planning_scene::SceneTransforms Class Reference

Inheritance diagram for planning_scene::SceneTransforms:

Collaboration diagram for planning_scene::SceneTransforms:

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_

Detailed Description

Definition at line 111 of file planning_scene.cpp.

Constructor & Destructor Documentation

SceneTransforms()

planning_scene::SceneTransforms::SceneTransforms ( const PlanningScene *  scene )

inline

Definition at line 114 of file planning_scene.cpp.

Member Function Documentation

canTransform()

bool planning_scene::SceneTransforms::canTransform ( const std::string &  from_frame ) const

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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getTransform()

const Eigen::Isometry3d & planning_scene::SceneTransforms::getTransform ( const std::string &  from_frame ) const

inlineoverridevirtual

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 from moveit::core::Transforms.

Definition at line 139 of file planning_scene.cpp.

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isFixedFrame()

bool planning_scene::SceneTransforms::isFixedFrame ( const std::string &  frame ) const

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.

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

• moveit_core/planning_scene/src/planning_scene.cpp