Definition of a kinematic model. This class is not thread safe, however multiple instances can be created. More...

#include <robot_model.h>

Public Member Functions
double	distance (const double state1, const double state2) const
	Return the sum of joint distances between two states. Only considers active joints. More...

bool	enforcePositionBounds (double *state) const

bool	enforcePositionBounds (double *state, const JointBoundsVector &active_joint_bounds) const

const JointBoundsVector &	getActiveJointModelsBounds () const
	Get the bounds for all the active joints. More...

const JointModel *	getCommonRoot (const JointModel a, const JointModel b) const
	Get the deepest joint in the kinematic tree that is a common parent of both joints passed as argument. More...

double	getMaximumExtent () const

double	getMaximumExtent (const JointBoundsVector &active_joint_bounds) const

void	getMissingVariableNames (const std::vector< std::string > &variables, std::vector< std::string > &missing_variables) const

const std::string &	getModelFrame () const
	Get the frame in which the transforms for this model are computed (when using a RobotState). This frame depends on the root joint. As such, the frame is either extracted from SRDF, or it is assumed to be the name of the root link. More...

const std::string &	getName () const
	Get the model name. More...

const srdf::ModelConstSharedPtr &	getSRDF () const
	Get the parsed SRDF model. More...

const urdf::ModelInterfaceSharedPtr &	getURDF () const
	Get the parsed URDF model. More...

const VariableBounds &	getVariableBounds (const std::string &variable) const
	Get the bounds for a specific variable. Throw an exception of variable is not found. More...

std::size_t	getVariableCount () const
	Get the number of variables that describe this model. More...

void	getVariableDefaultPositions (double *values) const
	Compute the default values for a RobotState. More...

void	getVariableDefaultPositions (std::map< std::string, double > &values) const
	Compute the default values for a RobotState. More...

void	getVariableDefaultPositions (std::vector< double > &values) const
	Compute the default values for a RobotState. More...

int	getVariableIndex (const std::string &variable) const
	Get the index of a variable in the robot state. More...

const std::vector< std::string > &	getVariableNames () const
	Get the names of the variables that make up the joints that form this state. Fixed joints have no DOF, so they are not here, but the variables for mimic joints are included. The number of returned elements is always equal to getVariableCount() More...

void	getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values) const
	Compute the random values for a RobotState. More...

void	getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, std::map< std::string, double > &values) const
	Compute the random values for a RobotState. More...

void	getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values) const
	Compute the random values for a RobotState. More...

void	interpolate (const double from, const double to, double t, double *state) const

bool	isEmpty () const
	Return true if the model is empty (has no root link, no joints) More...

void	printModelInfo (std::ostream &out) const
	Print information about the constructed model. More...

	RobotModel (const urdf::ModelInterfaceSharedPtr &urdf_model, const srdf::ModelConstSharedPtr &srdf_model)
	Construct a kinematic model from a parsed description and a list of planning groups. More...

bool	satisfiesPositionBounds (const double *state, const JointBoundsVector &active_joint_bounds, double margin=0.0) const

bool	satisfiesPositionBounds (const double *state, double margin=0.0) const

void	setKinematicsAllocators (const std::map< std::string, SolverAllocatorFn > &allocators)
	A map of known kinematics solvers (associated to their group name) More...

	~RobotModel ()
	Destructor. Clear all memory. More...

Access to joint models
const JointModel *	getRootJoint () const
	Get the root joint. There will be one root joint unless the model is empty. This is either extracted from the SRDF, or a fixed joint is assumed, if no specification is given. More...

const std::string &	getRootJointName () const
	Return the name of the root joint. Throws an exception if there is no root joint. More...

bool	hasJointModel (const std::string &name) const
	Check if a joint exists. Return true if it does. More...

const JointModel *	getJointModel (const std::string &joint) const
	Get a joint by its name. Output error and return NULL when the joint is missing. More...

const JointModel *	getJointModel (int index) const
	Get a joint by its index. Output error and return NULL when the link is missing. More...

