choreo_geometry_conversion_helpers.h File Reference

#include "Eigen/Core"
#include "Eigen/Geometry"
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Vector3.h>
#include <shape_msgs/Mesh.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit_msgs/AttachedCollisionObject.h>

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Namespaces
	choreo_geometry_conversion_helpers

Functions
void	choreo_geometry_conversion_helpers::convertOrientationVectors (const std::vector< geometry_msgs::Vector3 > &orients_msg, std::vector< Eigen::Matrix3d > &m_orients)
void	choreo_geometry_conversion_helpers::planeAxesToEigenMatrix (const Eigen::Vector3d &x_axis, const Eigen::Vector3d &y_axis, const Eigen::Vector3d &z_axis, Eigen::Matrix3d &m)
void	choreo_geometry_conversion_helpers::planeAxesToQuaternionMsg (const Eigen::Vector3d &x_axis, const Eigen::Vector3d &y_axis, const Eigen::Vector3d &z_axis, geometry_msgs::Quaternion &q_msg)
void	choreo_geometry_conversion_helpers::planeToEigenAffine3d (const Eigen::Vector3d &origin, const Eigen::Vector3d &x_axis, const Eigen::Vector3d &y_axis, const Eigen::Vector3d &z_axis, Eigen::Affine3d &e)
void	choreo_geometry_conversion_helpers::planeToEigenAffine3d (const Eigen::Vector3d &origin, const Eigen::Matrix3d &orientation, Eigen::Affine3d &e)
void	choreo_geometry_conversion_helpers::planeToPoseMsg (const Eigen::Vector3d &origin, const Eigen::Vector3d &x_axis, const Eigen::Vector3d &y_axis, const Eigen::Vector3d &z_axis, geometry_msgs::Pose &p)
void	choreo_geometry_conversion_helpers::planeToPoseMsg (const Eigen::Vector3d &origin, const Eigen::Matrix3d &orientation, geometry_msgs::Pose &p)
moveit_msgs::AttachedCollisionObject	choreo_geometry_conversion_helpers::savedSTLToAttachedCollisionObjectMsg (const std::string &file_path, const Eigen::Vector3d &scale_vector, const std::string &frame_id, const std::string &link_id, const geometry_msgs::Pose &p, int object_operation=moveit_msgs::CollisionObject::ADD)
void	choreo_geometry_conversion_helpers::savedSTLToAttachedCollisionObjectMsg (const std::string &file_path, const Eigen::Vector3d &scale_vector, const std::string &frame_id, const std::string &link_id, const geometry_msgs::Pose &p, moveit_msgs::AttachedCollisionObject &co, int object_operation=moveit_msgs::CollisionObject::ADD)
void	choreo_geometry_conversion_helpers::savedSTLToAttachedCollisionObjectMsg (const std::string &file_path, const Eigen::Vector3d &scale_vector, const std::string &frame_id, const std::string &link_id, const std::string &obj_id, const geometry_msgs::Pose &p, moveit_msgs::AttachedCollisionObject &co, int object_operation=moveit_msgs::CollisionObject::ADD)
void	choreo_geometry_conversion_helpers::savedSTLToCollisionObjectMsg (const std::string &file_path, const Eigen::Vector3d &scale_vector, const std::string &frame_id, const geometry_msgs::Pose &p, moveit_msgs::CollisionObject &co, int object_operation=moveit_msgs::CollisionObject::ADD)
moveit_msgs::CollisionObject	choreo_geometry_conversion_helpers::savedSTLToCollisionObjectMsg (const std::string &file_path, const Eigen::Vector3d &scale_vector, const std::string &frame_id, const geometry_msgs::Pose &p, int object_operation=moveit_msgs::CollisionObject::ADD)
void	choreo_geometry_conversion_helpers::savedSTLToCollisionObjectMsg (const std::string &file_path, const Eigen::Vector3d &scale_vector, const std::string &frame_id, const std::string &obj_id, const geometry_msgs::Pose &p, moveit_msgs::CollisionObject &co, int object_operation=moveit_msgs::CollisionObject::ADD)
void	choreo_geometry_conversion_helpers::savedSTLToMeshShapeMsg (const std::string &file_path, const Eigen::Vector3d &scale_vector, shape_msgs::Mesh &mesh)