Class ScrewAxis

Class Documentation

class ScrewAxis

Public Functions

ScrewAxis(const std::string moving_frame_name, bool is_pure_translation = false)

bool setScrewAxis(const geometry_msgs::msg::Pose &origin_pose, const geometry_msgs::msg::Pose &axis_pose, double pitch = 0)

Sets up the Screw axis, using an axis defined by a line between 2 poses.

Parameters:

origin_pose – The first pose will be used as the origin of the Screw. This must be defined with respect to the Screw’s frame
axis_pose – The second pose is just needed to define an axis. This must be defined with respect to the Screw’s frame
pitch – Sets the pitch of the screw

Returns:

True if the setup was successful, false otherwise

inline bool setScrewAxis(const Eigen::Isometry3d &origin_pose, const Eigen::Isometry3d &axis_pose, double pitch = 0)

bool setScrewAxis(const geometry_msgs::msg::Pose &origin_pose, const Eigen::Vector3d &axis, double pitch = 0)

Sets up the Screw axis, using an axis defined pose and a vector.

Parameters:

origin_pose – The first pose will be used as the origin of the Screw. This must be defined with respect to the Screw’s frame
axis – Sets the axis of the screw. This must be defined with respect to the Screw’s frame
pitch – Sets the pitch of the screw

Returns:

True if the setup was successful, false otherwise

inline bool setScrewAxis(const Eigen::Isometry3d &origin_pose, const Eigen::Vector3d &axis, double pitch = 0)

geometry_msgs::msg::TwistStamped getTwist(double theta_dot) const

Sets up the Screw axis, a twist message (TODO: implement)

Gets the Twist corresponding to moving along this screw axis at the given velocity

Parameters:

twist – The twist gets normalized based on whether or not the Screw is purely translational
pitch – Sets the pitch of the screw
theta_dot – The “velocity” (linear or rotational) to move

Returns:

True if the setup was successful, false otherwise

Returns:

The calculated twist, defined with respect to the frame of the Screw Axis

Eigen::Isometry3d getTF(double delta_theta) const

Gets the transform corresponding to moving along this screw axis for a given displacement.

Parameters:: delta_theta – The “displacement” (linear or rotational) to move
Returns:: The calculated transformation, defined with respect to the frame of the Screw Axis