moveit_py::bind_robot_state Namespace Reference

Functions
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)
std::map< std::string, double >	getJointPositions (const moveit::core::RobotState *self)
void	setJointPositions (moveit::core::RobotState *self, std::map< std::string, double > &joint_positions)
std::map< std::string, double >	getJointVelocities (const moveit::core::RobotState *self)
void	setJointVelocities (moveit::core::RobotState *self, std::map< std::string, double > &joint_velocities)
std::map< std::string, double >	getJointAccelerations (const moveit::core::RobotState *self)
void	setJointAccelerations (moveit::core::RobotState *self, std::map< std::string, double > &joint_accelerations)
std::map< std::string, double >	getJointEfforts (const moveit::core::RobotState *self)
void	setJointEfforts (moveit::core::RobotState *self, std::map< std::string, double > &joint_efforts)
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 Eigen::Vector3d &reference_point_position)
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)
bool	setToDefaultValues (moveit::core::RobotState *self, const std::string &joint_model_group_name, const std::string &state_name)
void	initRobotState (py::module &m)

Function Documentation

copyJointGroupAccelerations()

Eigen::VectorXd moveit_py::bind_robot_state::copyJointGroupAccelerations	(	const moveit::core::RobotState *	self,
		const std::string &	joint_model_group_name
	)

Definition at line 175 of file robot_state.cpp.

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copyJointGroupPositions()

Eigen::VectorXd moveit_py::bind_robot_state::copyJointGroupPositions	(	const moveit::core::RobotState *	self,
		const std::string &	joint_model_group_name
	)

Definition at line 161 of file robot_state.cpp.

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copyJointGroupVelocities()

Eigen::VectorXd moveit_py::bind_robot_state::copyJointGroupVelocities	(	const moveit::core::RobotState *	self,
		const std::string &	joint_model_group_name
	)

Definition at line 168 of file robot_state.cpp.

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getFrameTransform()

Eigen::MatrixXd moveit_py::bind_robot_state::getFrameTransform	(	const moveit::core::RobotState *	self,
		std::string &	frame_id
	)

Definition at line 67 of file robot_state.cpp.

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getGlobalLinkTransform()

Eigen::MatrixXd moveit_py::bind_robot_state::getGlobalLinkTransform	(	const moveit::core::RobotState *	self,
		std::string &	link_name
	)

Definition at line 74 of file robot_state.cpp.

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getJacobian() [1/2]

Eigen::MatrixXd moveit_py::bind_robot_state::getJacobian	(	const moveit::core::RobotState *	self,
		const std::string &	joint_model_group_name,
		const Eigen::Vector3d &	reference_point_position
	)

Definition at line 183 of file robot_state.cpp.

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getJacobian() [2/2]

Eigen::MatrixXd moveit_py::bind_robot_state::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
	)

Definition at line 190 of file robot_state.cpp.

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getJointAccelerations()

std::map< std::string, double > moveit_py::bind_robot_state::getJointAccelerations

(

const moveit::core::RobotState *

self

)

Definition at line 123 of file robot_state.cpp.

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getJointEfforts()

std::map< std::string, double > moveit_py::bind_robot_state::getJointEfforts

(

const moveit::core::RobotState *

self

)

Definition at line 142 of file robot_state.cpp.

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getJointPositions()

std::map< std::string, double > moveit_py::bind_robot_state::getJointPositions

(

const moveit::core::RobotState *

self

)

Definition at line 85 of file robot_state.cpp.

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getJointVelocities()

std::map< std::string, double > moveit_py::bind_robot_state::getJointVelocities

(

const moveit::core::RobotState *

self

)

Definition at line 104 of file robot_state.cpp.

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getPose()

geometry_msgs::msg::Pose moveit_py::bind_robot_state::getPose	(	const moveit::core::RobotState *	self,
		const std::string &	link_name
	)

Definition at line 80 of file robot_state.cpp.

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initRobotState()

void moveit_py::bind_robot_state::initRobotState

(

py::module &

m

)

Definition at line 209 of file robot_state.cpp.

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setJointAccelerations()

void moveit_py::bind_robot_state::setJointAccelerations	(	moveit::core::RobotState *	self,
		std::map< std::string, double > &	joint_accelerations
	)

Definition at line 134 of file robot_state.cpp.

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setJointEfforts()

void moveit_py::bind_robot_state::setJointEfforts	(	moveit::core::RobotState *	self,
		std::map< std::string, double > &	joint_efforts
	)

Definition at line 153 of file robot_state.cpp.

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setJointPositions()

void moveit_py::bind_robot_state::setJointPositions	(	moveit::core::RobotState *	self,
		std::map< std::string, double > &	joint_positions
	)

Definition at line 96 of file robot_state.cpp.

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setJointVelocities()

void moveit_py::bind_robot_state::setJointVelocities	(	moveit::core::RobotState *	self,
		std::map< std::string, double > &	joint_velocities
	)

Definition at line 115 of file robot_state.cpp.

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setToDefaultValues()

bool moveit_py::bind_robot_state::setToDefaultValues	(	moveit::core::RobotState *	self,
		const std::string &	joint_model_group_name,
		const std::string &	state_name
	)

Definition at line 201 of file robot_state.cpp.

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update()

void moveit_py::bind_robot_state::update	(	moveit::core::RobotState *	self,
		bool	force,
		std::string &	category
	)

Definition at line 47 of file robot_state.cpp.

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