moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Functions | |
void | update (moveit::core::RobotState *self, bool force, std::string &category) |
Eigen::MatrixXd | get_frame_transform (const moveit::core::RobotState *self, std::string &frame_id) |
Eigen::MatrixXd | get_global_link_transform (const moveit::core::RobotState *self, std::string &link_name) |
geometry_msgs::msg::Pose | get_pose (const moveit::core::RobotState *self, const std::string &link_name) |
std::map< std::string, double > | get_joint_positions (const moveit::core::RobotState *self) |
void | set_joint_positions (moveit::core::RobotState *self, std::map< std::string, double > &joint_positions) |
std::map< std::string, double > | get_joint_velocities (const moveit::core::RobotState *self) |
void | set_joint_velocities (moveit::core::RobotState *self, std::map< std::string, double > &joint_velocities) |
std::map< std::string, double > | get_joint_accelerations (const moveit::core::RobotState *self) |
void | set_joint_accelerations (moveit::core::RobotState *self, std::map< std::string, double > &joint_accelerations) |
std::map< std::string, double > | get_joint_efforts (const moveit::core::RobotState *self) |
void | set_joint_efforts (moveit::core::RobotState *self, std::map< std::string, double > &joint_efforts) |
Eigen::VectorXd | copy_joint_group_positions (const moveit::core::RobotState *self, const std::string &joint_model_group_name) |
Eigen::VectorXd | copy_joint_group_velocities (const moveit::core::RobotState *self, const std::string &joint_model_group_name) |
Eigen::VectorXd | copy_joint_group_accelerations (const moveit::core::RobotState *self, const std::string &joint_model_group_name) |
Eigen::MatrixXd | get_jacobian (const moveit::core::RobotState *self, const std::string &joint_model_group_name, const Eigen::Vector3d &reference_point_position) |
Eigen::MatrixXd | get_jacobian (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) |
bool | set_to_default_values (moveit::core::RobotState *self, const std::string &joint_model_group_name, const std::string &state_name) |
void | init_robot_state (py::module &m) |
Eigen::VectorXd moveit_py::bind_robot_state::copy_joint_group_accelerations | ( | const moveit::core::RobotState * | self, |
const std::string & | joint_model_group_name | ||
) |
Eigen::VectorXd moveit_py::bind_robot_state::copy_joint_group_positions | ( | const moveit::core::RobotState * | self, |
const std::string & | joint_model_group_name | ||
) |
Eigen::VectorXd moveit_py::bind_robot_state::copy_joint_group_velocities | ( | const moveit::core::RobotState * | self, |
const std::string & | joint_model_group_name | ||
) |
Eigen::MatrixXd moveit_py::bind_robot_state::get_frame_transform | ( | const moveit::core::RobotState * | self, |
std::string & | frame_id | ||
) |
Eigen::MatrixXd moveit_py::bind_robot_state::get_global_link_transform | ( | const moveit::core::RobotState * | self, |
std::string & | link_name | ||
) |
Eigen::MatrixXd moveit_py::bind_robot_state::get_jacobian | ( | const moveit::core::RobotState * | self, |
const std::string & | joint_model_group_name, | ||
const Eigen::Vector3d & | reference_point_position | ||
) |
Eigen::MatrixXd moveit_py::bind_robot_state::get_jacobian | ( | 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 | ||
) |
Definition at line 192 of file robot_state.cpp.
std::map<std::string, double> moveit_py::bind_robot_state::get_joint_accelerations | ( | const moveit::core::RobotState * | self | ) |
std::map<std::string, double> moveit_py::bind_robot_state::get_joint_efforts | ( | const moveit::core::RobotState * | self | ) |
std::map<std::string, double> moveit_py::bind_robot_state::get_joint_positions | ( | const moveit::core::RobotState * | self | ) |
std::map<std::string, double> moveit_py::bind_robot_state::get_joint_velocities | ( | const moveit::core::RobotState * | self | ) |
geometry_msgs::msg::Pose moveit_py::bind_robot_state::get_pose | ( | const moveit::core::RobotState * | self, |
const std::string & | link_name | ||
) |
void moveit_py::bind_robot_state::init_robot_state | ( | py::module & | m | ) |
Definition at line 211 of file robot_state.cpp.
void moveit_py::bind_robot_state::set_joint_accelerations | ( | moveit::core::RobotState * | self, |
std::map< std::string, double > & | joint_accelerations | ||
) |
void moveit_py::bind_robot_state::set_joint_efforts | ( | moveit::core::RobotState * | self, |
std::map< std::string, double > & | joint_efforts | ||
) |
void moveit_py::bind_robot_state::set_joint_positions | ( | moveit::core::RobotState * | self, |
std::map< std::string, double > & | joint_positions | ||
) |
void moveit_py::bind_robot_state::set_joint_velocities | ( | moveit::core::RobotState * | self, |
std::map< std::string, double > & | joint_velocities | ||
) |
bool moveit_py::bind_robot_state::set_to_default_values | ( | moveit::core::RobotState * | self, |
const std::string & | joint_model_group_name, | ||
const std::string & | state_name | ||
) |
void moveit_py::bind_robot_state::update | ( | moveit::core::RobotState * | self, |
bool | force, | ||
std::string & | category | ||
) |