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Robowflex
v0.1
Making MoveIt Easy
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#include <Eigen/Core>#include <Eigen/Geometry>#include <geometry_msgs/Pose.h>#include <geometry_msgs/Quaternion.h>#include <geometry_msgs/Vector3.h>#include <geometry_msgs/TransformStamped.h>#include <moveit_msgs/BoundingVolume.h>#include <moveit_msgs/PositionConstraint.h>#include <moveit_msgs/OrientationConstraint.h>#include <robowflex_library/class_forward.h>#include <robowflex_library/adapter.h>#include <robowflex_library/constants.h>Go to the source code of this file.
Namespaces | |
| robowflex | |
| Main namespace. Contains all library classes and functions. | |
| robowflex::TF | |
| Collection of methods relating to transforms and transform math. | |
Functions | |
| RobotPose | robowflex::TF::identity () |
| Creates the Identity pose. More... | |
| RobotPose | robowflex::TF::createPoseXYZ (double x, double y, double z) |
| Creates a robot pose from a linear component and zero orientation. More... | |
| RobotPose | robowflex::TF::createPoseXYZ (const Eigen::Ref< const Eigen::Vector3d > &translation) |
| Creates a robot pose from a linear component and zero orientation. More... | |
| RobotPose | robowflex::TF::createPoseXYZ (double x, double y, double z, double X, double Y, double Z) |
| Creates a robot pose from a linear component and XYZ convention Euler angles. More... | |
| RobotPose | robowflex::TF::createPoseXYZ (const Eigen::Ref< const Eigen::Vector3d > &translation, const Eigen::Ref< const Eigen::Vector3d > &rotation) |
| Creates a robot pose from a linear component and XYZ convention Euler angles. More... | |
| RobotPose | robowflex::TF::createPoseQ (double x, double y, double z, double W, double X, double Y, double Z) |
| Creates a robot pose from a linear component and a Quaternion. More... | |
| RobotPose | robowflex::TF::createPoseQ (const Eigen::Ref< const Eigen::Vector3d > &translation, const Eigen::Ref< const Eigen::Vector4d > &rotation) |
| Creates a robot pose from a linear component and a quaternion. More... | |
| RobotPose | robowflex::TF::createPoseQ (const Eigen::Ref< const Eigen::Vector3d > &translation, const Eigen::Quaterniond &rotation) |
| Creates a robot pose from a linear component and a quaternion. More... | |
| Eigen::Quaterniond | robowflex::TF::getPoseRotation (const RobotPose &pose) |
| Get the rotational component of a robot pose. More... | |
| Eigen::Vector3d | robowflex::TF::pointMsgToEigen (const geometry_msgs::Point &msg) |
| Converts a point message to an Eigen::Vector3d. More... | |
| geometry_msgs::Point | robowflex::TF::pointEigenToMsg (const Eigen::Vector3d &vector) |
| Converts an Eigen::Vector3d to a point message. More... | |
| Eigen::Vector3d | robowflex::TF::vectorMsgToEigen (const geometry_msgs::Vector3 &msg) |
| Converts a vector message to an Eigen::Vector3d. More... | |
| geometry_msgs::Vector3 | robowflex::TF::vectorEigenToMsg (const Eigen::Vector3d &vector) |
| Converts an Eigen::Vector3d to a vector message. More... | |
| RobotPose | robowflex::TF::poseMsgToEigen (const geometry_msgs::Pose &msg) |
| Converts a pose message to RobotPose. More... | |
| geometry_msgs::Pose | robowflex::TF::poseEigenToMsg (const RobotPose &pose) |
| Converts an RobotPose to a pose message. More... | |
| Eigen::Quaterniond | robowflex::TF::quaternionMsgToEigen (const geometry_msgs::Quaternion &msg) |
| Converts a quaternion message to Eigen::Quaterniond. More... | |
| geometry_msgs::Quaternion | robowflex::TF::quaternionEigenToMsg (const Eigen::Quaterniond &quaternion) |
| Converts an Eigen::Quaterniond to a quaternion message. More... | |
| moveit_msgs::BoundingVolume | robowflex::TF::getBoundingVolume (const RobotPose &pose, const GeometryConstPtr &geometry) |
| Get a bounding volume message for given geometry at a pose. More... | |
| moveit_msgs::PositionConstraint | robowflex::TF::getPositionConstraint (const std::string &ee_name, const std::string &base_name, const RobotPose &pose, const GeometryConstPtr &geometry) |
| Get a position constraint message. More... | |
| Eigen::Vector3d | robowflex::TF::samplePositionConstraint (const moveit_msgs::PositionConstraint &pc) |
| moveit_msgs::OrientationConstraint | robowflex::TF::getOrientationConstraint (const std::string &ee_name, const std::string &base_name, const Eigen::Quaterniond &orientation, const Eigen::Vector3d &tolerances) |
| Get an orientation constraint message. More... | |
| Eigen::Quaterniond | robowflex::TF::sampleOrientation (const Eigen::Quaterniond &orientation, const Eigen::Vector3d &tolerances) |
| Sample an orientation from a given orientation with XYZ Euler angle tolerances. More... | |
| Eigen::Quaterniond | robowflex::TF::sampleOrientationUniform (const Eigen::Vector3d &tolerances) |
| Sample an orientation within the XYZ Euler angle tolerances. More... | |
| Eigen::Quaterniond | robowflex::TF::offsetOrientation (const Eigen::Quaterniond &orientation, const Eigen::Vector3d &axis, double value) |
| Offset an orientation by a rotation about an axis. More... | |
| Eigen::Vector3d | robowflex::TF::samplePositionUniform (const Eigen::Vector3d &bounds) |
| Sample a position within the given bounds using a uniform distribution. More... | |
| Eigen::Vector3d | robowflex::TF::samplePositionGaussian (const Eigen::Vector3d &stddev) |
| Sample a position from a gaussian distribution with mean zero and given standard deviation. More... | |
| RobotPose | robowflex::TF::samplePoseUniform (const Eigen::Vector3d &pos_bounds, const Eigen::Vector3d &orn_bounds) |
| Sample a pose within the given position, orientation bounds. More... | |
| RobotPose | robowflex::TF::samplePoseGaussian (const Eigen::Vector3d &pos_stddev, const Eigen::Vector3d &orn_bounds) |
| Sample a pose with gaussian sampling for the position with given standard deviations and uniform sampling for the orientation within the given bounds. More... | |
| RobotPose | robowflex::TF::transformMsgToEigen (const geometry_msgs::TransformStamped &tf) |
| Decode a message as a transform. More... | |
| geometry_msgs::TransformStamped | robowflex::TF::transformEigenToMsg (const std::string &source, const std::string &target, const RobotPose &tf) |
| Encode a transform as a message. More... | |
| double | robowflex::TF::angleNormalize (double v) |
| Normalize an angle between -pi to pi. More... | |
| double | robowflex::TF::toDegrees (double v) |
| Convert an angle to degrees. More... | |
| double | robowflex::TF::toRadians (double v) |
| Convert an angle to radians. More... | |
| bool | robowflex::TF::isVecZero (const Eigen::Ref< const Eigen::VectorXd > &v, double tolerance=constants::eps) |
| Checks if a vector is close to zero. More... | |