moveit2
The MoveIt Motion Planning Framework for ROS 2.
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#include <pilz_industrial_motion_planner/trajectory_functions.h>
#include <moveit/planning_scene/planning_scene.h>
#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>
Go to the source code of this file.
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. | |
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.
constraint | to apply offset to |
offset | to apply to the constraint |
orientation | to apply to the offset |
Definition at line 605 of file trajectory_functions.cpp.
Eigen::Isometry3d getConstraintPose | ( | const moveit_msgs::msg::Constraints & | goal | ) |
Conviencency method, passing args from a goal constraint.
goal | goal constraint |
Definition at line 622 of file trajectory_functions.cpp.
void normalizeQuaternion | ( | geometry_msgs::msg::Quaternion & | quat | ) |
Definition at line 598 of file trajectory_functions.cpp.