Pose.h
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00001 
00013 #ifndef RAIL_PICK_AND_PLACE_GRASPDB_POSE_H_
00014 #define RAIL_PICK_AND_PLACE_GRASPDB_POSE_H_
00015 
00016 // graspdb
00017 #include "Orientation.h"
00018 #include "Position.h"
00019 
00020 // ROS
00021 #include <geometry_msgs/Pose.h>
00022 #include <geometry_msgs/PoseStamped.h>
00023 #include <geometry_msgs/PoseWithCovariance.h>
00024 #include <geometry_msgs/PoseWithCovarianceStamped.h>
00025 #include <geometry_msgs/Transform.h>
00026 #include <geometry_msgs/TransformStamped.h>
00027 #include <tf2/LinearMath/Transform.h>
00028 
00029 // C++ Standard Library
00030 #include <string>
00031 
00032 namespace rail
00033 {
00034 namespace pick_and_place
00035 {
00036 namespace graspdb
00037 {
00038 
00047 class Pose
00048 {
00049 public:
00059   Pose(const std::string &robot_fixed_frame_id = "", const Position &position = Position(),
00060       const Orientation &orientation = Orientation());
00061 
00070   Pose(const std::string &robot_fixed_frame_id, const geometry_msgs::Pose &pose);
00071 
00080   Pose(const geometry_msgs::PoseStamped &pose);
00081 
00091   Pose(const std::string &robot_fixed_frame_id, const geometry_msgs::PoseWithCovariance &pose);
00092 
00101   Pose(const geometry_msgs::PoseWithCovarianceStamped &pose);
00102 
00111   Pose(const std::string &robot_fixed_frame_id, const geometry_msgs::Transform &tf);
00112 
00121   Pose(const geometry_msgs::TransformStamped &tf);
00122 
00131   Pose(const std::string &robot_fixed_frame_id, const tf2::Transform &tf);
00132 
00140   void setRobotFixedFrameID(const std::string &robot_fixed_frame_id);
00141 
00149   const std::string &getRobotFixedFrameID() const;
00150 
00158   void setPosition(const Position &position);
00159 
00167   const Position &getPosition() const;
00168 
00176   Position &getPosition();
00177 
00185   void setOrientation(const Orientation &orientation);
00186 
00194   const Orientation &getOrientation() const;
00195 
00203   Orientation &getOrientation();
00204 
00210   geometry_msgs::Pose toROSPoseMessage() const;
00211 
00217   geometry_msgs::PoseStamped toROSPoseStampedMessage() const;
00218 
00224   geometry_msgs::Transform toROSTransformMessage() const;
00225 
00231   tf2::Transform toTF2Transform() const;
00232 
00233 private:
00235   std::string robot_fixed_frame_id_;
00237   Position position_;
00239   Orientation orientation_;
00240 };
00241 
00242 }
00243 }
00244 }
00245 
00246 #endif


graspdb
Author(s): Russell Toris
autogenerated on Sun Mar 6 2016 11:38:59