calculate_pose_offset.cpp File

Included Headers

#include <tf2_ros/buffer.h> #include <tf2_ros/transform_listener.h> #include <moveit_pro_behavior/behaviors/core/calculate_pose_offset.hpp> #include <moveit_pro_behavior_interface/behavior_context.hpp> #include <moveit_pro_behavior_interface/get_required_ports.hpp> #include <moveit_pro_behavior_interface/metadata_fields.hpp> #include <tf2_eigen/tf2_eigen.hpp>

Namespaces Index

namespace	moveit_pro
namespace	behaviors

Functions Index

tl::expected< void, std::string >	canTransformCheck (const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources, const std::string &source_frame_id, const std::string &destination_frame_id)
tl::expected< void, std::string >	preCalculationChecks (const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources, const geometry_msgs::msg::PoseStamped &source_pose, const geometry_msgs::msg::PoseStamped &destination_pose)
	Performs checks to see if the pose offset is actually possible to calculate. More...
geometry_msgs::msg::PoseStamped	poseOffset (const geometry_msgs::msg::TransformStamped &transform, const geometry_msgs::msg::PoseStamped &source_pose, const geometry_msgs::msg::PoseStamped &destination_pose)
	Calculates the pose offset given the transform between poses, the source pose, and destination pose. More...

Functions

canTransformCheck()

tl::expected< void, std::string > canTransformCheck (const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > & shared_resources, const std::string & source_frame_id, const std::string & destination_frame_id)

Definition at line 29 of file calculate_pose_offset.cpp.

poseOffset()

geometry_msgs::msg::PoseStamped poseOffset (const geometry_msgs::msg::TransformStamped & transform, const geometry_msgs::msg::PoseStamped & source_pose, const geometry_msgs::msg::PoseStamped & destination_pose)

Calculates the pose offset given the transform between poses, the source pose, and destination pose.

Parameters

transform	The transform between the source and destination frame
source_pose	The source pose
destination_pose	The destination pose

Returns

The Pose offset

Definition at line 62 of file calculate_pose_offset.cpp.

preCalculationChecks()

tl::expected< void, std::string > preCalculationChecks (const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > & shared_resources, const geometry_msgs::msg::PoseStamped & source_pose, const geometry_msgs::msg::PoseStamped & destination_pose)

Performs checks to see if the pose offset is actually possible to calculate.

Parameters

shared_resources	The Behavior Context used for ROS operations
source_pose	The source pose
destination_pose	The destination pose

Returns

Returns a tl::expected<void, std::string>, where the string is an error message

Definition at line 41 of file calculate_pose_offset.cpp.

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