conversions.h
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34 
35 /* Author: Ioan Sucan, Dave Coleman */
36 
37 #pragma once
38 
41 #include <moveit_msgs/RobotState.h>
42 
43 namespace moveit
44 {
45 namespace core
46 {
53 bool jointStateToRobotState(const sensor_msgs::JointState& joint_state, RobotState& state);
54 
63 bool robotStateMsgToRobotState(const Transforms& tf, const moveit_msgs::RobotState& robot_state, RobotState& state,
64  bool copy_attached_bodies = true);
65 
73 bool robotStateMsgToRobotState(const moveit_msgs::RobotState& robot_state, RobotState& state,
74  bool copy_attached_bodies = true);
75 
82 void robotStateToRobotStateMsg(const RobotState& state, moveit_msgs::RobotState& robot_state,
83  bool copy_attached_bodies = true);
84 
91  const std::vector<const AttachedBody*>& attached_bodies,
92  std::vector<moveit_msgs::AttachedCollisionObject>& attached_collision_objs);
98 void robotStateToJointStateMsg(const RobotState& state, sensor_msgs::JointState& joint_state);
99 
107 bool jointTrajPointToRobotState(const trajectory_msgs::JointTrajectory& trajectory, std::size_t point_id,
108  RobotState& state);
109 
118 void robotStateToStream(const RobotState& state, std::ostream& out, bool include_header = true,
119  const std::string& separator = ",");
120 
130 void robotStateToStream(const RobotState& state, std::ostream& out,
131  const std::vector<std::string>& joint_groups_ordering, bool include_header = true,
132  const std::string& separator = ",");
133 
141 void streamToRobotState(RobotState& state, const std::string& line, const std::string& separator = ",");
142 } // namespace core
143 } // namespace moveit
moveit::core
Core components of MoveIt.
Definition: kinematics_base.h:81
moveit::core::attachedBodiesToAttachedCollisionObjectMsgs
void attachedBodiesToAttachedCollisionObjectMsgs(const std::vector< const AttachedBody * > &attached_bodies, std::vector< moveit_msgs::AttachedCollisionObject > &attached_collision_objs)
Convert AttachedBodies to AttachedCollisionObjects.
Definition: conversions.cpp:503
moveit::core::robotStateToStream
void robotStateToStream(const RobotState &state, std::ostream &out, bool include_header=true, const std::string &separator=",")
Convert a MoveIt robot state to common separated values (CSV) on a single line that is outputted to a...
Definition: conversions.cpp:557
transforms.h
moveit::core::robotStateMsgToRobotState
bool robotStateMsgToRobotState(const Transforms &tf, const moveit_msgs::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
Convert a robot state msg (with accompanying extra transforms) to a MoveIt robot state.
Definition: conversions.cpp:481
moveit::core::robotStateToJointStateMsg
void robotStateToJointStateMsg(const RobotState &state, sensor_msgs::JointState &joint_state)
Convert a MoveIt robot state to a joint state message.
Definition: conversions.cpp:512
moveit
Main namespace for MoveIt.
Definition: background_processing.h:46
tf
moveit::core::jointTrajPointToRobotState
bool jointTrajPointToRobotState(const trajectory_msgs::JointTrajectory &trajectory, std::size_t point_id, RobotState &state)
Convert a joint trajectory point to a MoveIt robot state.
Definition: conversions.cpp:532
moveit::core::jointStateToRobotState
bool jointStateToRobotState(const sensor_msgs::JointState &joint_state, RobotState &state)
Convert a joint state to a MoveIt robot state.
Definition: conversions.cpp:467
moveit::core::streamToRobotState
void streamToRobotState(RobotState &state, const std::string &line, const std::string &separator=",")
Convert a string of joint values from a file (CSV) or input source into a RobotState.
Definition: conversions.cpp:622
moveit::core::robotStateToRobotStateMsg
void robotStateToRobotStateMsg(const RobotState &state, moveit_msgs::RobotState &robot_state, bool copy_attached_bodies=true)
Convert a MoveIt robot state to a robot state message.
Definition: conversions.cpp:489
robot_state.h


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Nov 24 2020 03:26:40