moveit_studio Namespace Reference

Namespaces
namespace	behavior
namespace	behaviors
namespace	helper_functions
namespace	test_utils

Functions
std::optional< ObjectSubframe >	findSubframeInVector (const std::vector< ObjectSubframe > subframes, std::string_view target_subframe_id)
	Helper function to return a subframe corresponding to an input subframe ID.
std::optional< ObjectSubframe >	findSubframeInObject (const GraspableObject &obj, std::string_view target_subframe_id)
	Helper function to return a subframe corresponding to an input subframe ID in a GraspableObject if it is found.
std::optional< Pose >	findSubframePoseInObject (const GraspableObject &obj, std::string_view target_subframe_id)
	Helper function to return a subframe pose corresponding to an input subframe ID in a GraspableObject if it is found.
std::optional< std::size_t >	findSubframeIndexInObject (const GraspableObject &obj, std::string_view target_subframe_id)
	Helper function to return a subframe pose corresponding to an input subframe ID in a GraspableObject if it is found.

Function Documentation

findSubframeIndexInObject()

std::optional< std::size_t > moveit_studio::findSubframeIndexInObject ( const GraspableObject &  obj, std::string_view  target_subframe_id  )

inline

Helper function to return a subframe pose corresponding to an input subframe ID in a GraspableObject if it is found.

Parameters

obj	GraspableObject to check subframes for.
target_subframe_id	String id of subframe pose to find.

Returns

Index of subframe.

findSubframeInObject()

std::optional< ObjectSubframe > moveit_studio::findSubframeInObject ( const GraspableObject &  obj, std::string_view  target_subframe_id  )

inline

Helper function to return a subframe corresponding to an input subframe ID in a GraspableObject if it is found.

Parameters

obj	GraspableObject to check subframes for.
target_subframe_id	String id of subframe pose to find.

Returns

subframe ObjectSubframe retrieved, or nullopt if not found.

findSubframeInVector()

std::optional< ObjectSubframe > moveit_studio::findSubframeInVector ( const std::vector< ObjectSubframe >  subframes, std::string_view  target_subframe_id  )

inline

Helper function to return a subframe corresponding to an input subframe ID.

Parameters

subframes	Vector of ObjectSubframes to search through.
target_subframe_id	String id of subframe pose to find.

Returns

Pose of subframe.

findSubframePoseInObject()

std::optional< Pose > moveit_studio::findSubframePoseInObject ( const GraspableObject &  obj, std::string_view  target_subframe_id  )

inline

Helper function to return a subframe pose corresponding to an input subframe ID in a GraspableObject if it is found.

Parameters

obj	GraspableObject to check subframes for.
target_subframe_id	String id of subframe pose to find.

Returns

Pose of subframe.