moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Namespaces | Typedefs | Functions
conversion_functions.hpp File Reference

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

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