planning_link_updater.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *       this software without specific prior written permission.
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/* Author: Ioan Sucan */

#include <moveit/rviz_plugin_render_tools/planning_link_updater.h>
#include <OGRE/OgreQuaternion.h>
#include <OGRE/OgreVector3.h>

bool moveit_rviz_plugin::PlanningLinkUpdater::getLinkTransforms(const std::string& link_name, Ogre::Vector3& visual_position, Ogre::Quaternion& visual_orientation,
                                                                Ogre::Vector3& collision_position, Ogre::Quaternion& collision_orientation) const
{
  const robot_state::LinkState* link_state = kinematic_state_->getLinkState(link_name);

  if (!link_state)
  {
    return false;
  }

  const Eigen::Vector3d &robot_visual_position = link_state->getGlobalLinkTransform().translation();
  Eigen::Quaterniond robot_visual_orientation(link_state->getGlobalLinkTransform().rotation());
  visual_position = Ogre::Vector3( robot_visual_position.x(), robot_visual_position.y(), robot_visual_position.z() );
  visual_orientation = Ogre::Quaternion( robot_visual_orientation.w(), robot_visual_orientation.x(), robot_visual_orientation.y(), robot_visual_orientation.z() );
  collision_position = visual_position;
  collision_orientation = visual_orientation;

  return true;
}