moveit2
The MoveIt Motion Planning Framework for ROS 2.
planning_link_updater.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
39 #include <rviz_default_plugins/robot/link_updater.hpp>
41 
42 namespace moveit_rviz_plugin
43 {
45 class PlanningLinkUpdater : public rviz_default_plugins::robot::LinkUpdater
46 {
47 public:
48  PlanningLinkUpdater(const moveit::core::RobotStateConstPtr& state) : robot_state_(state)
49  {
50  }
51 
52  bool getLinkTransforms(const std::string& link_name, Ogre::Vector3& visual_position,
53  Ogre::Quaternion& visual_orientation, Ogre::Vector3& collision_position,
54  Ogre::Quaternion& collision_orientation) const override;
55 
56 private:
57  moveit::core::RobotStateConstPtr robot_state_;
58 };
59 } // namespace moveit_rviz_plugin
Update the links of an rviz::Robot using a moveit::core::RobotState.
bool getLinkTransforms(const std::string &link_name, Ogre::Vector3 &visual_position, Ogre::Quaternion &visual_orientation, Ogre::Vector3 &collision_position, Ogre::Quaternion &collision_orientation) const override
PlanningLinkUpdater(const moveit::core::RobotStateConstPtr &state)