JointModel *	getJointModel (const std::string &joint)
	Get a joint by its name. Output error and return NULL when the joint is missing. More...

const std::vector< const JointModel * > &	getJointModels () const
	Get the array of joints, in the order they appear in the robot state. More...

const std::vector< JointModel * > &	getJointModels ()
	Get the array of joints, in the order they appear in the robot state. This includes all types of joints (including mimic & fixed), as opposed to JointModelGroup::getJointModels(). More...

const std::vector< std::string > &	getJointModelNames () const
	Get the array of joint names, in the order they appear in the robot state. More...

const std::vector< const JointModel * > &	getActiveJointModels () const
	Get the array of joints that are active (not fixed, not mimic) in this model. More...

const std::vector< std::string > &	getActiveJointModelNames () const
	Get the array of active joint names, in the order they appear in the robot state. More...

const std::vector< JointModel * > &	getActiveJointModels ()
	Get the array of joints that are active (not fixed, not mimic) in this model. More...

const std::vector< const JointModel * > &	getSingleDOFJointModels () const
	This is a list of all single-dof joints (including mimic joints) More...

const std::vector< const JointModel * > &	getMultiDOFJointModels () const
	This is a list of all multi-dof joints. More...

const std::vector< const JointModel * > &	getContinuousJointModels () const
	Get the array of continuous joints, in the order they appear in the robot state. More...

const std::vector< const JointModel * > &	getMimicJointModels () const
	Get the array of mimic joints, in the order they appear in the robot state. More...

const JointModel *	getJointOfVariable (int variable_index) const

const JointModel *	getJointOfVariable (const std::string &variable) const

std::size_t	getJointModelCount () const

Access to joint groups
bool	hasJointModelGroup (const std::string &group) const
	Check if the JointModelGroup group exists. More...

const JointModelGroup *	getJointModelGroup (const std::string &name) const
	Get a joint group from this model (by name) More...

JointModelGroup *	getJointModelGroup (const std::string &name)
	Get a joint group from this model (by name) More...

const std::vector< const JointModelGroup * > &	getJointModelGroups () const
	Get the available joint groups. More...

const std::vector< JointModelGroup * > &	getJointModelGroups ()
	Get the available joint groups. More...

const std::vector< std::string > &	getJointModelGroupNames () const
	Get the names of all groups that are defined for this model. More...

bool	hasEndEffector (const std::string &eef) const
	Check if an end effector exists. More...

const JointModelGroup *	getEndEffector (const std::string &name) const
	Get the joint group that corresponds to a given end-effector name. More...

JointModelGroup *	getEndEffector (const std::string &name)
	Get the joint group that corresponds to a given end-effector name. More...

const std::vector< const JointModelGroup * > &	getEndEffectors () const
	Get the map between end effector names and the groups they correspond to. More...

Protected Member Functions
bool	addJointModelGroup (const srdf::Model::Group &group)
	Construct a JointModelGroup given a SRDF description group. More...

void	buildGroups (const srdf::Model &srdf_model)
	Given a SRDF model describing the groups, build up the groups in this kinematic model. More...

void	buildGroupsInfoEndEffectors (const srdf::Model &srdf_model)
	Compute helpful information about groups (that can be queried later) More...

void	buildGroupsInfoSubgroups ()
	Compute helpful information about groups (that can be queried later) More...

void	buildGroupStates (const srdf::Model &srdf_model)
	Given a SRDF model describing the groups, build the default states defined in the SRDF. More...

void	buildJointInfo ()
	Compute helpful information about joints. More...

void	buildMimic (const urdf::ModelInterface &urdf_model)
	Given the URDF model, build up the mimic joints (mutually constrained joints) More...

void	buildModel (const urdf::ModelInterface &urdf_model, const srdf::Model &srdf_model)
	Given an URDF model and a SRDF model, build a full kinematic model. More...

JointModel *	buildRecursive (LinkModel parent, const urdf::Link link, const srdf::Model &srdf_model)
	(This function is mostly intended for internal use). Given a parent link, build up (recursively), the kinematic model by walking down the tree More...

const JointModel *	computeCommonRoot (const JointModel a, const JointModel b) const
	Given two joints, find their common root. More...

void	computeCommonRoots ()
	For every pair of joints, pre-compute the common roots of the joints. More...

void	computeDescendants ()
	For every joint, pre-compute the list of descendant joints & links. More...

void	computeFixedTransforms (const LinkModel *link, const Eigen::Isometry3d &transform, LinkTransformMap &associated_transforms)
	Get the transforms between link and all its rigidly attached descendants. More...

