wbc_ros
conversions.hpp File Reference
#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/wrench.hpp>
#include <std_msgs/msg/float64_multi_array.hpp>
#include <robot_control_msgs/msg/rigid_body_state.hpp>
#include <robot_control_msgs/msg/joint_command.hpp>
#include <robot_control_msgs/msg/joint_state.hpp>
#include <robot_control_msgs/msg/robot_state.hpp>
#include <robot_control_msgs/msg/contacts.hpp>
#include <wbc/types/JointState.hpp>
#include <wbc/types/JointCommand.hpp>
#include <wbc/types/RigidBodyState.hpp>
#include <wbc/types/Wrench.hpp>
#include <wbc/types/Contact.hpp>

Go to the source code of this file.

Functions

void fromROS (const geometry_msgs::msg::Pose &in, wbc::types::Pose &out)
 
void fromROS (const geometry_msgs::msg::Twist &in, wbc::types::Twist &out)
 
void fromROS (const geometry_msgs::msg::Accel &in, wbc::types::SpatialAcceleration &out)
 
void fromROS (const geometry_msgs::msg::Wrench &in, wbc::types::Wrench &out)
 
void fromROS (const robot_control_msgs::msg::JointState &in, const std::vector< int > &joint_indices, wbc::types::JointState &out)
 
void fromROS (const robot_control_msgs::msg::RigidBodyState &in, wbc::types::RigidBodyState &out)
 
void fromROS (const robot_control_msgs::msg::JointCommand &in, const std::vector< int > &joint_indices, wbc::types::JointCommand &out)
 
void fromROS (const robot_control_msgs::msg::Contacts &in, std::vector< wbc::types::Contact > &out)
 
void fromROS (const std_msgs::msg::Float64MultiArray &in, Eigen::VectorXd &out)
 
void fromROS (const robot_control_msgs::msg::RobotState &in, const std::vector< int > &joint_indices, wbc::types::JointState &joint_state_out, wbc::types::RigidBodyState &floating_base_state_out)
 
void toROS (const wbc::types::RigidBodyState &in, robot_control_msgs::msg::RigidBodyState &out)
 
void toROS (const wbc::types::JointCommand &in, const std::vector< int > &joint_indices, robot_control_msgs::msg::JointCommand &out)
 
void toROS (const wbc::types::JointCommand &in, const std::vector< double > &kp, const std::vector< double > &kd, const std::vector< int > &joint_indices, robot_control_msgs::msg::JointCommand &out)
 
void toROS (const Eigen::VectorXd &in, std_msgs::msg::Float64MultiArray &out)
 
void toROS (const wbc::types::Pose &in, geometry_msgs::msg::Pose &out)
 
void toROS (const wbc::types::Twist &in, geometry_msgs::msg::Twist &out)
 
void toROS (const wbc::types::SpatialAcceleration &in, geometry_msgs::msg::Accel &out)
 
void toROS (const wbc::types::Pose &pose, const wbc::types::Twist &twist, const wbc::types::SpatialAcceleration &acc, robot_control_msgs::msg::RigidBodyState &out)
 
void toROS (const wbc::types::JointState &in, const std::vector< int > &joint_indices, robot_control_msgs::msg::JointState &out)
 

Function Documentation

◆ fromROS() [1/10]

void fromROS ( const geometry_msgs::msg::Accel & in,
wbc::types::SpatialAcceleration & out )

◆ fromROS() [2/10]

void fromROS ( const geometry_msgs::msg::Pose & in,
wbc::types::Pose & out )

◆ fromROS() [3/10]

void fromROS ( const geometry_msgs::msg::Twist & in,
wbc::types::Twist & out )

◆ fromROS() [4/10]

void fromROS ( const geometry_msgs::msg::Wrench & in,
wbc::types::Wrench & out )

◆ fromROS() [5/10]

void fromROS ( const robot_control_msgs::msg::Contacts & in,
std::vector< wbc::types::Contact > & out )

◆ fromROS() [6/10]

void fromROS ( const robot_control_msgs::msg::JointCommand & in,
const std::vector< int > & joint_indices,
wbc::types::JointCommand & out )

◆ fromROS() [7/10]

void fromROS ( const robot_control_msgs::msg::JointState & in,
const std::vector< int > & joint_indices,
wbc::types::JointState & out )

◆ fromROS() [8/10]

void fromROS ( const robot_control_msgs::msg::RigidBodyState & in,
wbc::types::RigidBodyState & out )

◆ fromROS() [9/10]

void fromROS ( const robot_control_msgs::msg::RobotState & in,
const std::vector< int > & joint_indices,
wbc::types::JointState & joint_state_out,
wbc::types::RigidBodyState & floating_base_state_out )

◆ fromROS() [10/10]

void fromROS ( const std_msgs::msg::Float64MultiArray & in,
Eigen::VectorXd & out )

◆ toROS() [1/9]

void toROS ( const Eigen::VectorXd & in,
std_msgs::msg::Float64MultiArray & out )

◆ toROS() [2/9]

void toROS ( const wbc::types::JointCommand & in,
const std::vector< double > & kp,
const std::vector< double > & kd,
const std::vector< int > & joint_indices,
robot_control_msgs::msg::JointCommand & out )

◆ toROS() [3/9]

void toROS ( const wbc::types::JointCommand & in,
const std::vector< int > & joint_indices,
robot_control_msgs::msg::JointCommand & out )

◆ toROS() [4/9]

void toROS ( const wbc::types::JointState & in,
const std::vector< int > & joint_indices,
robot_control_msgs::msg::JointState & out )

◆ toROS() [5/9]

void toROS ( const wbc::types::Pose & in,
geometry_msgs::msg::Pose & out )

◆ toROS() [6/9]

void toROS ( const wbc::types::Pose & pose,
const wbc::types::Twist & twist,
const wbc::types::SpatialAcceleration & acc,
robot_control_msgs::msg::RigidBodyState & out )

◆ toROS() [7/9]

void toROS ( const wbc::types::RigidBodyState & in,
robot_control_msgs::msg::RigidBodyState & out )

◆ toROS() [8/9]

void toROS ( const wbc::types::SpatialAcceleration & in,
geometry_msgs::msg::Accel & out )

◆ toROS() [9/9]

void toROS ( const wbc::types::Twist & in,
geometry_msgs::msg::Twist & out )