conversions.h

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/* Author: Ioan Sucan, Dave Coleman */

#ifndef MOVEIT_ROBOT_STATE_CONVERSIONS_
#define MOVEIT_ROBOT_STATE_CONVERSIONS_

#include <moveit/robot_state/robot_state.h>
#include <moveit/transforms/transforms.h>
#include <moveit_msgs/RobotState.h>
#include <moveit_msgs/RobotTrajectory.h>

namespace moveit
{
namespace core
{
bool jointStateToRobotState(const sensor_msgs::JointState& joint_state, RobotState& state);

bool robotStateMsgToRobotState(const Transforms& tf, const moveit_msgs::RobotState& robot_state, RobotState& state,
                               bool copy_attached_bodies = true);

bool robotStateMsgToRobotState(const moveit_msgs::RobotState& robot_state, RobotState& state,
                               bool copy_attached_bodies = true);

void robotStateToRobotStateMsg(const RobotState& state, moveit_msgs::RobotState& robot_state,
                               bool copy_attached_bodies = true);

void attachedBodiesToAttachedCollisionObjectMsgs(
    const std::vector<const AttachedBody*>& attached_bodies,
    std::vector<moveit_msgs::AttachedCollisionObject>& attached_collision_objs);
void robotStateToJointStateMsg(const RobotState& state, sensor_msgs::JointState& joint_state);

bool jointTrajPointToRobotState(const trajectory_msgs::JointTrajectory& trajectory, std::size_t point_id,
                                RobotState& state);

void robotStateToStream(const RobotState& state, std::ostream& out, bool include_header = true,
                        const std::string& separator = ",");

void robotStateToStream(const RobotState& state, std::ostream& out,
                        const std::vector<std::string>& joint_groups_ordering, bool include_header = true,
                        const std::string& separator = ",");

void streamToRobotState(RobotState& state, const std::string& line, const std::string& separator = ",");
}
}

#endif