JointModel *	constructJointModel (const urdf::Joint urdf_joint_model, const urdf::Link child_link, const srdf::Model &srdf_model)
	Given a urdf joint model, a child link and a set of virtual joints, build up the corresponding JointModel object. More...

LinkModel *	constructLinkModel (const urdf::Link *urdf_link)
	Given a urdf link, build the corresponding LinkModel object. More...

shapes::ShapePtr	constructShape (const urdf::Geometry *geom)
	Given a geometry spec from the URDF and a filename (for a mesh), construct the corresponding shape object. More...

void	updateMimicJoints (double *values) const
	Update the variable values for the state of a group with respect to the mimic joints. More...

Protected Attributes
std::vector< std::string >	active_joint_model_names_vector_
	The vector of joint names that corresponds to active_joint_model_vector_. More...

std::vector< int >	active_joint_model_start_index_

std::vector< JointModel * >	active_joint_model_vector_
	The vector of joints in the model, in the order they appear in the state vector. More...

std::vector< const JointModel * >	active_joint_model_vector_const_
	The vector of joints in the model, in the order they appear in the state vector. More...

JointBoundsVector	active_joint_models_bounds_
	The bounds for all the active joint models. More...

std::vector< int >	common_joint_roots_
	For every two joints, the index of the common root for thw joints is stored. More...

std::vector< const JointModel * >	continuous_joint_model_vector_
	The set of continuous joints this model contains. More...

std::vector< const JointModelGroup * >	end_effectors_
	The array of end-effectors, in alphabetical order. More...

JointModelGroupMap	end_effectors_map_
	The known end effectors. More...

JointModelGroupMap	joint_model_group_map_
	A map from group names to joint groups. More...

std::vector< std::string >	joint_model_group_names_
	A vector of all group names, in alphabetical order. More...

std::vector< JointModelGroup * >	joint_model_groups_
	The array of joint model groups, in alphabetical order. More...

std::vector< const JointModelGroup * >	joint_model_groups_const_
	The array of joint model groups, in alphabetical order. More...

JointModelMap	joint_model_map_
	A map from joint names to their instances. More...

std::vector< std::string >	joint_model_names_vector_
	The vector of joint names that corresponds to joint_model_vector_. More...

std::vector< JointModel * >	joint_model_vector_
	The vector of joints in the model, in the order they appear in the state vector. More...

std::vector< const JointModel * >	joint_model_vector_const_
	The vector of joints in the model, in the order they appear in the state vector. More...

VariableIndexMap	joint_variables_index_map_
	The state includes all the joint variables that make up the joints the state consists of. This map gives the position in the state vector of the group for each of these variables. Additionaly, it includes the names of the joints and the index for the first variable of that joint. More...

std::vector< const JointModel * >	joints_of_variable_
	The joints that correspond to each variable index. More...

std::size_t	link_geometry_count_
	Total number of geometric shapes in this model. More...

LinkModelMap	link_model_map_
	A map from link names to their instances. More...

std::vector< std::string >	link_model_names_vector_
	The vector of link names that corresponds to link_model_vector_. More...

std::vector< std::string >	link_model_names_with_collision_geometry_vector_
	The vector of link names that corresponds to link_models_with_collision_geometry_vector_. More...

std::vector< LinkModel * >	link_model_vector_
	The vector of links that are updated when computeTransforms() is called, in the order they are updated. More...

std::vector< const LinkModel * >	link_model_vector_const_
	The vector of links that are updated when computeTransforms() is called, in the order they are updated. More...

std::vector< const LinkModel * >	link_models_with_collision_geometry_vector_
	Only links that have collision geometry specified. More...

std::vector< const JointModel * >	mimic_joints_
	The set of mimic joints this model contains. More...

std::string	model_frame_
	The reference (base) frame for this model. The frame is either extracted from the SRDF as a virtual joint, or it is assumed to be the name of the root link in the URDF. More...

std::string	model_name_
	The name of the robot. More...

std::vector< const JointModel * >	multi_dof_joints_

const JointModel *	root_joint_
	The root joint. More...

const LinkModel *	root_link_
	The first physical link for the robot. More...

std::vector< const JointModel * >	single_dof_joints_

srdf::ModelConstSharedPtr	srdf_

urdf::ModelInterfaceSharedPtr	urdf_

std::size_t	variable_count_
	Get the number of variables necessary to describe this model. More...

std::vector< std::string >	variable_names_
	The names of the DOF that make up this state (this is just a sequence of joint variable names; not necessarily joint names!) More...

Access to link models
const LinkModel *	getRootLink () const
	Get the physical root link of the robot. More...

const std::string &	getRootLinkName () const
	Get the name of the root link of the robot. More...

bool	hasLinkModel (const std::string &name) const
	Check if a link exists. Return true if it does. More...

const LinkModel *	getLinkModel (const std::string &link, bool *has_link=nullptr) const
	Get a link by its name. Output error and return NULL when the link is missing. More...

const LinkModel *	getLinkModel (int index) const
	Get a link by its index. Output error and return NULL when the link is missing. More...

LinkModel *	getLinkModel (const std::string &link, bool *has_link=nullptr)
	Get a link by its name. Output error and return NULL when the link is missing. More...

const std::vector< const LinkModel * > &	getLinkModels () const
	Get the array of links More...

const std::vector< LinkModel * > &	getLinkModels ()
	Get the array of links More...

const std::vector< std::string > &	getLinkModelNames () const
	Get the link names (of all links) More...

const std::vector< const LinkModel * > &	getLinkModelsWithCollisionGeometry () const
	Get the link models that have some collision geometry associated to themselves. More...

const std::vector< std::string > &	getLinkModelNamesWithCollisionGeometry () const
	Get the names of the link models that have some collision geometry associated to themselves. More...

std::size_t	getLinkModelCount () const

std::size_t	getLinkGeometryCount () const

static const moveit::core::LinkModel *	getRigidlyConnectedParentLinkModel (const LinkModel link, Eigen::Isometry3d &transform, const JointModelGroup jmg=nullptr)
	Get the latest link upwards the kinematic tree, which is only connected via fixed joints. More...

static const moveit::core::LinkModel *	getRigidlyConnectedParentLinkModel (const LinkModel link, const JointModelGroup jmg=nullptr)

Detailed Description

Definition of a kinematic model. This class is not thread safe, however multiple instances can be created.

Definition at line 143 of file robot_model.h.

Constructor & Destructor Documentation

◆ RobotModel()

moveit::core::RobotModel::RobotModel	(	const urdf::ModelInterfaceSharedPtr &	urdf_model,
		const srdf::ModelConstSharedPtr &	srdf_model
	)

Construct a kinematic model from a parsed description and a list of planning groups.

Definition at line 123 of file robot_model.cpp.

◆ ~RobotModel()

moveit::core::RobotModel::~RobotModel ( )

Destructor. Clear all memory.

Definition at line 131 of file robot_model.cpp.

Member Function Documentation

◆ addJointModelGroup()

bool moveit::core::RobotModel::addJointModelGroup ( const srdf::Model::Group & group )

protected

Construct a JointModelGroup given a SRDF description group.

Definition at line 733 of file robot_model.cpp.

◆ buildGroups()

void moveit::core::RobotModel::buildGroups ( const srdf::Model & srdf_model )

protected

Given a SRDF model describing the groups, build up the groups in this kinematic model.

Definition at line 569 of file robot_model.cpp.

◆ buildGroupsInfoEndEffectors()

void moveit::core::RobotModel::buildGroupsInfoEndEffectors ( const srdf::Model & srdf_model )

protected

Compute helpful information about groups (that can be queried later)

Definition at line 650 of file robot_model.cpp.

◆ buildGroupsInfoSubgroups()

void moveit::core::RobotModel::buildGroupsInfoSubgroups ( )

protected

Compute helpful information about groups (that can be queried later)

Definition at line 621 of file robot_model.cpp.

◆ buildGroupStates()

void moveit::core::RobotModel::buildGroupStates ( const srdf::Model & srdf_model )

protected

Given a SRDF model describing the groups, build the default states defined in the SRDF.

Definition at line 390 of file robot_model.cpp.

◆ buildJointInfo()

void moveit::core::RobotModel::buildJointInfo ( )

protected

Compute helpful information about joints.

Definition at line 315 of file robot_model.cpp.

◆ buildMimic()

void moveit::core::RobotModel::buildMimic ( const urdf::ModelInterface & urdf_model )

protected

Given the URDF model, build up the mimic joints (mutually constrained joints)

Definition at line 450 of file robot_model.cpp.

◆ buildModel()

void moveit::core::RobotModel::buildModel	(	const urdf::ModelInterface &	urdf_model,
		const srdf::Model &	srdf_model
	)

protected

Given an URDF model and a SRDF model, build a full kinematic model.

Definition at line 151 of file robot_model.cpp.

◆ buildRecursive()

JointModel * moveit::core::RobotModel::buildRecursive	(	LinkModel *	parent,
		const urdf::Link *	link,
		const srdf::Model &	srdf_model
	)

protected

(This function is mostly intended for internal use). Given a parent link, build up (recursively), the kinematic model by walking down the tree

Definition at line 849 of file robot_model.cpp.

◆ computeCommonRoot()

const JointModel* moveit::core::RobotModel::computeCommonRoot	(	const JointModel *	a,
		const JointModel *	b
	)		const

protected

Given two joints, find their common root.

◆ computeCommonRoots()

void moveit::core::RobotModel::computeCommonRoots ( )

protected

For every pair of joints, pre-compute the common roots of the joints.

Definition at line 264 of file robot_model.cpp.

◆ computeDescendants()

void moveit::core::RobotModel::computeDescendants ( )

protected

For every joint, pre-compute the list of descendant joints & links.

Definition at line 295 of file robot_model.cpp.

◆ computeFixedTransforms()

void moveit::core::RobotModel::computeFixedTransforms	(	const LinkModel *	link,
		const Eigen::Isometry3d &	transform,
		LinkTransformMap &	associated_transforms
	)

protected

Get the transforms between link and all its rigidly attached descendants.

Definition at line 1619 of file robot_model.cpp.

◆ constructJointModel()

JointModel * moveit::core::RobotModel::constructJointModel	(	const urdf::Joint *	urdf_joint_model,
		const urdf::Link *	child_link,
		const srdf::Model &	srdf_model
	)

protected

Given a urdf joint model, a child link and a set of virtual joints, build up the corresponding JointModel object.

Definition at line 946 of file robot_model.cpp.

◆ constructLinkModel()

LinkModel * moveit::core::RobotModel::constructLinkModel ( const urdf::Link * urdf_link )

protected

Given a urdf link, build the corresponding LinkModel object.

Definition at line 1161 of file robot_model.cpp.

◆ constructShape()

shapes::ShapePtr moveit::core::RobotModel::constructShape ( const urdf::Geometry * geom )

protected

Given a geometry spec from the URDF and a filename (for a mesh), construct the corresponding shape object.

Definition at line 1237 of file robot_model.cpp.

◆ distance()

double moveit::core::RobotModel::distance	(	const double *	state1,
		const double *	state2
	)		const

Return the sum of joint distances between two states. Only considers active joints.

Definition at line 1476 of file robot_model.cpp.

◆ enforcePositionBounds() [1/2]

bool moveit::core::RobotModel::enforcePositionBounds ( double * state ) const

inline

Definition at line 418 of file robot_model.h.

◆ enforcePositionBounds() [2/2]

bool moveit::core::RobotModel::enforcePositionBounds	(	double *	state,
		const JointBoundsVector &	active_joint_bounds
	)		const

Definition at line 1463 of file robot_model.cpp.

◆ getActiveJointModelNames()

const std::vector<std::string>& moveit::core::RobotModel::getActiveJointModelNames ( ) const

inline

Get the array of active joint names, in the order they appear in the robot state.

Definition at line 244 of file robot_model.h.

◆ getActiveJointModels() [1/2]

const std::vector<JointModel*>& moveit::core::RobotModel::getActiveJointModels ( )

inline

Get the array of joints that are active (not fixed, not mimic) in this model.

Definition at line 250 of file robot_model.h.

◆ getActiveJointModels() [2/2]

const std::vector<const JointModel*>& moveit::core::RobotModel::getActiveJointModels ( ) const

inline

Get the array of joints that are active (not fixed, not mimic) in this model.

