#include <shadowlibs/shadow_imports.hpp>

Include dependency graph for shadow_utils.hpp:

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Namespaces
	shadow_utils
	Contains various utility functions for RViz visualization, conversions, transformations and robot controllers.

Enumerations
enum	shadow_utils::SHAPE_PRIMITIVES { shadow_utils::SHAPE_PRIMITIVES::BOX, shadow_utils::SHAPE_PRIMITIVES::CYLINDER, shadow_utils::SHAPE_PRIMITIVES::CONE, shadow_utils::SHAPE_PRIMITIVES::SPHERE }
	Primitive shapes used for RViz objects. More...

Functions
std::ostream &	operator<< (std::ostream &out, const geometry_msgs::Pose &pose)
	Print ROS Pose messages. More...

template<typename T >
std::ostream &	operator<< (std::ostream &out, const std::vector< T > &joint_data)
	Print vector data. More...

Eigen::Quaternionf	shadow_utils::ypr2quat (float y, float p, float r)
	Conversion from YPR to Quaternion. More...

void	shadow_utils::quat2ypr (tf::Quaternion &q, double &r, double &p, double &y)
	Conversion from Quaternion to YPR. More...

template<typename F >
F	shadow_utils::deg2rad (F deg)
	Conversion from degree to radians. More...

template<typename F >
F	shadow_utils::rad2deg (F rad)
	Conversion from radians to degrees. More...

void	shadow_utils::createCollisionObjectFromPrimitive (moveit_msgs::CollisionObject &collision_obj, std::string primitive_id, shape_msgs::SolidPrimitive &primitive, geometry_msgs::Pose &obj_pose, shadow_utils::SHAPE_PRIMITIVES primitive_type, const std::vector< double > &primitive_dims)
	Create collision object for the planning scene, used by MoveIt planning. More...

void	shadow_utils::createAttachedObjectFromPrimitive (moveit_msgs::AttachedCollisionObject &attached_obj, std::string primitive_id, shape_msgs::SolidPrimitive &primitive, geometry_msgs::Pose &obj_pose, shadow_utils::SHAPE_PRIMITIVES primitive_type, const std::vector< double > &primitive_dims)
	Create attached object for the planning scene, used by MoveIt planning when attaching object to robot This helps plan when an object is "attached" to the end of a robot, after grasping. More...

void	shadow_utils::addCollisionObjectToScene (moveit_msgs::CollisionObject &collision_obj, moveit_msgs::PlanningScene &planning_scene_msg, ros::Publisher &planning_scene_diff_publisher)
	Add a collision object to the planning scene. More...

void	shadow_utils::addAttachedObjectToScene (moveit_msgs::AttachedCollisionObject &attached_obj, moveit_msgs::PlanningScene &planning_scene_msg, ros::Publisher &planning_scene_diff_publisher)
	Add a collision object to the planning scene. More...

void	shadow_utils::moveCollisionObjectInScene (moveit_msgs::CollisionObject &collision_obj, geometry_msgs::Pose &obj_pose, moveit_msgs::PlanningScene &planning_scene_msg, ros::Publisher &planning_scene_diff_publisher)
	Move an existing collision object in the planning scene. More...

void	shadow_utils::attachObjectToRobot (moveit_msgs::AttachedCollisionObject &attached_obj, moveit_msgs::PlanningScene &planning_scene_msg, ros::Publisher &planning_scene_diff_publisher)
	Attach a collision object to the robot. More...

void	shadow_utils::detachObjectFromRobot (moveit_msgs::AttachedCollisionObject &attached_obj, moveit_msgs::PlanningScene &planning_scene_msg, ros::Publisher &planning_scene_diff_publisher)
	Detach an attached collision object from the robot. More...

void	shadow_utils::removeAllObjectsFromScene (moveit::planning_interface::PlanningSceneInterface &planning_scene_interface)
	Remove all objects from the scene. More...

void	shadow_utils::removeCollisionObjectFromScene (moveit::planning_interface::PlanningSceneInterface &planning_scene_interface, std::string obj_id)
	Remove some object from the scene. More...

void	shadow_utils::getPoseFromPositionYPR (geometry_msgs::Pose &pose, float x, float y, float z, float yaw, float pitch, float roll)
	Generate ROS Pose from position and YPR. More...

void	shadow_utils::getPoseFromPositionQuaternion (geometry_msgs::Pose &pose, float x, float y, float z, float qx, float qy, float qz, float qw)
	Generate ROS Pose from position and quaternion. More...

void	shadow_utils::getPoseFromPositionYPR (geometry_msgs::Pose &pose, float x, float y, float z, tf::Vector3 &v)

void	shadow_utils::getPoseFromPositionQuaternion (geometry_msgs::Pose &pose, float x, float y, float z, tf::Quaternion &q)

void	shadow_utils::getPoseFromPositionQuaternion (geometry_msgs::Pose &pose, tf::StampedTransform &tf, tf::Quaternion &q)

void	shadow_utils::getTfFromFrames (tf::TransformListener &listener, tf::StampedTransform &tf, std::string parent_frame, std::string child_frame)
	Get TF from parent and child frames. More...

std::string	shadow_utils::getControllerTopic (std::string &joint_name)
	Get the name of the controller responsible for controlling the given joint name. More...

std::vector< ros::Publisher >	shadow_utils::createJointControllerPublishers (std::vector< std::string > &joint_names, ros::NodeHandle &n)
	Create a vector of publishers for each given joint name, using the ROS node handle. More...

void	shadow_utils::broadcastTransformForGrasp (std::vector< double > xyzrpy, const std::string frame_name)
	Broadcasts a transform from the wrist to given frame, which can be used for planning targets for finger. More...

geometry_msgs::Pose	shadow_utils::getPoseBetweenFrames (const std::string parent_frame, const std::string child_frame)
	Get the pose between two frames. More...

moveit_msgs::RobotState	shadow_utils::computeJointsFromPose (moveit::planning_interface::MoveGroupInterface &move_group_interface, double timeout, int num_attempts, geometry_msgs::Pose &target_pose)
	Creates a RobotState using the inverse kinematics solver, given a target pose. Uses a service call to the "compute_ik" service to obtain the joint angles needed for the given MoveGroup to reach the specified target pose. More...

void	shadow_utils::startTrajectoryController (ros::NodeHandle n, std::string controller_name)
	Starts trajectory controller for arm or hand, using ControllerManager service call. More...

void	shadow_utils::stopTrajectoryController (ros::NodeHandle n, std::string controller_name)
	Stops trajectory controller for arm or hand, using ControllerManager service call. More...

Function Documentation

std::ostream& operator<<	(	std::ostream &	out,
		const geometry_msgs::Pose &	pose
	)

Print ROS Pose messages.

Parameters

out	Output stream
pose	The pose to print

Returns: Output stream, so that we can chain further calls to operator<<

template<typename T >

std::ostream& operator<<	(	std::ostream &	out,
		const std::vector< T > &	joint_data
	)

Print vector data.

Template Parameters

T	Templated over whatever data type std::vector accepts

Parameters

out	Output stream
joint_data	The data vector to print

Returns: Output stream, so that we can chain further calls to operator<<

Namespaces

Enumerations

Functions

Function Documentation