Provides an implementation of a snapshot of a transform tree that can be easily queried for transforming different quantities. Transforms are maintained as a list of transforms to a particular frame. All stored transforms are considered fixed. More...

#include <transforms.h>

Inheritance diagram for moveit::core::Transforms:

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Public Member Functions
	Transforms (const Transforms &)=delete
	Transforms cannot be copy-constructed.

Transforms &	operator= (const Transforms &)=delete
	Transforms cannot be copy-assigned.

	Transforms (const std::string &target_frame)
	Construct a transform list.

virtual	~Transforms ()
	Destructor.

const std::string &	getTargetFrame () const
	Get the planning frame corresponding to this set of transforms.

virtual bool	canTransform (const std::string &from_frame) const
	Check whether data can be transformed from a particular frame.

virtual bool	isFixedFrame (const std::string &frame) const
	Check whether a frame stays constant as the state of the robot model changes. This is true for any transform mainatined by this object.

virtual const Eigen::Isometry3d &	getTransform (const std::string &from_frame) const
	Get transform for from_frame (w.r.t target frame)

Setting and retrieving transforms maintained in this class
const FixedTransformsMap &	getAllTransforms () const
	Return all the transforms.

void	copyTransforms (std::vector< geometry_msgs::msg::TransformStamped > &transforms) const
	Get a vector of all the transforms as ROS messages.

void	setTransform (const Eigen::Isometry3d &t, const std::string &from_frame)
	Set a transform in the transform tree (adding it if necessary)

void	setTransform (const geometry_msgs::msg::TransformStamped &transform)
	Set a transform in the transform tree (adding it if necessary)

void	setTransforms (const std::vector< geometry_msgs::msg::TransformStamped > &transforms)
	Set a transform in the transform tree (adding it if necessary)

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)

Applying transforms
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.

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.

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.

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.

Static Public Member Functions
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)

Protected Attributes
std::string	target_frame_

FixedTransformsMap	transforms_map_

Detailed Description

Provides an implementation of a snapshot of a transform tree that can be easily queried for transforming different quantities. Transforms are maintained as a list of transforms to a particular frame. All stored transforms are considered fixed.

Definition at line 58 of file transforms.h.

Constructor & Destructor Documentation

◆ Transforms() [1/2]

moveit::core::Transforms::Transforms ( const Transforms & )

delete

Transforms cannot be copy-constructed.

◆ Transforms() [2/2]

moveit::core::Transforms::Transforms ( const std::string & target_frame )

Construct a transform list.

Definition at line 57 of file transforms.cpp.

◆ ~Transforms()

moveit::core::Transforms::~Transforms ( )

virtualdefault

Destructor.

Member Function Documentation

◆ canTransform()

bool moveit::core::Transforms::canTransform ( const std::string & from_frame ) const

virtual

Check whether data can be transformed from a particular frame.

Reimplemented in planning_scene::SceneTransforms.

Definition at line 128 of file transforms.cpp.

◆ copyTransforms()

void moveit::core::Transforms::copyTransforms ( std::vector< geometry_msgs::msg::TransformStamped > & transforms ) const

Get a vector of all the transforms as ROS messages.

Parameters

transforms The output transforms. They are guaranteed to be valid isometries.

Definition at line 178 of file transforms.cpp.

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◆ getAllTransforms()

const FixedTransformsMap & moveit::core::Transforms::getAllTransforms ( ) const

Return all the transforms.

Returns: A map from string names of frames to corresponding Eigen::Isometry3d (w.r.t the planning frame). The transforms are guaranteed to be valid isometries.

Definition at line 84 of file transforms.cpp.

◆ getTargetFrame()

const std::string & moveit::core::Transforms::getTargetFrame ( ) const

Get the planning frame corresponding to this set of transforms.

Returns: The planning frame

Definition at line 79 of file transforms.cpp.

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◆ getTransform()

const Eigen::Isometry3d & moveit::core::Transforms::getTransform ( const std::string & from_frame ) const

virtual

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 in planning_scene::SceneTransforms.

Definition at line 110 of file transforms.cpp.

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◆ isFixedFrame()

bool moveit::core::Transforms::isFixedFrame ( const std::string & frame ) const

virtual

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 in planning_scene::SceneTransforms.

Definition at line 98 of file transforms.cpp.

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◆ operator=()

Transforms & moveit::core::Transforms::operator= ( const Transforms & )

delete

Transforms cannot be copy-assigned.

