pytransforms.cpp
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34 
35 /* Author: Peter Mitrano */
36 
37 #include <pybind11/pybind11.h>
38 #include <pybind11/stl.h>
40 
42 
43 namespace py = pybind11;
44 using namespace moveit::core;
45 
46 void def_transforms_bindings(py::module& m)
47 {
48  m.doc() = "Provides an implementation of a snapshot of a transform tree that can be easily queried for transforming "
49  "different quantities. Transforms are maintained as a list of transforms to a particular frame. All stored "
50  "transforms are considered fixed.";
51  py::class_<Transforms, TransformsPtr>(m, "Transforms")
52  .def(py::init<const std::string&>())
53  .def("canTransform", &Transforms::canTransform)
54  .def("getTargetFrame", &Transforms::getTargetFrame)
55  .def("getTransform", &Transforms::getTransform)
56  .def("isFixedFrame", &Transforms::isFixedFrame)
57  .def("getAllTransforms", &Transforms::getAllTransforms)
58  .def("setTransform", py::overload_cast<const Eigen::Isometry3d&, const std::string&>(&Transforms::setTransform))
59  .def("setTransform", py::overload_cast<const geometry_msgs::TransformStamped&>(&Transforms::setTransform))
60  .def("setTransforms", &Transforms::setTransforms)
61  .def("setAllTransforms", &Transforms::setAllTransforms)
62  .def("transformVector3", &Transforms::transformVector3)
63  .def("transformQuaternion", &Transforms::transformQuaternion)
64  .def("transformRotationMatrix", &Transforms::transformRotationMatrix)
65  .def("transformPose", &Transforms::transformPose)
66  //
67  ;
68 }
moveit::core
Core components of MoveIt.
Definition: kinematics_base.h:83
moveit::core::Transforms::transformRotationMatrix
void transformRotationMatrix(const std::string &from_frame, const Eigen::Matrix3d &m_in, Eigen::Matrix3d &m_out) const
Transform a rotation matrix in from_frame to the target_frame.
Definition: transforms.h:226
pybind_rosmsg_typecasters.h
moveit::core::Transforms::transformPose
void transformPose(const std::string &from_frame, const Eigen::Isometry3d &t_in, Eigen::Isometry3d &t_out) const
Transform a pose in from_frame to the target_frame.
Definition: transforms.h:238
moveit::core::Transforms::setTransforms
void setTransforms(const std::vector< geometry_msgs::TransformStamped > &transforms)
Set a transform in the transform tree (adding it if necessary)
Definition: transforms.cpp:214
moveit::core::Transforms::transformVector3
void transformVector3(const std::string &from_frame, const Eigen::Vector3d &v_in, Eigen::Vector3d &v_out) const
Transform a vector in from_frame to the target_frame Note: assumes that v_in and v_out are "free" vec...
Definition: transforms.h:201
moveit::core::Transforms::getTargetFrame
const std::string & getTargetFrame() const
Get the planning frame corresponding to this set of transforms.
Definition: transforms.cpp:131
transforms.h
moveit::core::Transforms::canTransform
virtual bool canTransform(const std::string &from_frame) const
Check whether data can be transformed from a particular frame.
Definition: transforms.cpp:176
def_transforms_bindings
void def_transforms_bindings(py::module &m)
Definition: pytransforms.cpp:46
moveit::core::Transforms::setAllTransforms
void setAllTransforms(const FixedTransformsMap &transforms)
Set all the transforms: a map from string names of frames to corresponding Eigen::Isometry3d (w....
Definition: transforms.cpp:141
pybind11
Definition: pybind_rosmsg_typecasters.h:55
moveit::core::Transforms::getTransform
virtual const Eigen::Isometry3d & getTransform(const std::string &from_frame) const
Get transform for from_frame (w.r.t target frame)
Definition: transforms.cpp:158
moveit::core::Transforms::setTransform
void setTransform(const Eigen::Isometry3d &t, const std::string &from_frame)
Set a transform in the transform tree (adding it if necessary)
Definition: transforms.cpp:184
moveit::core::Transforms::getAllTransforms
const FixedTransformsMap & getAllTransforms() const
Return all the transforms.
Definition: transforms.cpp:136
moveit::core::Transforms::isFixedFrame
virtual bool isFixedFrame(const std::string &frame) const
Check whether a frame stays constant as the state of the robot model changes. This is true for any tr...
Definition: transforms.cpp:150
moveit::core::Transforms::transformQuaternion
void transformQuaternion(const std::string &from_frame, const Eigen::Quaterniond &q_in, Eigen::Quaterniond &q_out) const
Transform a quaternion in from_frame to the target_frame.
Definition: transforms.h:213


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Nov 24 2022 03:32:15