Function affordance_primitives::getPoseInATFrame

• Defined in File affordance_utils.hpp

Function Documentation

geometry_msgs::msg::PoseStamped affordance_primitives::getPoseInATFrame(const std::string &root_frame_name, const geometry_msgs::msg::PoseStamped &root_frame_pose, const geometry_msgs::msg::PoseStamped &incoming_frame)

Converts a pose to be in the AT frame if necessary.

Parameters:

• root_frame_name – The name of the AT’s root frame. The returned Pose will be with respect to this frame

• root_frame_pose – The Pose of the AT’s root frame (usually defined with respect to the planning frame)

• incoming_frame – The Pose to convert. It should either be defined with respect to the AT root frame or the same frame as root_frame_pose

Throws:

Throws – a std::runtime_error if the pose could not be converted

Returns:

The converted pose