pub fn transform(&self, relative_pose: &k::Isometry3<f64>) -> Result<k::Isometry3<f64>, Error> {
        let current_joint_angles = self.client.current_joint_positions()?;
        self.chain
            .set_joint_positions_clamped(&current_joint_angles);
        let current_target_pose = self.ik_solver_with_chain.end_transform();
        Ok(current_target_pose * relative_pose)
    }
/// Get relative pose from current pose of the IK target
Get relative pose from current pose of the IK target
Get relative pose from current pose of the IK target
pub fn transform(&self, relative_pose: &k::Isometry3<f64>) -> Result<k::Isometry3<f64>, Error> {
        let current_joint_angles = self.client.current_joint_positions()?;
        self.chain
            .set_joint_positions_clamped(&current_joint_angles);
        let current_target_pose = self.ik_solver_with_chain.end_transform();
        Ok(current_target_pose * relative_pose)
    }
pub fn transform ( & self , relative_pose : & k :: Isometry3 < f64 > ) -> Result < k :: Isometry3 < f64 > , Error > { let current_joint_angles = self . client . current_joint_positions ( ) ? ; self . chain . set_joint_positions_clamped ( & current_joint_angles ) ; let current_target_pose = self . ik_solver_with_chain . end_transform ( ) ; Ok ( current_target_pose * relative_pose ) }
Get relative pose from current pose of the IK target
Get relative pose from current pose of the IK target
&self
relative_pose
&k::Isometry3<f64>
&self
relative_pose
&k::Isometry3<f64>