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39 #include <geometry_msgs/TransformStamped.h>
40 #include <Eigen/Geometry>
41 #include <boost/noncopyable.hpp>
52 using FixedTransformsMap = std::map<std::string, Eigen::Isometry3d, std::less<std::string>,
53 Eigen::aligned_allocator<std::pair<const std::string, Eigen::Isometry3d> > >;
58 class Transforms :
private boost::noncopyable
72 static bool sameFrame(
const std::string& frame1,
const std::string& frame2);
96 void copyTransforms(std::vector<geometry_msgs::TransformStamped>& transforms)
const;
103 void setTransform(
const Eigen::Isometry3d& t,
const std::string& from_frame);
109 void setTransform(
const geometry_msgs::TransformStamped& transform);
115 void setTransforms(
const std::vector<geometry_msgs::TransformStamped>& transforms);
150 Eigen::Quaterniond& q_out)
const
162 void transformRotationMatrix(
const std::string& from_frame,
const Eigen::Matrix3d& m_in, Eigen::Matrix3d& m_out)
const
174 void transformPose(
const std::string& from_frame,
const Eigen::Isometry3d& t_in, Eigen::Isometry3d& t_out)
const
184 virtual bool canTransform(
const std::string& from_frame)
const;
190 virtual bool isFixedFrame(
const std::string& frame)
const;
197 virtual const Eigen::Isometry3d&
getTransform(
const std::string& from_frame)
const;
std::map< std::string, Eigen::Isometry3d, std::less< std::string >, Eigen::aligned_allocator< std::pair< const std::string, Eigen::Isometry3d > > > FixedTransformsMap
Map frame names to the transformation matrix that can transform objects from the frame name to the pl...
Main namespace for MoveIt.
MOVEIT_CLASS_FORWARD(JointModelGroup)
Vec3fX< details::Vec3Data< double > > Vector3d
moveit_core
Author(s): Ioan Sucan
, Sachin Chitta , Acorn Pooley
autogenerated on Sat Dec 21 2024 03:23:42