The MoveIt Motion Planning Framework for ROS 2.
Public Member Functions | Public Attributes | List of all members
cached_ik_kinematics_plugin::IKCache::Pose Struct Reference

class to represent end effector pose More...

#include <cached_ik_kinematics_plugin.h>

Public Member Functions

 Pose ()=default
 Pose (const geometry_msgs::msg::Pose &pose)
double distance (const Pose &pose) const

Public Attributes

tf2::Vector3 position
tf2::Quaternion orientation

Detailed Description

class to represent end effector pose

tf2::Transform stores orientation as a matrix, so we define our own pose class that maps more directly to geometry_msgs::msg::Pose and for which we can more easily define a distance metric.

Definition at line 77 of file cached_ik_kinematics_plugin.h.

Constructor & Destructor Documentation

◆ Pose() [1/2]

cached_ik_kinematics_plugin::IKCache::Pose::Pose ( )

◆ Pose() [2/2]

cached_ik_kinematics_plugin::IKCache::Pose::Pose ( const geometry_msgs::msg::Pose &  pose)

Definition at line 282 of file ik_cache.cpp.

Member Function Documentation

◆ distance()

double cached_ik_kinematics_plugin::IKCache::Pose::distance ( const Pose pose) const

compute the distance between this pose and another pose

Definition at line 290 of file ik_cache.cpp.

Member Data Documentation

◆ orientation

tf2::Quaternion cached_ik_kinematics_plugin::IKCache::Pose::orientation

Definition at line 82 of file cached_ik_kinematics_plugin.h.

◆ position

tf2::Vector3 cached_ik_kinematics_plugin::IKCache::Pose::position

Definition at line 81 of file cached_ik_kinematics_plugin.h.

The documentation for this struct was generated from the following files: