moveit2
The MoveIt Motion Planning Framework for ROS 2.
Functions
moveit_py::bind_robot_state Namespace Reference

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)
 

Function Documentation

◆ copy_joint_group_accelerations()

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

Definition at line 177 of file robot_state.cpp.

Here is the caller graph for this function:

◆ copy_joint_group_positions()

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

Definition at line 161 of file robot_state.cpp.

Here is the caller graph for this function:

◆ copy_joint_group_velocities()

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

Definition at line 169 of file robot_state.cpp.

Here is the caller graph for this function:

◆ get_frame_transform()

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

Definition at line 67 of file robot_state.cpp.

Here is the caller graph for this function:

◆ get_global_link_transform()

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

Definition at line 74 of file robot_state.cpp.

Here is the caller graph for this function:

◆ get_jacobian() [1/2]

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 
)

Definition at line 185 of file robot_state.cpp.

Here is the caller graph for this function:

◆ get_jacobian() [2/2]

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.

◆ get_joint_accelerations()

std::map<std::string, double> moveit_py::bind_robot_state::get_joint_accelerations ( const moveit::core::RobotState self)

Definition at line 123 of file robot_state.cpp.

Here is the caller graph for this function:

◆ get_joint_efforts()

std::map<std::string, double> moveit_py::bind_robot_state::get_joint_efforts ( const moveit::core::RobotState self)

Definition at line 142 of file robot_state.cpp.

Here is the caller graph for this function:

◆ get_joint_positions()

std::map<std::string, double> moveit_py::bind_robot_state::get_joint_positions ( const moveit::core::RobotState self)

Definition at line 85 of file robot_state.cpp.

Here is the caller graph for this function:

◆ get_joint_velocities()

std::map<std::string, double> moveit_py::bind_robot_state::get_joint_velocities ( const moveit::core::RobotState self)

Definition at line 104 of file robot_state.cpp.

Here is the caller graph for this function:

◆ get_pose()

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

Definition at line 80 of file robot_state.cpp.

Here is the caller graph for this function:

◆ init_robot_state()

void moveit_py::bind_robot_state::init_robot_state ( py::module &  m)

Definition at line 211 of file robot_state.cpp.

Here is the call graph for this function:
Here is the caller graph for this function:

◆ set_joint_accelerations()

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

Definition at line 134 of file robot_state.cpp.

Here is the caller graph for this function:

◆ set_joint_efforts()

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

Definition at line 153 of file robot_state.cpp.

Here is the caller graph for this function:

◆ set_joint_positions()

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

Definition at line 96 of file robot_state.cpp.

Here is the caller graph for this function:

◆ set_joint_velocities()

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

Definition at line 115 of file robot_state.cpp.

Here is the caller graph for this function:

◆ set_to_default_values()

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 
)

Definition at line 203 of file robot_state.cpp.

Here is the caller graph for this function:

◆ 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.

Here is the caller graph for this function: