choreo_geometry_conversion_helpers Namespace Reference

Functions
void	convertOrientationVectors (const std::vector< geometry_msgs::Vector3 > &orients_msg, std::vector< Eigen::Matrix3d > &m_orients)
void	planeAxesToEigenMatrix (const Eigen::Vector3d &x_axis, const Eigen::Vector3d &y_axis, const Eigen::Vector3d &z_axis, Eigen::Matrix3d &m)
void	planeAxesToQuaternionMsg (const Eigen::Vector3d &x_axis, const Eigen::Vector3d &y_axis, const Eigen::Vector3d &z_axis, geometry_msgs::Quaternion &q_msg)
void	planeToEigenAffine3d (const Eigen::Vector3d &origin, const Eigen::Vector3d &x_axis, const Eigen::Vector3d &y_axis, const Eigen::Vector3d &z_axis, Eigen::Affine3d &e)
void	planeToEigenAffine3d (const Eigen::Vector3d &origin, const Eigen::Matrix3d &orientation, Eigen::Affine3d &e)
void	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	planeToPoseMsg (const Eigen::Vector3d &origin, const Eigen::Matrix3d &orientation, geometry_msgs::Pose &p)
moveit_msgs::AttachedCollisionObject	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	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	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	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	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	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	savedSTLToMeshShapeMsg (const std::string &file_path, const Eigen::Vector3d &scale_vector, shape_msgs::Mesh &mesh)

Variables
static const std::string	FILE_URL_PREFIX = "file://"

Function Documentation

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
	)

Definition at line 71 of file choreo_geometry_conversion_helpers.cpp.

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
	)

Definition at line 77 of file choreo_geometry_conversion_helpers.cpp.

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
	)

Definition at line 87 of file choreo_geometry_conversion_helpers.cpp.

void choreo_geometry_conversion_helpers::planeToEigenAffine3d	(	const Eigen::Vector3d &	origin,
		const Eigen::Matrix3d &	orientation,
		Eigen::Affine3d &	e
	)

Definition at line 97 of file choreo_geometry_conversion_helpers.cpp.

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
	)

Definition at line 102 of file choreo_geometry_conversion_helpers.cpp.

void choreo_geometry_conversion_helpers::planeToPoseMsg	(	const Eigen::Vector3d &	origin,
		const Eigen::Matrix3d &	orientation,
		geometry_msgs::Pose &	p
	)

Definition at line 115 of file choreo_geometry_conversion_helpers.cpp.

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
	)

Definition at line 187 of file choreo_geometry_conversion_helpers.cpp.

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
	)

Definition at line 202 of file choreo_geometry_conversion_helpers.cpp.

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
	)

Definition at line 219 of file choreo_geometry_conversion_helpers.cpp.

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
	)

Definition at line 148 of file choreo_geometry_conversion_helpers.cpp.

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
	)

Definition at line 135 of file choreo_geometry_conversion_helpers.cpp.

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
	)

Definition at line 164 of file choreo_geometry_conversion_helpers.cpp.

void choreo_geometry_conversion_helpers::savedSTLToMeshShapeMsg	(	const std::string &	file_path,
		const Eigen::Vector3d &	scale_vector,
		shape_msgs::Mesh &	mesh
	)

Definition at line 123 of file choreo_geometry_conversion_helpers.cpp.

Variable Documentation

const std::string choreo_geometry_conversion_helpers::FILE_URL_PREFIX = "file://"

static

Definition at line 69 of file choreo_geometry_conversion_helpers.cpp.