planning_link_updater.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_PLANNING_LINK_UPDATER_
00038 #define MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_PLANNING_LINK_UPDATER_
00039 
00040 #include <rviz/robot/link_updater.h>
00041 #include <moveit/robot_state/robot_state.h>
00042 
00043 namespace moveit_rviz_plugin
00044 {
00046 class PlanningLinkUpdater : public rviz::LinkUpdater
00047 {
00048 public:
00049   PlanningLinkUpdater(const robot_state::RobotStateConstPtr& state) : kinematic_state_(state)
00050   {
00051   }
00052 
00053   virtual bool getLinkTransforms(const std::string& link_name, Ogre::Vector3& visual_position,
00054                                  Ogre::Quaternion& visual_orientation, Ogre::Vector3& collision_position,
00055                                  Ogre::Quaternion& collision_orientation) const;
00056 
00057 private:
00058   robot_state::RobotStateConstPtr kinematic_state_;
00059 };
00060 }
00061 
00062 #endif


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:25:00