transforms.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_TRANSFORMS_
00038 #define MOVEIT_TRANSFORMS_
00039 
00040 #include <geometry_msgs/TransformStamped.h>
00041 #include <geometry_msgs/Pose.h>
00042 #include <Eigen/Geometry>
00043 #include <boost/noncopyable.hpp>
00044 #include <moveit/macros/class_forward.h>
00045 
00046 namespace moveit
00047 {
00048 namespace core
00049 {
00050 MOVEIT_CLASS_FORWARD(Transforms);
00051 
00054 typedef std::map<std::string, Eigen::Affine3d, std::less<std::string>,
00055                  Eigen::aligned_allocator<std::pair<const std::string, Eigen::Affine3d> > >
00056     FixedTransformsMap;
00057 
00061 class Transforms : private boost::noncopyable
00062 {
00063 public:
00067   Transforms(const std::string& target_frame);
00068 
00072   virtual ~Transforms();
00073 
00075   static bool sameFrame(const std::string& frame1, const std::string& frame2);
00076 
00081   const std::string& getTargetFrame() const;
00082 
00092   const FixedTransformsMap& getAllTransforms() const;
00093 
00098   void copyTransforms(std::vector<geometry_msgs::TransformStamped>& transforms) const;
00099 
00105   void setTransform(const Eigen::Affine3d& t, const std::string& from_frame);
00106 
00111   void setTransform(const geometry_msgs::TransformStamped& transform);
00112 
00117   void setTransforms(const std::vector<geometry_msgs::TransformStamped>& transforms);
00118 
00123   void setAllTransforms(const FixedTransformsMap& transforms);
00124 
00139   void transformVector3(const std::string& from_frame, const Eigen::Vector3d& v_in, Eigen::Vector3d& v_out) const
00140   {
00141     v_out = getTransform(from_frame).rotation() * v_in;
00142   }
00143 
00150   void transformQuaternion(const std::string& from_frame, const Eigen::Quaterniond& q_in,
00151                            Eigen::Quaterniond& q_out) const
00152   {
00153     q_out = getTransform(from_frame).rotation() * q_in;
00154   }
00155 
00162   void transformRotationMatrix(const std::string& from_frame, const Eigen::Matrix3d& m_in, Eigen::Matrix3d& m_out) const
00163   {
00164     m_out = getTransform(from_frame).rotation() * m_in;
00165   }
00166 
00173   void transformPose(const std::string& from_frame, const Eigen::Affine3d& t_in, Eigen::Affine3d& t_out) const
00174   {
00175     t_out = getTransform(from_frame) * t_in;
00176   }
00182   virtual bool canTransform(const std::string& from_frame) const;
00183 
00188   virtual bool isFixedFrame(const std::string& frame) const;
00189 
00195   virtual const Eigen::Affine3d& getTransform(const std::string& from_frame) const;
00196 
00197 protected:
00198   std::string target_frame_;
00199   FixedTransformsMap transforms_;
00200 };
00201 }
00202 }
00203 
00204 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jan 17 2018 03:31:36