Definition at line 238 of file robot_model.h.

◆ getActiveJointModelsBounds()

const JointBoundsVector& moveit::core::RobotModel::getActiveJointModelsBounds ( ) const

inline

Get the bounds for all the active joints.

Definition at line 518 of file robot_model.h.

◆ getCommonRoot()

const JointModel* moveit::core::RobotModel::getCommonRoot	(	const JointModel *	a,
		const JointModel *	b
	)		const

inline

Get the deepest joint in the kinematic tree that is a common parent of both joints passed as argument.

Definition at line 530 of file robot_model.h.

◆ getContinuousJointModels()

const std::vector<const JointModel*>& moveit::core::RobotModel::getContinuousJointModels ( ) const

inline

Get the array of continuous joints, in the order they appear in the robot state.

Definition at line 269 of file robot_model.h.

◆ getEndEffector() [1/2]

JointModelGroup * moveit::core::RobotModel::getEndEffector ( const std::string & name )

Get the joint group that corresponds to a given end-effector name.

Definition at line 528 of file robot_model.cpp.

◆ getEndEffector() [2/2]

const JointModelGroup * moveit::core::RobotModel::getEndEffector ( const std::string & name ) const

Get the joint group that corresponds to a given end-effector name.

Definition at line 514 of file robot_model.cpp.

◆ getEndEffectors()

const std::vector<const JointModelGroup*>& moveit::core::RobotModel::getEndEffectors ( ) const

inline

Get the map between end effector names and the groups they correspond to.

Definition at line 489 of file robot_model.h.

◆ getJointModel() [1/3]

JointModel * moveit::core::RobotModel::getJointModel ( const std::string & joint )

Get a joint by its name. Output error and return NULL when the joint is missing.

Definition at line 1306 of file robot_model.cpp.

◆ getJointModel() [2/3]

const JointModel * moveit::core::RobotModel::getJointModel ( const std::string & joint ) const

Get a joint by its name. Output error and return NULL when the joint is missing.

Definition at line 1286 of file robot_model.cpp.

◆ getJointModel() [3/3]

const JointModel * moveit::core::RobotModel::getJointModel ( int index ) const

Get a joint by its index. Output error and return NULL when the link is missing.

Definition at line 1295 of file robot_model.cpp.

◆ getJointModelCount()

std::size_t moveit::core::RobotModel::getJointModelCount ( ) const

inline

Definition at line 291 of file robot_model.h.

◆ getJointModelGroup() [1/2]

JointModelGroup * moveit::core::RobotModel::getJointModelGroup ( const std::string & name )

Get a joint group from this model (by name)

Definition at line 558 of file robot_model.cpp.

◆ getJointModelGroup() [2/2]

const JointModelGroup * moveit::core::RobotModel::getJointModelGroup ( const std::string & name ) const

Get a joint group from this model (by name)

Definition at line 547 of file robot_model.cpp.

◆ getJointModelGroupNames()

const std::vector<std::string>& moveit::core::RobotModel::getJointModelGroupNames ( ) const

inline

Get the names of all groups that are defined for this model.

Definition at line 474 of file robot_model.h.

◆ getJointModelGroups() [1/2]

const std::vector<JointModelGroup*>& moveit::core::RobotModel::getJointModelGroups ( )

inline

Get the available joint groups.

Definition at line 468 of file robot_model.h.

◆ getJointModelGroups() [2/2]

const std::vector<const JointModelGroup*>& moveit::core::RobotModel::getJointModelGroups ( ) const

inline

Get the available joint groups.

Definition at line 462 of file robot_model.h.

◆ getJointModelNames()

const std::vector<std::string>& moveit::core::RobotModel::getJointModelNames ( ) const

inline

Get the array of joint names, in the order they appear in the robot state.

Definition at line 232 of file robot_model.h.

◆ getJointModels() [1/2]

const std::vector<JointModel*>& moveit::core::RobotModel::getJointModels ( )

inline

Get the array of joints, in the order they appear in the robot state. This includes all types of joints (including mimic & fixed), as opposed to JointModelGroup::getJointModels().

Definition at line 226 of file robot_model.h.

