transforms.cpp

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/* Author: Peter David Fagan */
 
#include "transforms.hpp"
 
namespace moveit_py
{
namespace bind_transforms
{
Eigen::MatrixXd getTransform(std::shared_ptr<moveit::core::Transforms>& transforms, std::string& from_frame)
{
  auto transform = transforms->getTransform(from_frame);
  return transform.matrix();
}
 
std::map<std::string, Eigen::MatrixXd> getAllTransforms(std::shared_ptr<moveit::core::Transforms>& transforms)
{
  std::map<std::string, Eigen::MatrixXd> transforms_map;
  for (auto& transform : transforms->getAllTransforms())
  {
    transforms_map[transform.first] = transform.second.matrix();
  }
  return transforms_map;
}
 
void initTransforms(py::module& m)
{
  py::module transforms = m.def_submodule("transforms");
 
  py::class_<moveit::core::Transforms, std::shared_ptr<moveit::core::Transforms>>(transforms, "Transforms",
                                                                                  R"(A snapshot of a transform tree.)")
 
      .def(py::init<std::string&>(), R"(Create a new Transforms object.)", py::arg("target_frame"))
 
      .def("get_target_frame", &moveit::core::Transforms::getTargetFrame, R"(Get the target frame.)")
 
      .def("get_transform", &moveit_py::bind_transforms::getTransform, py::arg("from_frame"),
           R"(Get the transform for from_frame with respect to the target frame.)")
 
      .def("get_all_transforms", &moveit_py::bind_transforms::getAllTransforms,
           R"(Get all transforms with respect to the target frame.)");
 
  // TODO(peterdavidfagan): Add methods for applying transforms.
}
 
}  // namespace bind_transforms
}  // namespace moveit_py