electric:Documentation generated on March 01, 2013 at 02:38 PM
fuerte:Documentation generated on January 07, 2014 at 11:10 AM
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manipulation_transforms: a library for mapping poses and twists back and forth
between an object and the one or more effectors in rigid contact with it. Can
be used for querying object position and velocity from effector actions, and
for achieving desired object trajectories with the effectors. This will probably
see use mainly for 2-arm manipulation tasks like cart pushing.
manipulation_transforms: a library for mapping poses and twists back and forth
between an object and the one or more effectors in rigid contact with it. Can
be used for querying object position and velocity from effector actions, and
for achieving desired object trajectories with the effectors. This will probably
see use mainly for 2-arm manipulation tasks like cart pushing.
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Contains a single ros node, manipulation_transforms_server. The node keeps track of a transform between a pair of "effector poses" and a corresponding rigidly held "object pose".
Advertised services
All services are in the node's private namespace.
LoadInitialTransforms
Ask the node to reload the current effector and object poses from the parameter server.
MapEffectorPosesToObject
Given the effector poses, return the corresponding object pose
MapObjectPoseToEffectors
Given the object pose, return the current effector poses
Parameters
{obj,effector0,effector1}_init_pose/position
Vector representing object/effector position; specified as [x, y, z]
{obj,effector0,effector1}_init_pose/orientation
Vector representing object/effector orientation; specified as [x, y, z, w]
Wiki: manipulation_transforms (last edited 2010-10-25 15:36:42 by BhaskaraMarthi)
