conversions.h
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34 
35 /* Author: Ioan Sucan, Dave Coleman */
36 
37 #ifndef MOVEIT_ROBOT_STATE_CONVERSIONS_
38 #define MOVEIT_ROBOT_STATE_CONVERSIONS_
39 
42 #include <moveit_msgs/RobotState.h>
43 #include <moveit_msgs/RobotTrajectory.h>
44 
45 namespace moveit
46 {
47 namespace core
48 {
55 bool jointStateToRobotState(const sensor_msgs::JointState& joint_state, RobotState& state);
56 
65 bool robotStateMsgToRobotState(const Transforms& tf, const moveit_msgs::RobotState& robot_state, RobotState& state,
66  bool copy_attached_bodies = true);
67 
75 bool robotStateMsgToRobotState(const moveit_msgs::RobotState& robot_state, RobotState& state,
76  bool copy_attached_bodies = true);
77 
84 void robotStateToRobotStateMsg(const RobotState& state, moveit_msgs::RobotState& robot_state,
85  bool copy_attached_bodies = true);
86 
93  const std::vector<const AttachedBody*>& attached_bodies,
94  std::vector<moveit_msgs::AttachedCollisionObject>& attached_collision_objs);
100 void robotStateToJointStateMsg(const RobotState& state, sensor_msgs::JointState& joint_state);
101 
109 bool jointTrajPointToRobotState(const trajectory_msgs::JointTrajectory& trajectory, std::size_t point_id,
110  RobotState& state);
111 
120 void robotStateToStream(const RobotState& state, std::ostream& out, bool include_header = true,
121  const std::string& separator = ",");
122 
132 void robotStateToStream(const RobotState& state, std::ostream& out,
133  const std::vector<std::string>& joint_groups_ordering, bool include_header = true,
134  const std::string& separator = ",");
135 
143 void streamToRobotState(RobotState& state, const std::string& line, const std::string& separator = ",");
144 }
145 }
146 
147 #endif
Core components of MoveIt!
void attachedBodiesToAttachedCollisionObjectMsgs(const std::vector< const AttachedBody * > &attached_bodies, std::vector< moveit_msgs::AttachedCollisionObject > &attached_collision_objs)
Convert AttachedBodies to AttachedCollisionObjects.
void robotStateToStream(const RobotState &state, std::ostream &out, bool include_header=true, const std::string &separator=",")
Convert a MoveIt! robot state to common separated values (CSV) on a single line that is outputted to ...
bool jointTrajPointToRobotState(const trajectory_msgs::JointTrajectory &trajectory, std::size_t point_id, RobotState &state)
Convert a joint trajectory point to a MoveIt! robot state.
void robotStateToJointStateMsg(const RobotState &state, sensor_msgs::JointState &joint_state)
Convert a MoveIt! robot state to a joint state message.
robot_trajectory::RobotTrajectory trajectory(rmodel,"right_arm")
bool robotStateMsgToRobotState(const Transforms &tf, const moveit_msgs::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
Convert a robot state msg (with accompanying extra transforms) to a MoveIt! robot state...
void robotStateToRobotStateMsg(const RobotState &state, moveit_msgs::RobotState &robot_state, bool copy_attached_bodies=true)
Convert a MoveIt! robot state to a robot state message.
bool jointStateToRobotState(const sensor_msgs::JointState &joint_state, RobotState &state)
Convert a joint state to a MoveIt! robot state.
Main namespace for MoveIt!
void streamToRobotState(RobotState &state, const std::string &line, const std::string &separator=",")
Convert a string of joint values from a file (CSV) or input source into a RobotState.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Dec 9 2018 03:51:46