robot_state Namespace Reference

This namespace includes the classes in the robot_state library. More...

Classes
class	AttachedBody
	Object defining bodies that can be attached to robot links. This is useful when handling objects picked up by the robot. More...
class	JointState
	Definition of a joint state - representation of state for a single joint. More...
class	JointStateGroup
	The joint state corresponding to a group. More...
class	LinkState
	The state corresponding to a link. More...
class	RobotState
	Definition of a kinematic state - the parts of the robot state which can change. Const members are thread safe. More...
class	StateTransforms
class	Transforms
	Provides an implementation of a snapshot of a transform tree that can be easily queried for transforming different quantities. Transforms are maintained as a list of transforms to a particular frame. All stored transforms are considered fixed. More...
Typedefs
typedef boost::function< void(AttachedBody *body, bool attached)	AttachedBodyCallback )
typedef std::map< std::string, Eigen::Affine3d, std::less < std::string > , Eigen::aligned_allocator < std::pair< const std::string, Eigen::Affine3d > > >	FixedTransformsMap
	Map frame names to the transformation matrix that can transform objects from the frame name to the planning frame.
typedef boost::shared_ptr < const RobotState >	RobotStateConstPtr
typedef boost::shared_ptr < RobotState >	RobotStatePtr
typedef boost::function< bool(const JointStateGroup *joint_state_group, Eigen::VectorXd &stvector)	SecondaryTaskFn )
typedef boost::function< bool(JointStateGroup *joint_state_group, const std::vector< double > &joint_group_variable_values)	StateValidityCallbackFn )
Functions
bool	jointStateToRobotState (const sensor_msgs::JointState &joint_state, RobotState &state)
	Convert a joint state to a kinematic state.
	MOVEIT_CLASS_FORWARD (RobotState)
	MOVEIT_CLASS_FORWARD (Transforms)
bool	robotStateMsgToRobotState (const Transforms &tf, const moveit_msgs::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
	Convert a robot state (with accompanying extra transforms) to a kinematic state.
bool	robotStateMsgToRobotState (const moveit_msgs::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
	Convert a robot state (with accompanying extra transforms) to a kinematic state.
void	robotStateToJointStateMsg (const RobotState &state, sensor_msgs::JointState &joint_state)
	Convert a kinematic state to a joint state message.
void	robotStateToRobotStateMsg (const RobotState &state, moveit_msgs::RobotState &robot_state, bool copy_attached_bodies=true)
	Convert a kinematic state to a robot state message.

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Detailed Description

This namespace includes the classes in the robot_state library.

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Typedef Documentation

typedef boost::function<void(AttachedBody *body, bool attached) robot_state::AttachedBodyCallback)

Definition at line 50 of file robot_state.h.

typedef std::map<std::string, Eigen::Affine3d, std::less<std::string>, Eigen::aligned_allocator<std::pair<const std::string, Eigen::Affine3d> > > robot_state::FixedTransformsMap

Map frame names to the transformation matrix that can transform objects from the frame name to the planning frame.

Definition at line 54 of file transforms.h.

typedef boost::shared_ptr<const RobotState> robot_state::RobotStateConstPtr

Definition at line 333 of file robot_state.h.

typedef boost::shared_ptr<RobotState> robot_state::RobotStatePtr

Definition at line 332 of file robot_state.h.

typedef boost::function<bool(const JointStateGroup *joint_state_group, Eigen::VectorXd &stvector) robot_state::SecondaryTaskFn)

Definition at line 55 of file joint_state_group.h.

typedef boost::function<bool(JointStateGroup *joint_state_group, const std::vector<double> &joint_group_variable_values) robot_state::StateValidityCallbackFn)

Definition at line 52 of file joint_state_group.h.

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Function Documentation

bool robot_state::jointStateToRobotState	(	const sensor_msgs::JointState &	joint_state,
		RobotState &	state
	)

Convert a joint state to a kinematic state.

Parameters:

joint_state	The input joint state to be converted
state	The resultant kinematic state

Returns:

True if successful, false if failed for any reason

Definition at line 392 of file conversions.cpp.

robot_state::MOVEIT_CLASS_FORWARD

(

RobotState

)

robot_state::MOVEIT_CLASS_FORWARD

(

Transforms

)

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

Convert a robot state (with accompanying extra transforms) to a kinematic state.

Parameters:

tf	An instance of a transforms object
robot_state	The input robot state
state	The resultant kinematic state

Returns:

True if successful, false if failed for any reason

Definition at line 404 of file conversions.cpp.

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

Convert a robot state (with accompanying extra transforms) to a kinematic state.

Parameters:

robot_state	The input robot state
state	The resultant kinematic state

Returns:

True if successful, false if failed for any reason

Definition at line 399 of file conversions.cpp.

void robot_state::robotStateToJointStateMsg	(	const RobotState &	state,
		sensor_msgs::JointState &	joint_state
	)

Convert a kinematic state to a joint state message.

Parameters:

state	The input kinematic state object
robot_state	The resultant JointState message

Definition at line 423 of file conversions.cpp.

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

Convert a kinematic state to a robot state message.

Parameters:

state	The input kinematic state object
robot_state	The resultant RobotState *message

Definition at line 409 of file conversions.cpp.