Provides methods to transform nav_msgs::Path to geometry_msgs/Transform[] and vice versa. More...

Public Member Functions
	TransformPathConverter ()
	~TransformPathConverter ()
Static Public Member Functions
static void	convert (const std::vector< geometry_msgs::Transform > &transforms, nav_msgs::Path &path, const std::string &frame_id, bool transforms_are_relative, const geometry_msgs::Pose &start_pose=geometry_msgs::Pose(), const ros::Time &time=ros::Time::now(), const std::vector< ros::Duration > &path_times=std::vector< ros::Duration >())
static void	convert (const nav_msgs::Path &path, std::vector< geometry_msgs::Transform > &transforms, bool make_relative_transforms)
template<typename T >
static Eigen::Quaternion< T >	getRotationFromTo (const Eigen::Quaternion< T > &q1, const Eigen::Quaternion< T > &q2)
Private Types
typedef Eigen::Transform < double, 3, Eigen::Affine >	EigenTransform

Detailed Description

Provides methods to transform nav_msgs::Path to geometry_msgs/Transform[] and vice versa.

Definition at line 15 of file PathConverter.h.

Member Typedef Documentation

Definition at line 17 of file PathConverter.h.

moveit_controller_multidof::TransformPathConverter::TransformPathConverter ( ) [inline]

Definition at line 19 of file PathConverter.h.

moveit_controller_multidof::TransformPathConverter::~TransformPathConverter ( )

static void moveit_controller_multidof::TransformPathConverter::convert	(	const std::vector< geometry_msgs::Transform > &	transforms,
		nav_msgs::Path &	path,
		const std::string &	frame_id,
		bool	transforms_are_relative,
		const geometry_msgs::Pose &	start_pose = `geometry_msgs::Pose()`,
		const ros::Time &	time = `ros::Time::now()`,
		const std::vector< ros::Duration > &	path_times = `std::vector<ros::Duration>()`
	)		`[inline, static]`

Parameters:

transforms_are_relative	if true, the transform represent relative movement. In this case, starting pose can be set with parameter start_pose.
start_pose	only relevant it transforms_are_relative, and then this is the start pose of the path
frame_id	the transforms (and start_pose) are to be expressed in this frame.
time	time of the frame_id. This is going to be set in all path points, or if path_times is set, then this applies only to the start point. Default is ros::Time::now().
path_times	if not empty, it has to be the size of transforms. It contains, for each point in transforms, the time from the start of the trajectory.

Definition at line 32 of file PathConverter.h.

static void moveit_controller_multidof::TransformPathConverter::convert	(	const nav_msgs::Path &	path,
		std::vector< geometry_msgs::Transform > &	transforms,
		bool	make_relative_transforms
	)		`[inline, static]`

Definition at line 99 of file PathConverter.h.

template<typename T >

static Eigen::Quaternion<T> moveit_controller_multidof::TransformPathConverter::getRotationFromTo	(	const Eigen::Quaternion< T > &	q1,
		const Eigen::Quaternion< T > &	q2
	)		`[inline, static]`

Definition at line 158 of file PathConverter.h.

The documentation for this class was generated from the following file: