robot_state.h

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/* Author: Peter David Fagan */
 
#pragma once
 
#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
#include <pybind11/eigen.h>
#include <moveit_py/moveit_py_utils/copy_ros_msg.h>
#include <tf2_eigen/tf2_eigen.hpp>
#include <moveit/robot_state/robot_state.h>
 
namespace py = pybind11;
 
namespace moveit_py
{
namespace bind_robot_state
{
void update(moveit::core::RobotState* self, bool force, std::string& category);
 
Eigen::MatrixXd getFrameTransform(const moveit::core::RobotState* self, std::string& frame_id);
 
Eigen::MatrixXd getGlobalLinkTransform(const moveit::core::RobotState* self, std::string& link_name);
 
geometry_msgs::msg::Pose getPose(const moveit::core::RobotState* self, const std::string& link_name);
 
Eigen::VectorXd copyJointGroupPositions(const moveit::core::RobotState* self, const std::string& joint_model_group_name);
Eigen::VectorXd copyJointGroupVelocities(const moveit::core::RobotState* self,
                                         const std::string& joint_model_group_name);
Eigen::VectorXd copyJointGroupAccelerations(const moveit::core::RobotState* self,
                                            const std::string& joint_model_group_name);
 
Eigen::MatrixXd getJacobian(const moveit::core::RobotState* self, const std::string& joint_model_group_name,
                            const std::string& link_model_name, const Eigen::Vector3d& reference_point_position,
                            bool use_quaternion_representation);
 
Eigen::MatrixXd getJacobian(const moveit::core::RobotState* self, const std::string& joint_model_group_name,
                            const Eigen::Vector3d& reference_point_position);
 
bool setToDefaultValues(moveit::core::RobotState* self, const std::string& joint_model_group_name,
                        const std::string& state_name);
 
void initRobotState(py::module& m);
}  // namespace bind_robot_state
}  // namespace moveit_py