state_transforms.cpp

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/* Author: Ioan Sucan */

#include <moveit/robot_state/state_transforms.h>
#include <moveit/robot_state/robot_state.h>

robot_state::StateTransforms::StateTransforms(const std::string &target_frame, const RobotStateConstPtr &state) :
  Transforms(target_frame),
  state_(state)
{
  if (state_ && !sameFrame(state_->getRobotModel()->getModelFrame(), target_frame_))
    logError("Target frame is assumed to be '%s' but the model of the robot state places the robot in frame '%s'",
             target_frame_.c_str(), state_->getRobotModel()->getModelFrame().c_str());
}

bool robot_state::StateTransforms::canTransform(const std::string &from_frame) const
{
  if (state_ && state_->knowsFrameTransform(from_frame))
    return true;
  return Transforms::canTransform(from_frame);
}

const Eigen::Affine3d& robot_state::StateTransforms::getTransform(const std::string &from_frame) const
{
  if (state_ && state_->knowsFrameTransform(from_frame))
    return state_->getFrameTransform(from_frame);
  return Transforms::getTransform(from_frame);
}