conversion_functions.hpp File Reference

Helper functions for converting between MoveIt types and plain Eigen types. More...

#include <moveit/robot_trajectory/robot_trajectory.hpp>
#include <moveit/robot_state/robot_state.hpp>

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Namespaces
namespace	stomp_moveit

Typedefs
using	stomp_moveit::Joints = std::vector<const moveit::core::JointModel*>

Functions
std::vector< double >	stomp_moveit::getPositions (const moveit::core::RobotState &state, const Joints &joints)
void	stomp_moveit::setJointPositions (const Eigen::VectorXd &values, const Joints &joints, moveit::core::RobotState &state)
void	stomp_moveit::fillRobotTrajectory (const Eigen::MatrixXd &trajectory_values, const moveit::core::RobotState &reference_state, robot_trajectory::RobotTrajectory &trajectory)
robot_trajectory::RobotTrajectory	stomp_moveit::matrixToRobotTrajectory (const Eigen::MatrixXd &trajectory_values, const moveit::core::RobotState &reference_state, const moveit::core::JointModelGroup *group=nullptr)
Eigen::MatrixXd	stomp_moveit::robotTrajectoryToMatrix (const robot_trajectory::RobotTrajectory &trajectory)

Detailed Description

Helper functions for converting between MoveIt types and plain Eigen types.

Author

Henning Kayser

Definition in file conversion_functions.hpp.