.. _program_listing_file__tmp_ws_src_pick_ik_include_pick_ik_forward_kinematics.hpp:

Program Listing for File forward_kinematics.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_pick_ik_include_pick_ik_forward_kinematics.hpp>` (``/tmp/ws/src/pick_ik/include/pick_ik/forward_kinematics.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <memory>
   #include <moveit/robot_model/joint_model.h>
   #include <moveit/robot_model/robot_model.h>
   #include <tf2/LinearMath/Vector3.h>
   #include <vector>
   
   namespace pick_ik {
   
   auto make_joint_axes(std::shared_ptr<moveit::core::RobotModel const> const& model)
       -> std::vector<tf2::Vector3>;
   
   auto make_link_frames(std::shared_ptr<moveit::core::RobotModel const> const& model)
       -> std::vector<Eigen::Isometry3d>;
   
   auto get_frame(moveit::core::JointModel const& joint_model,
                  std::vector<double> const& variables,
                  std::vector<tf2::Vector3> const& joint_axes) -> Eigen::Isometry3d;
   
   auto get_frame(moveit::core::LinkModel const& link_model,
                  std::vector<Eigen::Isometry3d> const& link_frame) -> Eigen::Isometry3d;
   
   auto has_joint_moved(moveit::core::JointModel const& joint_model,
                        std::vector<double> const& cached_variables,
                        std::vector<double> const& variables) -> bool;
   
   struct CachedJointFrames {
       std::vector<double> variables;
       std::vector<Eigen::Isometry3d> frames;
   };
   
   auto get_frame(CachedJointFrames& cache,
                  moveit::core::JointModel const& joint_model,
                  std::vector<double> const& variables,
                  std::vector<tf2::Vector3> const& joint_axes) -> Eigen::Isometry3d;
   
   }  // namespace pick_ik