src
robot_element
observers
moveit_panel.cpp
Go to the documentation of this file.
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#include "
robot_element/observers/moveit_panel.h
"
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MoveitPanel::MoveitPanel
(std::string name, tf2::Transform tf, tf2::Vector3 size)
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:
Panel
(name, tf, size)
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{
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/*
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marker_.id = name_;
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marker_.header.frame_id = "world";
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marker_.primitives.resize(1);
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marker_.primitives[0].type = marker_.primitives[0].BOX;
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marker_.primitives[0].dimensions.resize(3);
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marker_.primitives[0].dimensions[0] = size_.getX();
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marker_.primitives[0].dimensions[1] = size_.getY();
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marker_.primitives[0].dimensions[2] = size_.getZ();
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marker_.primitive_poses.resize(1);
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marker_.primitive_poses[0].position.x = world_tf_.getOrigin().getX();
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marker_.primitive_poses[0].position.y = world_tf_.getOrigin().getY();
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marker_.primitive_poses[0].position.z = world_tf_.getOrigin().getZ() - size_.getZ()/2;
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marker_.primitive_poses[0].orientation.x = world_tf_.getRotation().getX();
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marker_.primitive_poses[0].orientation.y = world_tf_.getRotation().getY();
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marker_.primitive_poses[0].orientation.z = world_tf_.getRotation().getZ();
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marker_.primitive_poses[0].orientation.w = world_tf_.getRotation().getW();
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marker_.operation = marker_.ADD;
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*/
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};
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void
MoveitPanel::update
(tf2::Transform& tf){
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Panel::update
(tf);
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marker_
.id =
name_
;
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marker_
.header.frame_id =
"world"
;
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/*
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marker_.pose.position.x = world_tf_.getOrigin().getX();
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marker_.pose.position.y = world_tf_.getOrigin().getY();
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marker_.pose.position.x = world_tf_.getOrigin().getZ() - size_.getZ()/2;;
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marker_.pose.orientation.x = world_tf_.getRotation().getX();
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marker_.pose.orientation.x = world_tf_.getRotation().getY();
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marker_.pose.orientation.x = world_tf_.getRotation().getZ();
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marker_.pose.orientation.x = world_tf_.getRotation().getW();
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*/
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marker_
.primitives.resize(1);
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marker_
.primitives[0].type =
marker_
.primitives[0].BOX;
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marker_
.primitives[0].dimensions.resize(3);
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marker_
.primitives[0].dimensions[0] =
size_
.getX();
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marker_
.primitives[0].dimensions[1] =
size_
.getY();
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marker_
.primitives[0].dimensions[2] =
size_
.getZ();
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marker_
.primitive_poses.resize(1);
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marker_
.primitive_poses[0].position.x =
world_tf_
.getOrigin().getX();
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marker_
.primitive_poses[0].position.y =
world_tf_
.getOrigin().getY();
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marker_
.primitive_poses[0].position.z =
world_tf_
.getOrigin().getZ() -
size_
.getZ()/2;
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marker_
.primitive_poses[0].orientation.x =
world_tf_
.getRotation().getX();
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marker_
.primitive_poses[0].orientation.y =
world_tf_
.getRotation().getY();
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marker_
.primitive_poses[0].orientation.z =
world_tf_
.getRotation().getZ();
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marker_
.primitive_poses[0].orientation.w =
world_tf_
.getRotation().getW();
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marker_
.operation =
marker_
.ADD;
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}
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AbstractRobotElement::name_
std::string name_
Definition:
abstract_robot_element.h:9
Panel::update
void update(tf2::Transform &tf) override
Definition:
panel.h:14
AbstractRobotElement::world_tf_
tf2::Transform world_tf_
Definition:
abstract_robot_element.h:11
Panel
Definition:
panel.h:7
MoveitPanel::update
void update(tf2::Transform &tf) override
Definition:
moveit_panel.cpp:32
MoveitPanel::marker_
moveit_msgs::CollisionObject marker_
Definition:
moveit_panel.h:15
MoveitPanel::MoveitPanel
MoveitPanel(std::string name, tf2::Transform tf, tf2::Vector3 size)
Definition:
moveit_panel.cpp:4
moveit_panel.h
AbstractRobotElement::size_
tf2::Vector3 size_
Definition:
abstract_robot_element.h:12
multi_cell_builder
Author(s): Matteo Anedda
autogenerated on Sun Apr 9 2023 23:59:51