugin::IKCache::Pose::Pose ( )

default

Pose() [2/2]

cached_ik_kinematics_plugin::IKCache::Pose::Pose

(

const geometry_msgs::msg::Pose &

pose

)

Definition at line 274 of file ik_cache.cpp.

Member Function Documentation

distance()

double cached_ik_kinematics_plugin::IKCache::Pose::distance

(

const Pose &

pose

)

const

compute the distance between this pose and another pose

Definition at line 282 of file ik_cache.cpp.

Member Data Documentation

orientation

tf2::Quaternion cached_ik_kinematics_plugin::IKCache::Pose::orientation

Definition at line 82 of file cached_ik_kinematics_plugin.h.

position

tf2::Vector3 cached_ik_kinematics_plugin::IKCache::Pose::position

Definition at line 81 of file cached_ik_kinematics_plugin.h.

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The documentation for this struct was generated from the following files:

• moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
• moveit_kinematics/cached_ik_kinematics_plugin/src/ik_cache.cpp