optimizer_goal_global_position.h
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1 
19 #ifndef __INC_OPTIMIZER_GOAL_GLOBAL_POSITION
20 #define __INC_OPTIMIZER_GOAL_GLOBAL_POSITION
21 
22 #include <vector>
23 #include <optimizer_goal_global.h>
24 
25 namespace robotLibPbD {
26 
28 {
29 protected:
31 public:
32  virtual void add()
33  {
34  item.resize(3);
35  LOG_MSG(6, "Position: %s \n", first->getRelativeToBase()[3].toString().c_str());
36 
37 
38  pose = first->getRelativeToBase();
39  item[0] = pose.a[12];
40  item[1] = pose.a[13];
41  item[2] = pose.a[14];
42  data.push_back(item);
43  };
44 };
45 
46 };
47 
48 #endif
virtual CMatrix getRelativeToBase()
Returns pose in the base (frame with no predecessor) frame.
Definition: frame.h:508
Homogenous matrix.
Definition: vecmath.h:187
std::string toString(bool round=false)
Definition: vecmath.cpp:221
#define LOG_MSG(index, format,...)
Definition: log.h:32
std::vector< std::vector< double > > data


asr_kinematic_chain_optimizer
Author(s): Aumann Florian, Heller Florian, Jäkel Rainer, Wittenbeck Valerij
autogenerated on Mon Jun 10 2019 12:35:36