moveit2
The MoveIt Motion Planning Framework for ROS 2.
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common.hpp File Reference
#include <moveit_servo_lib_parameters.hpp>
#include <moveit_servo/utils/datatypes.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_model/joint_model_group.h>
#include <moveit/robot_state/robot_state.h>
#include <sensor_msgs/msg/joint_state.hpp>
#include <std_msgs/msg/float64_multi_array.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <trajectory_msgs/msg/joint_trajectory.hpp>
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Namespaces

 moveit_servo
 

Functions

std::optional< std::string > moveit_servo::getIKSolverBaseFrame (const moveit::core::RobotStatePtr &robot_state, const std::string &group_name)
 Get the base frame of the current active joint group or subgroup's IK solver. More...
 
std::optional< std::string > moveit_servo::getIKSolverTipFrame (const moveit::core::RobotStatePtr &robot_state, const std::string &group_name)
 Get the tip (end-effector) frame of the current active joint group or subgroup's IK solver. More...
 
bool moveit_servo::isValidCommand (const Eigen::VectorXd &command)
 Checks if a given VectorXd is a valid command. More...
 
bool moveit_servo::isValidCommand (const Eigen::Isometry3d &command)
 Checks if a given Isometry3d (pose) is a valid command. More...
 
bool moveit_servo::isValidCommand (const TwistCommand &command)
 Checks if a given Twist command is valid. More...
 
bool moveit_servo::isValidCommand (const PoseCommand &command)
 Checks if a given Pose command is valid. More...
 
geometry_msgs::msg::Pose moveit_servo::poseFromCartesianDelta (const Eigen::VectorXd &delta_x, const Eigen::Isometry3d &base_to_tip_frame_transform)
 Create a pose message for the provided change in Cartesian position. More...
 
trajectory_msgs::msg::JointTrajectory moveit_servo::composeTrajectoryMessage (const servo::Params &servo_params, const KinematicState &joint_state)
 Create a trajectory message from given joint state. More...
 
std_msgs::msg::Float64MultiArray moveit_servo::composeMultiArrayMessage (const servo::Params &servo_params, const KinematicState &joint_state)
 Create a Float64MultiArray message from given joint state. More...
 
std::pair< double, StatusCode > moveit_servo::velocityScalingFactorForSingularity (const moveit::core::RobotStatePtr &robot_state, const Eigen::VectorXd &target_delta_x, const servo::Params &servo_params)
 Computes scaling factor for velocity when the robot is near a singularity. More...
 
double moveit_servo::jointLimitVelocityScalingFactor (const Eigen::VectorXd &velocities, const moveit::core::JointBoundsVector &joint_bounds, double scaling_override)
 Apply velocity scaling based on joint limits. More...
 
std::vector< int > moveit_servo::jointsToHalt (const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const moveit::core::JointBoundsVector &joint_bounds, double margin)
 Finds the joints that are exceeding allowable position limits. 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...
 
PoseCommand moveit_servo::poseFromPoseStamped (const geometry_msgs::msg::PoseStamped &msg)
 Convert a PoseStamped message to a Servo Pose. More...
 
planning_scene_monitor::PlanningSceneMonitorPtr moveit_servo::createPlanningSceneMonitor (const rclcpp::Node::SharedPtr &node, const servo::Params &servo_params)
 Creates the planning scene monitor used by servo. More...