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rviz_plugin_render_tools
include
moveit
rviz_plugin_render_tools
planning_link_updater.h
Go to the documentation of this file.
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ioan Sucan */
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#pragma once
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#include <
rviz/robot/link_updater.h
>
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#include <
moveit/robot_state/robot_state.h
>
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namespace
moveit_rviz_plugin
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{
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class
PlanningLinkUpdater :
public
rviz::LinkUpdater
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{
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public
:
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PlanningLinkUpdater
(
const
moveit::core::RobotStateConstPtr& state) :
kinematic_state_
(state)
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{
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}
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bool
getLinkTransforms
(
const
std::string& link_name, Ogre::Vector3& visual_position,
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Ogre::Quaternion& visual_orientation, Ogre::Vector3& collision_position,
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Ogre::Quaternion& collision_orientation)
const override
;
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private
:
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moveit::core::RobotStateConstPtr
kinematic_state_
;
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};
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}
// namespace moveit_rviz_plugin
moveit_rviz_plugin::PlanningLinkUpdater::kinematic_state_
moveit::core::RobotStateConstPtr kinematic_state_
Definition:
planning_link_updater.h:121
robot_state.h
moveit_rviz_plugin::PlanningLinkUpdater::getLinkTransforms
bool getLinkTransforms(const std::string &link_name, Ogre::Vector3 &visual_position, Ogre::Quaternion &visual_orientation, Ogre::Vector3 &collision_position, Ogre::Quaternion &collision_orientation) const override
Definition:
planning_link_updater.cpp:41
rviz::LinkUpdater
moveit_rviz_plugin
Definition:
motion_planning_display.h:80
link_updater.h
moveit_rviz_plugin::PlanningLinkUpdater::PlanningLinkUpdater
PlanningLinkUpdater(const moveit::core::RobotStateConstPtr &state)
Definition:
planning_link_updater.h:112
visualization
Author(s): Ioan Sucan
, Dave Coleman
, Sachin Chitta
autogenerated on Sat Mar 15 2025 02:27:26