utilities.h File Reference

#include <control_msgs/msg/joint_jog.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <moveit/robot_model/joint_model_group.h>
#include <moveit/robot_state/robot_state.h>
#include <rclcpp/rclcpp.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <moveit_servo/status_codes.h>

Include dependency graph for utilities.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Namespaces
	moveit_servo

Functions
bool	moveit_servo::isNonZero (const geometry_msgs::msg::TwistStamped &msg)
	Helper function for detecting zeroed message. More...
bool	moveit_servo::isNonZero (const control_msgs::msg::JointJog &msg)
	Helper function for detecting zeroed message. More...
geometry_msgs::msg::TransformStamped	moveit_servo::convertIsometryToTransform (const Eigen::Isometry3d &eigen_tf, const std::string &parent_frame, const std::string &child_frame)
	Helper function for converting Eigen::Isometry3d to geometry_msgs/TransformStamped. More...
double	moveit_servo::velocityScalingFactorForSingularity (const moveit::core::JointModelGroup *joint_model_group, const Eigen::VectorXd &commanded_twist, const Eigen::JacobiSVD< Eigen::MatrixXd > &svd, const Eigen::MatrixXd &pseudo_inverse, const double hard_stop_singularity_threshold, const double lower_singularity_threshold, const double leaving_singularity_threshold_multiplier, rclcpp::Clock &clock, moveit::core::RobotStatePtr &current_state, StatusCode &status)
	Possibly calculate a velocity scaling factor, due to proximity of singularity and direction of motion. More...