conversions.h
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00034 
00035 /* Author: Ioan Sucan, Dave Coleman */
00036 
00037 #ifndef MOVEIT_ROBOT_STATE_CONVERSIONS_
00038 #define MOVEIT_ROBOT_STATE_CONVERSIONS_
00039 
00040 #include <moveit/robot_state/robot_state.h>
00041 #include <moveit/transforms/transforms.h>
00042 #include <moveit_msgs/RobotState.h>
00043 #include <moveit_msgs/RobotTrajectory.h>
00044 
00045 namespace moveit
00046 {
00047 namespace core
00048 {
00055 bool jointStateToRobotState(const sensor_msgs::JointState& joint_state, RobotState& state);
00056 
00065 bool robotStateMsgToRobotState(const Transforms& tf, const moveit_msgs::RobotState& robot_state, RobotState& state,
00066                                bool copy_attached_bodies = true);
00067 
00075 bool robotStateMsgToRobotState(const moveit_msgs::RobotState& robot_state, RobotState& state,
00076                                bool copy_attached_bodies = true);
00077 
00084 void robotStateToRobotStateMsg(const RobotState& state, moveit_msgs::RobotState& robot_state,
00085                                bool copy_attached_bodies = true);
00086 
00092 void robotStateToJointStateMsg(const RobotState& state, sensor_msgs::JointState& joint_state);
00093 
00101 bool jointTrajPointToRobotState(const trajectory_msgs::JointTrajectory& trajectory, std::size_t point_id,
00102                                 RobotState& state);
00103 
00112 void robotStateToStream(const RobotState& state, std::ostream& out, bool include_header = true,
00113                         const std::string& separator = ",");
00114 
00124 void robotStateToStream(const RobotState& state, std::ostream& out,
00125                         const std::vector<std::string>& joint_groups_ordering, bool include_header = true,
00126                         const std::string& separator = ",");
00127 
00135 void streamToRobotState(RobotState& state, const std::string& line, const std::string& separator = ",");
00136 }
00137 }
00138 
00139 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Feb 20 2018 03:44:48