transforms.hpp

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/* Author: Peter David Fagan */
 
#pragma once
 
#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
#include <pybind11/eigen.h>
#include <moveit/transforms/transforms.h>
 
namespace py = pybind11;
 
namespace moveit_py
{
namespace bind_transforms
{
Eigen::MatrixXd getTransform(std::shared_ptr<moveit::core::Transforms>& transforms, std::string& from_frame);
 
std::map<std::string, Eigen::MatrixXd> getAllTransforms(std::shared_ptr<moveit::core::Transforms>& transforms);
 
void initTransforms(py::module& m);
 
}  // namespace bind_transforms
}  // namespace moveit_py