move_arm_msgs: utils.h Source File

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00034 #include <ros/ros.h>
00035 //#include <tf/tf.h>
00036 //#include <tf/transform_datatypes.h>
00037 
00038 #include <motion_planning_msgs/SimplePoseConstraint.h>
00039 #include <motion_planning_msgs/convert_messages.h>
00040 #include <move_arm_msgs/MoveArmGoal.h>
00041 
00042 namespace move_arm_msgs
00043 {
00048   void addGoalConstraintToMoveArmGoal(const motion_planning_msgs::SimplePoseConstraint &pose_constraint, move_arm_msgs::MoveArmGoal &move_arm_goal)
00049   {
00050     motion_planning_msgs::PositionConstraint position_constraint;
00051     motion_planning_msgs::OrientationConstraint orientation_constraint;
00052     poseConstraintToPositionOrientationConstraints(pose_constraint,position_constraint,orientation_constraint);
00053     move_arm_goal.motion_plan_request.goal_constraints.position_constraints.push_back(position_constraint);
00054     move_arm_goal.motion_plan_request.goal_constraints.orientation_constraints.push_back(orientation_constraint);
00055   }
00056 }