#include <cartesian_controller_utils.h>

Public Member Functions
void	adjustArrayLength (std::vector< cob_cartesian_controller::PathArray > &m)

	CartesianControllerUtils ()

void	copyMatrix (std::vector< double > *path_array, std::vector< cob_cartesian_controller::PathArray > &m)

geometry_msgs::Pose	getPose (const std::string &target_frame, const std::string &source_frame)

tf::StampedTransform	getStampedTransform (const std::string &target_frame, const std::string &source_frame)

bool	inEpsilonArea (const tf::StampedTransform &stamped_transform, const double epsilon)

void	poseToRPY (const geometry_msgs::Pose &pose, double &roll, double &pitch, double &yaw)

void	previewPath (const geometry_msgs::PoseArray pose_array)

double	roundUpToMultiplier (const double numberToRound, const double multiplier)

void	transformPose (const std::string source_frame, const std::string target_frame, const geometry_msgs::Pose pose_in, geometry_msgs::Pose &pose_out)

Private Attributes
visualization_msgs::MarkerArray	marker_array_

ros::Publisher	marker_pub_

ros::NodeHandle	nh_

tf::TransformListener	tf_listener_

Detailed Description

Definition at line 32 of file cartesian_controller_utils.h.

Constructor & Destructor Documentation

CartesianControllerUtils::CartesianControllerUtils ( )

inline

Definition at line 35 of file cartesian_controller_utils.h.

Member Function Documentation

void CartesianControllerUtils::adjustArrayLength ( std::vector< cob_cartesian_controller::PathArray > & m )

Definition at line 153 of file cartesian_controller_utils.cpp.

void CartesianControllerUtils::copyMatrix	(	std::vector< double > *	path_array,
		std::vector< cob_cartesian_controller::PathArray > &	m
	)

Definition at line 170 of file cartesian_controller_utils.cpp.

geometry_msgs::Pose CartesianControllerUtils::getPose	(	const std::string &	target_frame,
		const std::string &	source_frame
	)

Definition at line 23 of file cartesian_controller_utils.cpp.

tf::StampedTransform CartesianControllerUtils::getStampedTransform	(	const std::string &	target_frame,
		const std::string &	source_frame
	)

Definition at line 36 of file cartesian_controller_utils.cpp.

bool CartesianControllerUtils::inEpsilonArea	(	const tf::StampedTransform &	stamped_transform,
		const double	epsilon
	)

Used to check whether the chain_tip_link is close to the target_frame 'stamped_transform' expreses the transform between the two frames. Thus inEpsilonArea() returns 'true' in case 'stamped_transform' is "smaller" than 'epsilon'

Definition at line 89 of file cartesian_controller_utils.cpp.

void CartesianControllerUtils::poseToRPY	(	const geometry_msgs::Pose &	pose,
		double &	roll,
		double &	pitch,
		double &	yaw
	)

Definition at line 115 of file cartesian_controller_utils.cpp.

void CartesianControllerUtils::previewPath ( const geometry_msgs::PoseArray pose_array )

Definition at line 122 of file cartesian_controller_utils.cpp.

double CartesianControllerUtils::roundUpToMultiplier	(	const double	numberToRound,
		const double	multiplier
	)

Definition at line 178 of file cartesian_controller_utils.cpp.

void CartesianControllerUtils::transformPose	(	const std::string	source_frame,
		const std::string	target_frame,
		const geometry_msgs::Pose	pose_in,
		geometry_msgs::Pose &	pose_out
	)