◆ getJointModels() [2/2]

const std::vector<const JointModel*>& moveit::core::RobotModel::getJointModels ( ) const

inline

Get the array of joints, in the order they appear in the robot state.

Definition at line 218 of file robot_model.h.

◆ getJointOfVariable() [1/2]

const JointModel* moveit::core::RobotModel::getJointOfVariable ( const std::string & variable ) const

inline

Definition at line 286 of file robot_model.h.

◆ getJointOfVariable() [2/2]

const JointModel* moveit::core::RobotModel::getJointOfVariable ( int variable_index ) const

inline

Definition at line 281 of file robot_model.h.

◆ getLinkGeometryCount()

std::size_t moveit::core::RobotModel::getLinkGeometryCount ( ) const

inline

Definition at line 384 of file robot_model.h.

◆ getLinkModel() [1/3]

LinkModel * moveit::core::RobotModel::getLinkModel	(	const std::string &	link,
		bool *	has_link = `nullptr`
	)

Get a link by its name. Output error and return NULL when the link is missing.

Definition at line 1331 of file robot_model.cpp.

◆ getLinkModel() [2/3]

const LinkModel * moveit::core::RobotModel::getLinkModel	(	const std::string &	link,
		bool *	has_link = `nullptr`
	)		const

Get a link by its name. Output error and return NULL when the link is missing.

Definition at line 1315 of file robot_model.cpp.

◆ getLinkModel() [3/3]

const LinkModel * moveit::core::RobotModel::getLinkModel ( int index ) const

Get a link by its index. Output error and return NULL when the link is missing.

Definition at line 1320 of file robot_model.cpp.

◆ getLinkModelCount()

std::size_t moveit::core::RobotModel::getLinkModelCount ( ) const

inline

Definition at line 379 of file robot_model.h.

◆ getLinkModelNames()

const std::vector<std::string>& moveit::core::RobotModel::getLinkModelNames ( ) const

inline

Get the link names (of all links)

Definition at line 362 of file robot_model.h.

◆ getLinkModelNamesWithCollisionGeometry()

const std::vector<std::string>& moveit::core::RobotModel::getLinkModelNamesWithCollisionGeometry ( ) const

inline

Get the names of the link models that have some collision geometry associated to themselves.

Definition at line 374 of file robot_model.h.

◆ getLinkModels() [1/2]

const std::vector<LinkModel*>& moveit::core::RobotModel::getLinkModels ( )

inline

Get the array of links

Definition at line 356 of file robot_model.h.

◆ getLinkModels() [2/2]

const std::vector<const LinkModel*>& moveit::core::RobotModel::getLinkModels ( ) const

inline

Get the array of links

Definition at line 350 of file robot_model.h.

◆ getLinkModelsWithCollisionGeometry()

const std::vector<const LinkModel*>& moveit::core::RobotModel::getLinkModelsWithCollisionGeometry ( ) const

inline

Get the link models that have some collision geometry associated to themselves.

Definition at line 368 of file robot_model.h.

◆ getMaximumExtent() [1/2]

double moveit::core::RobotModel::getMaximumExtent ( ) const

inline

Definition at line 429 of file robot_model.h.

◆ getMaximumExtent() [2/2]

double moveit::core::RobotModel::getMaximumExtent ( const JointBoundsVector & active_joint_bounds ) const

Definition at line 1443 of file robot_model.cpp.

◆ getMimicJointModels()

const std::vector<const JointModel*>& moveit::core::RobotModel::getMimicJointModels ( ) const

inline

Get the array of mimic joints, in the order they appear in the robot state.

Definition at line 276 of file robot_model.h.

◆ getMissingVariableNames()

void moveit::core::RobotModel::getMissingVariableNames	(	const std::vector< std::string > &	variables,
		std::vector< std::string > &	missing_variables
	)		const

Definition at line 1424 of file robot_model.cpp.

◆ getModelFrame()

const std::string& moveit::core::RobotModel::getModelFrame ( ) const

inline

Get the frame in which the transforms for this model are computed (when using a RobotState). This frame depends on the root joint. As such, the frame is either extracted from SRDF, or it is assumed to be the name of the root link.

Definition at line 162 of file robot_model.h.

