conversions.h
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34 
35 /* Author: Ioan Sucan, Dave Coleman */
36 
37 #ifndef MOVEIT_ROBOT_STATE_CONVERSIONS_
38 #define MOVEIT_ROBOT_STATE_CONVERSIONS_
39 
42 #include <moveit_msgs/RobotState.h>
43 
44 namespace moveit
45 {
46 namespace core
47 {
54 bool jointStateToRobotState(const sensor_msgs::JointState& joint_state, RobotState& state);
55 
64 bool robotStateMsgToRobotState(const Transforms& tf, const moveit_msgs::RobotState& robot_state, RobotState& state,
65  bool copy_attached_bodies = true);
66 
74 bool robotStateMsgToRobotState(const moveit_msgs::RobotState& robot_state, RobotState& state,
75  bool copy_attached_bodies = true);
76 
83 void robotStateToRobotStateMsg(const RobotState& state, moveit_msgs::RobotState& robot_state,
84  bool copy_attached_bodies = true);
85 
92  const std::vector<const AttachedBody*>& attached_bodies,
93  std::vector<moveit_msgs::AttachedCollisionObject>& attached_collision_objs);
99 void robotStateToJointStateMsg(const RobotState& state, sensor_msgs::JointState& joint_state);
100 
108 bool jointTrajPointToRobotState(const trajectory_msgs::JointTrajectory& trajectory, std::size_t point_id,
109  RobotState& state);
110 
119 void robotStateToStream(const RobotState& state, std::ostream& out, bool include_header = true,
120  const std::string& separator = ",");
121 
131 void robotStateToStream(const RobotState& state, std::ostream& out,
132  const std::vector<std::string>& joint_groups_ordering, bool include_header = true,
133  const std::string& separator = ",");
134 
142 void streamToRobotState(RobotState& state, const std::string& line, const std::string& separator = ",");
143 } // namespace core
144 } // namespace moveit
145 
146 #endif
Core components of MoveIt!
void robotStateToStream(const RobotState &state, std::ostream &out, bool include_header=true, const std::string &separator=",")
Convert a MoveIt! robot state to common separated values (CSV) on a single line that is outputted to ...
bool jointTrajPointToRobotState(const trajectory_msgs::JointTrajectory &trajectory, std::size_t point_id, RobotState &state)
Convert a joint trajectory point to a MoveIt! robot state.
void robotStateToJointStateMsg(const RobotState &state, sensor_msgs::JointState &joint_state)
Convert a MoveIt! robot state to a joint state message.
bool robotStateMsgToRobotState(const Transforms &tf, const moveit_msgs::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
Convert a robot state msg (with accompanying extra transforms) to a MoveIt! robot state...
void attachedBodiesToAttachedCollisionObjectMsgs(const std::vector< const AttachedBody *> &attached_bodies, std::vector< moveit_msgs::AttachedCollisionObject > &attached_collision_objs)
Convert AttachedBodies to AttachedCollisionObjects.
void robotStateToRobotStateMsg(const RobotState &state, moveit_msgs::RobotState &robot_state, bool copy_attached_bodies=true)
Convert a MoveIt! robot state to a robot state message.
bool jointStateToRobotState(const sensor_msgs::JointState &joint_state, RobotState &state)
Convert a joint state to a MoveIt! robot state.
Main namespace for MoveIt!
void streamToRobotState(RobotState &state, const std::string &line, const std::string &separator=",")
Convert a string of joint values from a file (CSV) or input source into a RobotState.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Nov 23 2020 03:52:30