trajectory_visualization.cpp File Reference

This defines a trajectory visualizer for publishing the smooth trajectory. More...

#include <moveit/robot_state/conversions.h>
#include <tf/transform_datatypes.h>
#include <pluginlib/class_list_macros.h>
#include <stomp_moveit/update_filters/trajectory_visualization.h>

Include dependency graph for trajectory_visualization.cpp:

Go to the source code of this file.

Namespaces
	stomp_moveit

Typedefs
typedef std::vector< geometry_msgs::Point >	ToolLine

Functions
void	createToolPathMarker (const Eigen::MatrixXd &tool_line, int id, std::string frame_id, const std_msgs::ColorRGBA &rgb, double line_width, std::string ns, visualization_msgs::Marker &m)
void	eigenToPointsMsgs (const Eigen::MatrixXd &in, std::vector< geometry_msgs::Point > &out)
static Eigen::MatrixXd	jointsToToolPath (RobotState &state, const std::string &group_name, const Eigen::MatrixXd &parameters)
	Creates a tool path xyz trajectory from the joint parameters. More...
	PLUGINLIB_EXPORT_CLASS (stomp_moveit::update_filters::TrajectoryVisualization, stomp_moveit::update_filters::StompUpdateFilter)

Variables
static const int	MARKER_ID = 1

Detailed Description

This defines a trajectory visualizer for publishing the smooth trajectory.

Author

Jorge Nicho

Date

April 14, 2016

Version

TODO

Bug:

No known bugs

Copyright

Copyright (c) 2016, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file trajectory_visualization.cpp.

Function Documentation

static Eigen::MatrixXd jointsToToolPath ( RobotState &  state, const std::string &  group_name, const Eigen::MatrixXd &  parameters  )

static

Creates a tool path xyz trajectory from the joint parameters.

Parameters

state	The robot state
parameters	The joint parameters [num_dimensions x num_timesteps]

Returns

The tool path [3 x num_timesteps]

Definition at line 62 of file trajectory_visualization.cpp.