Function affordance_primitives::convertPoseToNewFrame

• Defined in File affordance_utils.hpp

Function Documentation

Eigen::Isometry3d affordance_primitives::convertPoseToNewFrame(const geometry_msgs::msg::PoseStamped &new_base_frame, const geometry_msgs::msg::PoseStamped &transformed_pose)

Calculates the pose of a frame with respect to a new pose, given that all input frames are defined w.r.t. the root frame.

Parameters:

• new_base_frame – The pose the returned frame will be defined with respect to (e.g. the grasp pose)

• transformed_pose – The pose to transform into the new frame (e.g. the screw origin pose)

Throws:

Throws – a std::runtime_error if the poses are not in the same frame

Returns:

The new pose