Function affordance_primitives::getTwistFromPoses

Defined in File affordance_utils.hpp

Function Documentation

geometry_msgs::msg::TwistStamped affordance_primitives::getTwistFromPoses(const geometry_msgs::msg::PoseStamped &start_pose, const geometry_msgs::msg::PoseStamped &end_pose)

Get the twist that represents moving from a start_pose to an end_pose.

Parameters:

start_pose – The name of the AT’s root frame. The returned Pose will be with respect to this frame
end_pose – The Pose of the AT’s root frame (usually defined with respect to the planning frame)

Throws:

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

Returns:

The found twist