calculate_pose_offset.cpp File Reference

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

Include dependency graph for calculate_pose_offset.cpp:

Namespaces
namespace	moveit_studio
namespace	moveit_studio::behaviors

Functions
tl::expected< void, std::string >	canTransformCheck (const std::shared_ptr< moveit_studio::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_studio::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.
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.

Function Documentation

canTransformCheck()

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

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

preCalculationChecks()

tl::expected< void, std::string > preCalculationChecks	(	const std::shared_ptr< moveit_studio::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