conversions.h
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00034 
00035 /* Author: Ioan Sucan, Dave Coleman */
00036 
00037 #ifndef MOVEIT_ROBOT_STATE_CONVERSIONS_
00038 #define MOVEIT_ROBOT_STATE_CONVERSIONS_
00039 
00040 #include <moveit/robot_state/robot_state.h>
00041 #include <moveit/transforms/transforms.h>
00042 #include <moveit_msgs/RobotState.h>
00043 #include <moveit_msgs/RobotTrajectory.h>
00044 
00045 namespace moveit
00046 {
00047 namespace core
00048 {
00049 
00056 bool jointStateToRobotState(const sensor_msgs::JointState &joint_state, RobotState& state);
00057 
00066 bool robotStateMsgToRobotState(const Transforms &tf, const moveit_msgs::RobotState &robot_state, RobotState& state, bool copy_attached_bodies = true);
00074 bool robotStateMsgToRobotState(const moveit_msgs::RobotState &robot_state, RobotState& state, bool copy_attached_bodies = true);
00075 
00082 void robotStateToRobotStateMsg(const RobotState& state, moveit_msgs::RobotState &robot_state, bool copy_attached_bodies = true);
00083 
00089 void robotStateToJointStateMsg(const RobotState& state, sensor_msgs::JointState &joint_state);
00090 
00099 void robotStateToStream(const RobotState& state, std::ostream &out, bool include_header = true, const std::string& separator = ",");
00100 
00110 void robotStateToStream(const RobotState& state, std::ostream &out, const std::vector<std::string> &joint_groups_ordering,
00111                         bool include_header = true, const std::string& separator = ",");
00112 
00113 }
00114 }
00115 
00116 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:52