moveit_panel.cpp
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2 
3 
4 Moveit_panel::Moveit_panel(std::string name, tf2::Transform tf, tf2::Vector3 size)
5 : Panel(name, tf, size)
6 {
7  /*
8  marker_.id = name_;
9  marker_.header.frame_id = "world";
10 
11  marker_.primitives.resize(1);
12  marker_.primitives[0].type = marker_.primitives[0].BOX;
13  marker_.primitives[0].dimensions.resize(3);
14  marker_.primitives[0].dimensions[0] = size_.getX();
15  marker_.primitives[0].dimensions[1] = size_.getY();
16  marker_.primitives[0].dimensions[2] = size_.getZ();
17 
18 
19  marker_.primitive_poses.resize(1);
20  marker_.primitive_poses[0].position.x = world_tf_.getOrigin().getX();
21  marker_.primitive_poses[0].position.y = world_tf_.getOrigin().getY();
22  marker_.primitive_poses[0].position.z = world_tf_.getOrigin().getZ() - size_.getZ()/2;
23  marker_.primitive_poses[0].orientation.x = world_tf_.getRotation().getX();
24  marker_.primitive_poses[0].orientation.y = world_tf_.getRotation().getY();
25  marker_.primitive_poses[0].orientation.z = world_tf_.getRotation().getZ();
26  marker_.primitive_poses[0].orientation.w = world_tf_.getRotation().getW();
27 
28  marker_.operation = marker_.ADD;
29  */
30 };
31 
32 void Moveit_panel::update(tf2::Transform& tf){
33  Panel::update(tf);
34 
35  marker_.id = name_;
36  marker_.header.frame_id = "world";
37 
38  /*
39  marker_.pose.position.x = world_tf_.getOrigin().getX();
40  marker_.pose.position.y = world_tf_.getOrigin().getY();
41  marker_.pose.position.x = world_tf_.getOrigin().getZ() - size_.getZ()/2;;
42 
43  marker_.pose.orientation.x = world_tf_.getRotation().getX();
44  marker_.pose.orientation.x = world_tf_.getRotation().getY();
45  marker_.pose.orientation.x = world_tf_.getRotation().getZ();
46  marker_.pose.orientation.x = world_tf_.getRotation().getW();
47  */
48 
49  marker_.primitives.resize(1);
50  marker_.primitives[0].type = marker_.primitives[0].BOX;
51  marker_.primitives[0].dimensions.resize(3);
52  marker_.primitives[0].dimensions[0] = size_.getX();
53  marker_.primitives[0].dimensions[1] = size_.getY();
54  marker_.primitives[0].dimensions[2] = size_.getZ();
55 
56  marker_.primitive_poses.resize(1);
57  marker_.primitive_poses[0].position.x = world_tf_.getOrigin().getX();
58  marker_.primitive_poses[0].position.y = world_tf_.getOrigin().getY();
59  marker_.primitive_poses[0].position.z = world_tf_.getOrigin().getZ() - size_.getZ()/2;
60  marker_.primitive_poses[0].orientation.x = world_tf_.getRotation().getX();
61  marker_.primitive_poses[0].orientation.y = world_tf_.getRotation().getY();
62  marker_.primitive_poses[0].orientation.z = world_tf_.getRotation().getZ();
63  marker_.primitive_poses[0].orientation.w = world_tf_.getRotation().getW();
64 
65  marker_.operation = marker_.ADD;
66 }
67 
Abstract_robot_element::world_tf_
tf2::Transform world_tf_
Definition: impl/abstract_robot_element.h:12
Panel::update
void update(tf2::Transform &tf) override
Definition: panel.h:14
Panel
Definition: panel.h:7
Abstract_robot_element::name_
std::string name_
Definition: robot_element/abstract_robot_element.h:9
Moveit_panel::update
void update(tf2::Transform &tf) override
Definition: moveit_panel.cpp:32
Moveit_panel::marker_
moveit_msgs::CollisionObject marker_
Definition: moveit_panel.h:15
Abstract_robot_element::size_
tf2::Vector3 size_
Definition: robot_element/abstract_robot_element.h:12
Moveit_panel::Moveit_panel
Moveit_panel(std::string name, tf2::Transform tf, tf2::Vector3 size)
Definition: moveit_panel.cpp:4
moveit_panel.h


multi_cell_builder
Author(s): MA
autogenerated on Thu Jan 12 2023 23:45:43