conversions.h File Reference

#include <robowflex_library/scene.h>
#include <robowflex_library/robot.h>
#include <robowflex_library/class_forward.h>
#include <tesseract_ros/kdl/kdl_env.h>

Go to the source code of this file.

Namespaces
	robowflex
	Main namespace. Contains all library classes and functions.
	robowflex::hypercube

Functions
bool	robowflex::hypercube::sceneToTesseractEnv (const robowflex::SceneConstPtr &scene, tesseract::tesseract_ros::KDLEnvPtr env)
	Add scene collision objects to a (previously initialized) KDL environment. More...
bool	robowflex::hypercube::addAttachedBodiesToTesseractEnv (const robot_state::RobotStatePtr &state, tesseract::tesseract_ros::KDLEnvPtr env)
	Add bodies attached to the robot scratch state to the KDL environment. More...
void	robowflex::hypercube::robotStateToManipState (const robot_state::RobotStatePtr &robot_state, const std::vector< std::string > &manip_joint_names, std::vector< double > &manip_joint_values)
	Transform a robot_state to a vector representing joint values for the manipulator (in the order given by manip_joint_names). More...
void	robowflex::hypercube::manipStateToRobotState (const Eigen::Ref< const Eigen::VectorXd > &manip_state, const std::string &manip, const tesseract::tesseract_ros::KDLEnvPtr &env, robot_state::RobotStatePtr robot_state)
	Transform a tesseract waypoint (manip state) to robot state. Joint values for non-manip joints are taken from env. More...
void	robowflex::hypercube::manipTesseractTrajToRobotTraj (const tesseract::TrajArray &tesseract_traj, const robot_state::RobotStatePtr &ref_state, const std::string &manip, const tesseract::tesseract_ros::KDLEnvPtr &env, robot_trajectory::RobotTrajectoryPtr trajectory)
	Transform a tesseract trajectory to a robot trajectory. More...
void	robowflex::hypercube::robotTrajToManipTesseractTraj (const robot_trajectory::RobotTrajectoryPtr &robot_traj, const std::string &manip, const tesseract::tesseract_ros::KDLEnvPtr &env, tesseract::TrajArray &trajectory)
	Transform a robot_trajectory to a tesseract manipulator trajectory. More...