types.h
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/*
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* This file is part of ArmarX.
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*
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* ArmarX is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* ArmarX is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* @package RobotAPI::ArmarXObjects::
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* @author Fabian Reister ( fabian dot reister at kit dot edu )
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* @date 2021
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* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
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* GNU General Public License
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*/
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#pragma once
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#include <Eigen/Geometry>
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#include <
ArmarXCore/core/application/properties/PropertyDefinitionContainer.h
>
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#include <
RobotAPI/libraries/armem_robot_state/types.h
>
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namespace
armarx::armem::common::robot_state::localization
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{
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struct
TransformResult
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{
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::armarx::armem::robot_state::Transform
transform
;
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enum class
Status
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{
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Success
,
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Error
,
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ErrorLookupIntoFuture
,
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ErrorFrameNotAvailable
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}
status
;
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explicit
operator
bool()
const
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{
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return
status
==
Status::Success
;
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}
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std::string
errorMessage
=
""
;
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};
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struct
TransformChainResult
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{
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::armarx::armem::robot_state::TransformHeader
header
;
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std::vector<Eigen::Affine3f>
transforms
;
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enum class
Status
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{
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Success
,
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Error
,
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ErrorLookupIntoFuture
,
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ErrorFrameNotAvailable
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}
status
;
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explicit
operator
bool()
const
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{
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return
status
==
Status::Success
;
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}
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std::string
errorMessage
=
""
;
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};
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struct
TransformQuery
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{
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::armarx::armem::robot_state::TransformHeader
header
;
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// bool exact;
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};
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}
// namespace armarx::armem::common::robot_state::localization
armarx::armem::common::robot_state::localization::TransformChainResult::Status::ErrorFrameNotAvailable
@ ErrorFrameNotAvailable
armarx::armem::common::robot_state::localization::TransformResult::Status
Status
Definition:
types.h:38
armarx::armem::common::robot_state::localization::TransformChainResult::errorMessage
std::string errorMessage
Definition:
types.h:72
armarx::armem::common::robot_state::localization::TransformResult::Status::ErrorFrameNotAvailable
@ ErrorFrameNotAvailable
armarx::armem::common::robot_state::localization::TransformQuery
Definition:
types.h:75
armarx::armem::common::robot_state::localization::TransformResult::transform
::armarx::armem::robot_state::Transform transform
Definition:
types.h:36
armarx::armem::robot_state::TransformHeader
Definition:
types.h:31
armarx::armem::common::robot_state::localization::TransformResult::errorMessage
std::string errorMessage
Definition:
types.h:51
armarx::armem::common::robot_state::localization::TransformResult::Status::Success
@ Success
armarx::armem::common::robot_state::localization::TransformChainResult::Status::Success
@ Success
armarx::status
status
Definition:
FiniteStateMachine.h:259
armarx::armem::common::robot_state::localization::TransformQuery::header
::armarx::armem::robot_state::TransformHeader header
Definition:
types.h:77
armarx::armem::common::robot_state::localization::TransformChainResult::header
::armarx::armem::robot_state::TransformHeader header
Definition:
types.h:56
armarx::armem::robot_state::Transform
Definition:
types.h:41
armarx::armem::common::robot_state::localization::TransformResult
Definition:
types.h:34
types.h
armarx::armem::common::robot_state::localization::TransformChainResult::Status
Status
Definition:
types.h:59
armarx::armem::common::robot_state::localization::TransformChainResult::transforms
std::vector< Eigen::Affine3f > transforms
Definition:
types.h:57
PropertyDefinitionContainer.h
armarx::armem::common::robot_state::localization::TransformResult::Status::Error
@ Error
armarx::armem::common::robot_state::localization::TransformChainResult::Status::ErrorLookupIntoFuture
@ ErrorLookupIntoFuture
armarx::armem::common::robot_state::localization::TransformChainResult::Status::Error
@ Error
armarx::armem::common::robot_state::localization
Definition:
TransformHelper.cpp:27
armarx::armem::common::robot_state::localization::TransformChainResult
Definition:
types.h:54
armarx::armem::common::robot_state::localization::TransformResult::Status::ErrorLookupIntoFuture
@ ErrorLookupIntoFuture
armarx::armem::common::robot_state::localization::TransformResult::status
enum armarx::armem::common::robot_state::localization::TransformResult::Status status
armarx::armem::common::robot_state::localization::TransformChainResult::status
enum armarx::armem::common::robot_state::localization::TransformChainResult::Status status
RobotAPI
libraries
armem_robot_state
common
localization
types.h
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