moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | |
SceneTransforms (const PlanningScene *scene) | |
bool | canTransform (const std::string &from_frame) const override |
Check whether data can be transformed from a particular frame. | |
bool | isFixedFrame (const std::string &frame) const override |
Check whether a frame stays constant as the state of the robot model changes. This is true for any transform mainatined by this object. | |
const Eigen::Isometry3d & | getTransform (const std::string &from_frame) const override |
Get transform for from_frame (w.r.t target frame) | |
Public Member Functions inherited from moveit::core::Transforms | |
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. | |
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) | |
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. | |
Additional Inherited Members | |
Static Public Member Functions inherited from moveit::core::Transforms | |
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 inherited from moveit::core::Transforms | |
std::string | target_frame_ |
FixedTransformsMap | transforms_map_ |
Definition at line 111 of file planning_scene.cpp.
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inline |
Definition at line 114 of file planning_scene.cpp.
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inlineoverridevirtual |
Check whether data can be transformed from a particular frame.
Reimplemented from moveit::core::Transforms.
Definition at line 118 of file planning_scene.cpp.
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inlineoverridevirtual |
Get transform for from_frame (w.r.t target frame)
from_frame | The string id of the frame for which the transform is being computed |
Reimplemented from moveit::core::Transforms.
Definition at line 139 of file planning_scene.cpp.
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inlineoverridevirtual |
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 from moveit::core::Transforms.
Definition at line 123 of file planning_scene.cpp.