get_grasp_and_twist_subframes.hpp File Reference

#include <behaviortree_cpp/action_node.h>
#include <behaviortree_cpp/bt_factory.h>
#include <moveit_studio_behavior/utils/affordance_transforms.hpp>
#include <moveit_studio_behavior_interface/behavior_context.hpp>
#include <optional>

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Classes
class	moveit_studio::behaviors::GetGraspAndTwistSubframes
	Given an input PoseStamped representing a grasp pose selected on an object, get the three Subframes that define a Grasp Screw Motion (grab and twist about an axis) where the object is grabbed and rotated by grasp_rotation_z_radians amount. More...

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...