Program Listing for File command.hpp

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/*      Title       : command.hpp
 *      Project     : moveit_servo
 *      Created     : 06/04/2023
 *      Author      : Brian O'Neil, Andy Zelenak, Blake Anderson, V Mohammed Ibrahim
 *
 *      Description : The methods that compute the required change in joint angles for various input types.
 */

#pragma once

#include <moveit_servo/utils/common.hpp>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <rclcpp/rclcpp.hpp>
#include <tf2_eigen/tf2_eigen.hpp>

namespace moveit_servo
{

JointDeltaResult jointDeltaFromJointJog(const JointJogCommand& command, const moveit::core::RobotStatePtr& robot_state,
                                        const servo::Params& servo_params,
                                        const JointNameToMoveGroupIndexMap& joint_name_group_index_map);

JointDeltaResult jointDeltaFromTwist(const TwistCommand& command, const moveit::core::RobotStatePtr& robot_state,
                                     const servo::Params& servo_params, const std::string& planning_frame,
                                     const JointNameToMoveGroupIndexMap& joint_name_group_index_map);

JointDeltaResult jointDeltaFromPose(const PoseCommand& command, const moveit::core::RobotStatePtr& robot_state,
                                    const servo::Params& servo_params, const std::string& planning_frame,
                                    const std::string& ee_frame,
                                    const JointNameToMoveGroupIndexMap& joint_name_group_index_map);

JointDeltaResult jointDeltaFromIK(const Eigen::VectorXd& cartesian_position_delta,
                                  const moveit::core::RobotStatePtr& robot_state, const servo::Params& servo_params,
                                  const JointNameToMoveGroupIndexMap& joint_name_group_index_map);

}  // namespace moveit_servo