state_transforms.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/robot_state/state_transforms.h>
00038 #include <moveit/robot_state/robot_state.h>
00039 
00040 robot_state::StateTransforms::StateTransforms(const std::string &target_frame, const RobotStateConstPtr &state) :
00041   Transforms(target_frame),
00042   state_(state)
00043 {
00044   if (state_ && !sameFrame(state_->getRobotModel()->getModelFrame(), target_frame_))
00045     logError("Target frame is assumed to be '%s' but the model of the robot state places the robot in frame '%s'",
00046              target_frame_.c_str(), state_->getRobotModel()->getModelFrame().c_str());
00047 }
00048 
00049 bool robot_state::StateTransforms::canTransform(const std::string &from_frame) const
00050 {
00051   if (state_ && state_->knowsFrameTransform(from_frame))
00052     return true;
00053   return Transforms::canTransform(from_frame);
00054 }
00055 
00056 const Eigen::Affine3d& robot_state::StateTransforms::getTransform(const std::string &from_frame) const
00057 {
00058   if (state_ && state_->knowsFrameTransform(from_frame))
00059     return state_->getFrameTransform(from_frame);
00060   return Transforms::getTransform(from_frame);
00061 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Oct 6 2014 02:24:47