planning_link_updater.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_PLANNING_LINK_UPDATER_
38 #define MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_PLANNING_LINK_UPDATER_
39 
42 
43 namespace moveit_rviz_plugin
44 {
47 {
48 public:
49  PlanningLinkUpdater(const robot_state::RobotStateConstPtr& state) : kinematic_state_(state)
50  {
51  }
52 
53  virtual bool getLinkTransforms(const std::string& link_name, Ogre::Vector3& visual_position,
54  Ogre::Quaternion& visual_orientation, Ogre::Vector3& collision_position,
55  Ogre::Quaternion& collision_orientation) const;
56 
57 private:
58  robot_state::RobotStateConstPtr kinematic_state_;
59 };
60 }
61 
62 #endif
PlanningLinkUpdater(const robot_state::RobotStateConstPtr &state)
virtual bool getLinkTransforms(const std::string &link_name, Ogre::Vector3 &visual_position, Ogre::Quaternion &visual_orientation, Ogre::Vector3 &collision_position, Ogre::Quaternion &collision_orientation) const
robot_state::RobotStateConstPtr kinematic_state_
Update the links of an rviz::Robot using a robot_state::RobotState.


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Sun Oct 18 2020 13:19:09