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: