class to represent end effector pose More...
#include <cached_ik_kinematics_plugin.h>
Public Member Functions | |
double | distance (const Pose &pose) const |
Pose ()=default | |
Pose (const geometry_msgs::Pose &pose) | |
Public Attributes | |
tf2::Quaternion | orientation |
tf2::Vector3 | position |
class to represent end effector pose
tf2::Transform stores orientation as a matrix, so we define our own pose class that maps more directly to geometry_msgs::Pose and for which we can more easily define a distance metric.
Definition at line 74 of file cached_ik_kinematics_plugin.h.
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default |
cached_ik_kinematics_plugin::IKCache::Pose::Pose | ( | const geometry_msgs::Pose & | pose | ) |
Definition at line 274 of file ik_cache.cpp.
double cached_ik_kinematics_plugin::IKCache::Pose::distance | ( | const Pose & | pose | ) | const |
compute the distance between this pose and another pose
Definition at line 282 of file ik_cache.cpp.
tf2::Quaternion cached_ik_kinematics_plugin::IKCache::Pose::orientation |
Definition at line 79 of file cached_ik_kinematics_plugin.h.
tf2::Vector3 cached_ik_kinematics_plugin::IKCache::Pose::position |
Definition at line 78 of file cached_ik_kinematics_plugin.h.