get_grasp_and_twist_subframes.cpp File Reference

#include <spdlog/spdlog.h>
#include <moveit_studio_behavior/behaviors/core/get_grasp_and_twist_subframes.hpp>
#include <moveit_studio_behavior_interface/get_required_ports.hpp>
#include <moveit_studio_behavior_interface/graspable_object_utils.hpp>
#include <moveit_studio_behavior_interface/metadata_fields.hpp>
#include <moveit_studio_vision/utils/tf_utils.hpp>
#include <pluginlib/class_list_macros.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

Include dependency graph for get_grasp_and_twist_subframes.cpp:

Namespaces
	moveit_studio
	moveit_studio::behaviors
	moveit_studio::behaviors::affordance_transforms

Functions
std::vector< ObjectSubframe >	moveit_studio::behaviors::affordance_transforms::calculateGraspAndTwistSubframes (const geometry_msgs::msg::PoseStamped &target_grasp_pose, const double grasp_rotation=15.0)
	Given a grasp pose on an object, calculate subframes that define a screw axis which opens the object along a semicircle in the direction of the grasp pose Z- axis. More...