#include <pilz_industrial_motion_planner/trajectory_functions.hpp>#include <moveit/planning_scene/planning_scene.hpp>#include <tf2/LinearMath/Quaternion.h>#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>#include <tf2_eigen/tf2_eigen.hpp>#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>#include <moveit/utils/logger.hpp>
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Functions | |
| void | normalizeQuaternion (geometry_msgs::msg::Quaternion &quat) |
| Eigen::Isometry3d | getConstraintPose (const geometry_msgs::msg::Point &position, const geometry_msgs::msg::Quaternion &orientation, const geometry_msgs::msg::Vector3 &offset) |
| Adapt goal pose, defined by position+orientation, to consider offset. | |
| Eigen::Isometry3d | getConstraintPose (const moveit_msgs::msg::Constraints &goal) |
| Conviencency method, passing args from a goal constraint. | |
Function Documentation
◆ getConstraintPose() [1/2]
| Eigen::Isometry3d getConstraintPose | ( | const geometry_msgs::msg::Point & | position, |
| const geometry_msgs::msg::Quaternion & | orientation, | ||
| const geometry_msgs::msg::Vector3 & | offset | ||
| ) |
Adapt goal pose, defined by position+orientation, to consider offset.
- Parameters
-
constraint to apply offset to offset to apply to the constraint orientation to apply to the offset
- Returns
- final goal pose
Definition at line 598 of file trajectory_functions.cpp.
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◆ getConstraintPose() [2/2]
| Eigen::Isometry3d getConstraintPose | ( | const moveit_msgs::msg::Constraints & | goal | ) |
Conviencency method, passing args from a goal constraint.
- Parameters
-
goal goal constraint
- Returns
- final goal pose
Definition at line 615 of file trajectory_functions.cpp.
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◆ normalizeQuaternion()
| void normalizeQuaternion | ( | geometry_msgs::msg::Quaternion & | quat | ) |
Definition at line 591 of file trajectory_functions.cpp.
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