#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Comprehensive description of the complete Cartesian state of a robot arm and its attached objects. More...

Detailed Description

Comprehensive description of the complete Cartesian state of a robot arm and its attached objects.

Stores transformations for all relevant frames in the robot's kinematic chain.

Public Types
using	LinkNamePair = std::pair<std::string, isom3>
	Pair of link name and its transformation matrix relative to the base frame, used for efficient storage and lookup of link poses.

Public Member Functions
std::optional< isom3 >	base_T_namedLink (const std::string &linkName) const
	Retrieves the transformation for a specific link by name.

Public Attributes
std::vector< LinkNamePair >	base_T_links
	Transformations from base frame to each named link in the kinematic chain.
std::vector< isom3 >	base_T_attachedObjects
	Transformations from base frame to any objects attached to the robot (e.g., tools, gripped objects, or additional sensors).
std::optional< isom3 >	base_T_flange
	Optional flange-to-base Eigen isometric transformation.
std::optional< isom3 >	base_T_effector
	Optional effector-to-base Eigen isometric transformation.

Member Function Documentation

std::optional< isom3 > ImFusion::Robotics::RobotArmCartesianState::base_T_namedLink ( const std::string & linkName ) const

Retrieves the transformation for a specific link by name.

Parameters

linkName The name of the link to look up.

Returns: Eigen isometric transformation matrix from base to the requested link or std::nullopt if the link is not found.

The documentation for this struct was generated from the following file: