planning_link_updater.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/rviz_plugin_render_tools/planning_link_updater.h>
00038 #include <OgreQuaternion.h>
00039 #include <OgreVector3.h>
00040 
00041 bool moveit_rviz_plugin::PlanningLinkUpdater::getLinkTransforms(const std::string& link_name,
00042                                                                 Ogre::Vector3& visual_position,
00043                                                                 Ogre::Quaternion& visual_orientation,
00044                                                                 Ogre::Vector3& collision_position,
00045                                                                 Ogre::Quaternion& collision_orientation) const
00046 {
00047   const robot_model::LinkModel* link_model = kinematic_state_->getLinkModel(link_name);
00048 
00049   if (!link_model)
00050   {
00051     return false;
00052   }
00053 
00054   const Eigen::Vector3d& robot_visual_position = kinematic_state_->getGlobalLinkTransform(link_model).translation();
00055   Eigen::Quaterniond robot_visual_orientation(kinematic_state_->getGlobalLinkTransform(link_model).rotation());
00056   visual_position = Ogre::Vector3(robot_visual_position.x(), robot_visual_position.y(), robot_visual_position.z());
00057   visual_orientation = Ogre::Quaternion(robot_visual_orientation.w(), robot_visual_orientation.x(),
00058                                         robot_visual_orientation.y(), robot_visual_orientation.z());
00059   collision_position = visual_position;
00060   collision_orientation = visual_orientation;
00061 
00062   return true;
00063 }


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Mon Jul 24 2017 02:22:14