◆ sameFrame()

bool moveit::core::Transforms::sameFrame	(	const std::string &	frame1,
		const std::string &	frame2
	)

static

Check if two frames end up being the same once the missing / are added as prefix (if they are missing)

Definition at line 70 of file transforms.cpp.

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◆ setAllTransforms()

void moveit::core::Transforms::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)

Definition at line 89 of file transforms.cpp.

◆ setTransform() [1/2]

void moveit::core::Transforms::setTransform	(	const Eigen::Isometry3d &	t,
		const std::string &	from_frame
	)

Set a transform in the transform tree (adding it if necessary)

Parameters

t	The input transform (w.r.t the target frame)
from_frame	The frame for which the input transform is specified

Definition at line 140 of file transforms.cpp.

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◆ setTransform() [2/2]

void moveit::core::Transforms::setTransform ( const geometry_msgs::msg::TransformStamped & transform )

Set a transform in the transform tree (adding it if necessary)

Parameters

transform The input transform (the frame_id must match the target frame)

Definition at line 151 of file transforms.cpp.

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◆ setTransforms()

void moveit::core::Transforms::setTransforms ( const std::vector< geometry_msgs::msg::TransformStamped > & transforms )

Set a transform in the transform tree (adding it if necessary)

Parameters

transform The input transforms (the frame_id must match the target frame)

Definition at line 172 of file transforms.cpp.

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◆ transformPose()

void moveit::core::Transforms::transformPose	(	const std::string &	from_frame,
		const Eigen::Isometry3d &	t_in,
		Eigen::Isometry3d &	t_out
	)		const

inline

Transform a pose in from_frame to the target_frame.

Parameters

from_frame	The frame in which the input pose is specified
t_in	The input pose (in from_frame). Make sure the pose is a valid isometry.
t_out	The resultant (transformed) pose. It is guaranteed to be a valid isometry.

Definition at line 184 of file transforms.h.

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◆ transformQuaternion()

void moveit::core::Transforms::transformQuaternion	(	const std::string &	from_frame,
		const Eigen::Quaterniond &	q_in,
		Eigen::Quaterniond &	q_out
	)		const

inline

Transform a quaternion in from_frame to the target_frame.

Parameters

from_frame	The frame in which the input quaternion is specified
v_in	The input quaternion (in from_frame). Make sure the quaternion is normalized.
v_out	The resultant (transformed) quaternion. It is guaranteed to be a valid and normalized quaternion.

Definition at line 159 of file transforms.h.

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◆ transformRotationMatrix()

void moveit::core::Transforms::transformRotationMatrix	(	const std::string &	from_frame,
		const Eigen::Matrix3d &	m_in,
		Eigen::Matrix3d &	m_out
	)		const

inline

Transform a rotation matrix in from_frame to the target_frame.

Parameters

from_frame	The frame in which the input rotation matrix is specified
m_in	The input rotation matrix (in from_frame). Make sure the matrix is a valid rotation matrix.
m_out	The resultant (transformed) rotation matrix. It is guaranteed to be a valid rotation matrix.

Definition at line 172 of file transforms.h.

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◆ transformVector3()

void moveit::core::Transforms::transformVector3	(	const std::string &	from_frame,
		const Eigen::Vector3d &	v_in,
		Eigen::Vector3d &	v_out
	)		const

inline

Transform a vector in from_frame to the target_frame Note: assumes that v_in and v_out are "free" vectors, not points.

Parameters

from_frame	The frame from which the transform is computed
v_in	The input vector (in from_frame)
v_out	The resultant (transformed) vector

Definition at line 147 of file transforms.h.

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Member Data Documentation

◆ target_frame_

std::string moveit::core::Transforms::target_frame_

protected

Definition at line 210 of file transforms.h.

◆ transforms_map_

FixedTransformsMap moveit::core::Transforms::transforms_map_

protected

Definition at line 211 of file transforms.h.

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

moveit_core/transforms/include/moveit/transforms/transforms.h
moveit_core/transforms/src/transforms.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Transforms() [1/2]

◆ Transforms() [2/2]

◆ ~Transforms()

Member Function Documentation

◆ canTransform()

◆ copyTransforms()

◆ getAllTransforms()

◆ getTargetFrame()

◆ getTransform()

◆ isFixedFrame()

◆ operator=()

◆ sameFrame()

◆ setAllTransforms()

◆ setTransform() [1/2]

◆ setTransform() [2/2]

◆ setTransforms()

◆ transformPose()

◆ transformQuaternion()

◆ transformRotationMatrix()

◆ transformVector3()

Member Data Documentation

◆ target_frame_

◆ transforms_map_