trajectory_visualization.cpp File Reference

This defines a trajectory visualizer for publishing the smooth trajectory. More...

#include <moveit/robot_state/conversions.h>
#include <tf/transform_datatypes.h>
#include <pluginlib/class_list_macros.h>
#include <stomp_moveit/update_filters/trajectory_visualization.h>

Include dependency graph for trajectory_visualization.cpp:

Go to the source code of this file.

Namespaces
namespace	stomp_moveit
namespace	stomp_moveit::update_filters
Typedefs
typedef std::vector < geometry_msgs::Point >	ToolLine
Functions
void	createToolPathMarker (const Eigen::MatrixXd &tool_line, int id, std::string frame_id, const std_msgs::ColorRGBA &rgb, double line_width, std::string ns, visualization_msgs::Marker &m)
void	eigenToPointsMsgs (const Eigen::MatrixXd &in, std::vector< geometry_msgs::Point > &out)
static Eigen::MatrixXd	jointsToToolPath (RobotState &state, const std::string &group_name, const Eigen::MatrixXd &parameters)
	Creates a tool path xyz trajectory from the joint parameters.
	PLUGINLIB_EXPORT_CLASS (stomp_moveit::update_filters::TrajectoryVisualization, stomp_moveit::update_filters::StompUpdateFilter)
Variables
static const int	MARKER_ID = 1

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Detailed Description

This defines a trajectory visualizer for publishing the smooth trajectory.

Author:

Jorge Nicho

Date:

April 14, 2016

Version:

TODO

Bug:

No known bugs

Copyright:

Copyright (c) 2016, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file trajectory_visualization.cpp.

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Typedef Documentation

typedef std::vector<geometry_msgs::Point> ToolLine

Definition at line 34 of file trajectory_visualization.cpp.

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Function Documentation

void createToolPathMarker	(	const Eigen::MatrixXd &	tool_line,
		int	id,
		std::string	frame_id,
		const std_msgs::ColorRGBA &	rgb,
		double	line_width,
		std::string	ns,
		visualization_msgs::Marker &	m
	)		[inline]

Definition at line 80 of file trajectory_visualization.cpp.

void eigenToPointsMsgs	(	const Eigen::MatrixXd &	in,
		std::vector< geometry_msgs::Point > &	out
	)		[inline]

Definition at line 39 of file trajectory_visualization.cpp.

static Eigen::MatrixXd jointsToToolPath	(	RobotState &	state,
		const std::string &	group_name,
		const Eigen::MatrixXd &	parameters
	)		[static]

Creates a tool path xyz trajectory from the joint parameters.

Parameters:

state	The robot state
parameters	The joint parameters [num_dimensions x num_timesteps]

Returns:

The tool path [3 x num_timesteps]

Definition at line 62 of file trajectory_visualization.cpp.

PLUGINLIB_EXPORT_CLASS	(	stomp_moveit::update_filters::TrajectoryVisualization	,
		stomp_moveit::update_filters::StompUpdateFilter
	)

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Variable Documentation

const int MARKER_ID = 1 [static]

Definition at line 37 of file trajectory_visualization.cpp.