utils.cpp File Reference

Implementation of the utilities used by the trajectory_cache package. More...

#include <sstream>
#include <string>
#include <vector>
#include <moveit/move_group_interface/move_group_interface.hpp>
#include <moveit/robot_state/conversions.hpp>
#include <moveit_msgs/msg/robot_state.hpp>
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <moveit_msgs/msg/constraints.hpp>
#include <moveit_msgs/srv/get_cartesian_path.hpp>
#include <tf2_ros/buffer.h>
#include <warehouse_ros/message_collection.h>
#include <moveit/trajectory_cache/utils/utils.hpp>

Include dependency graph for utils.cpp:

Go to the source code of this file.

Namespaces
namespace	moveit_ros
namespace	moveit_ros::trajectory_cache

Functions
std::string	moveit_ros::trajectory_cache::getWorkspaceFrameId (const MoveGroupInterface &move_group, const moveit_msgs::msg::WorkspaceParameters &workspace_parameters)
std::string	moveit_ros::trajectory_cache::getCartesianPathRequestFrameId (const MoveGroupInterface &move_group, const GetCartesianPath::Request &path_request)
moveit::core::MoveItErrorCode	moveit_ros::trajectory_cache::restateInNewFrame (const std::shared_ptr< tf2_ros::Buffer > &tf, const std::string &target_frame, const std::string &source_frame, geometry_msgs::msg::Point *translation, geometry_msgs::msg::Quaternion *rotation, const tf2::TimePoint &lookup_time=tf2::TimePointZero)
	Restates a translation and rotation in a new frame.
double	moveit_ros::trajectory_cache::getExecutionTime (const moveit_msgs::msg::RobotTrajectory &trajectory)
	Returns the execution time of the trajectory in double seconds.
GetCartesianPath::Request	moveit_ros::trajectory_cache::constructGetCartesianPathRequest (MoveGroupInterface &move_group, const std::vector< geometry_msgs::msg::Pose > &waypoints, double max_step, double jump_threshold, bool avoid_collisions)
void	moveit_ros::trajectory_cache::queryAppendCenterWithTolerance (Query &query, const std::string &name, double center, double tolerance)
void	moveit_ros::trajectory_cache::sortJointConstraints (std::vector< moveit_msgs::msg::JointConstraint > &joint_constraints)
	Sorts a vector of joint constraints in-place by joint name.
void	moveit_ros::trajectory_cache::sortPositionConstraints (std::vector< moveit_msgs::msg::PositionConstraint > &position_constraints)
	Sorts a vector of position constraints in-place by link name.
void	moveit_ros::trajectory_cache::sortOrientationConstraints (std::vector< moveit_msgs::msg::OrientationConstraint > &orientation_constraints)
	Sorts a vector of orientation constraints in-place by link name.
moveit::core::MoveItErrorCode	moveit_ros::trajectory_cache::appendConstraintsAsFetchQueryWithTolerance (Query &query, std::vector< moveit_msgs::msg::Constraints > constraints, const MoveGroupInterface &move_group, double match_tolerance, const std::string &reference_frame_id, const std::string &prefix)
moveit::core::MoveItErrorCode	moveit_ros::trajectory_cache::appendConstraintsAsInsertMetadata (Metadata &metadata, std::vector< moveit_msgs::msg::Constraints > constraints, const MoveGroupInterface &move_group, const std::string &workspace_frame_id, const std::string &prefix)
moveit::core::MoveItErrorCode	moveit_ros::trajectory_cache::appendRobotStateJointStateAsFetchQueryWithTolerance (Query &query, const moveit_msgs::msg::RobotState &robot_state, const MoveGroupInterface &move_group, double match_tolerance, const std::string &prefix)
moveit::core::MoveItErrorCode	moveit_ros::trajectory_cache::appendRobotStateJointStateAsInsertMetadata (Metadata &metadata, const moveit_msgs::msg::RobotState &robot_state, const MoveGroupInterface &move_group, const std::string &prefix)

Detailed Description

Implementation of the utilities used by the trajectory_cache package.

Author

methylDragon

Definition in file utils.cpp.