moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Functions
trajectory_functions.cpp File Reference
#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>
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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
constraintto apply offset to
offsetto apply to the constraint
orientationto apply to the offset
Returns
final goal pose

Definition at line 605 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
goalgoal constraint
Returns
final goal pose

Definition at line 622 of file trajectory_functions.cpp.

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◆ normalizeQuaternion()

void normalizeQuaternion ( geometry_msgs::msg::Quaternion &  quat)

Definition at line 598 of file trajectory_functions.cpp.

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