◆ getMultiDOFJointModels()

const std::vector<const JointModel*>& moveit::core::RobotModel::getMultiDOFJointModels ( ) const

inline

This is a list of all multi-dof joints.

Definition at line 262 of file robot_model.h.

◆ getName()

const std::string& moveit::core::RobotModel::getName ( ) const

inline

Get the model name.

Definition at line 153 of file robot_model.h.

◆ getRigidlyConnectedParentLinkModel() [1/2]

static const moveit::core::LinkModel* moveit::core::RobotModel::getRigidlyConnectedParentLinkModel	(	const LinkModel *	link,
		const JointModelGroup *	jmg = `nullptr`
	)

inlinestatic

Definition at line 342 of file robot_model.h.

◆ getRigidlyConnectedParentLinkModel() [2/2]

const LinkModel * moveit::core::RobotModel::getRigidlyConnectedParentLinkModel	(	const LinkModel *	link,
		Eigen::Isometry3d &	transform,
		const JointModelGroup *	jmg = `nullptr`
	)

static

Get the latest link upwards the kinematic tree, which is only connected via fixed joints.

If jmg is given, all links that are not active in this JMG are considered fixed. Otherwise only fixed joints are considered fixed.

This is useful, if the link should be warped to a specific pose using updateStateWithLinkAt(). As updateStateWithLinkAt() warps only the specified link and its descendants, you might not achieve what you expect, if link is an abstract frame name. Considering the following example: root -> arm0 -> ... -> armN -> wrist – grasp_frame – palm -> end effector ... Calling updateStateWithLinkAt(grasp_frame), will not warp the end effector, which is probably what you went for. Instead, updateStateWithLinkAt(getRigidlyConnectedParentLinkModel(grasp_frame), ...) will actually warp wrist (and all its descendants).

Definition at line 1346 of file robot_model.cpp.

◆ getRootJoint()

const JointModel * moveit::core::RobotModel::getRootJoint ( ) const

Get the root joint. There will be one root joint unless the model is empty. This is either extracted from the SRDF, or a fixed joint is assumed, if no specification is given.

Definition at line 141 of file robot_model.cpp.

◆ getRootJointName()

const std::string& moveit::core::RobotModel::getRootJointName ( ) const

inline

Return the name of the root joint. Throws an exception if there is no root joint.

Definition at line 199 of file robot_model.h.

◆ getRootLink()

const LinkModel * moveit::core::RobotModel::getRootLink ( ) const

Get the physical root link of the robot.

Definition at line 146 of file robot_model.cpp.

◆ getRootLinkName()

const std::string& moveit::core::RobotModel::getRootLinkName ( ) const

inline

Get the name of the root link of the robot.

Definition at line 306 of file robot_model.h.

◆ getSingleDOFJointModels()

const std::vector<const JointModel*>& moveit::core::RobotModel::getSingleDOFJointModels ( ) const

inline

This is a list of all single-dof joints (including mimic joints)

Definition at line 256 of file robot_model.h.

◆ getSRDF()

const srdf::ModelConstSharedPtr& moveit::core::RobotModel::getSRDF ( ) const

inline

Get the parsed SRDF model.

Definition at line 180 of file robot_model.h.

◆ getURDF()

const urdf::ModelInterfaceSharedPtr& moveit::core::RobotModel::getURDF ( ) const

inline

Get the parsed URDF model.

Definition at line 174 of file robot_model.h.

◆ getVariableBounds()

const VariableBounds& moveit::core::RobotModel::getVariableBounds ( const std::string & variable ) const

inline

Get the bounds for a specific variable. Throw an exception of variable is not found.

Definition at line 512 of file robot_model.h.

◆ getVariableCount()

std::size_t moveit::core::RobotModel::getVariableCount ( ) const

inline

Get the number of variables that describe this model.

Definition at line 497 of file robot_model.h.

◆ getVariableDefaultPositions() [1/3]

void moveit::core::RobotModel::getVariableDefaultPositions ( double * values ) const

Compute the default values for a RobotState.

Definition at line 1408 of file robot_model.cpp.

◆ getVariableDefaultPositions() [2/3]

void moveit::core::RobotModel::getVariableDefaultPositions ( std::map< std::string, double > & values ) const

Compute the default values for a RobotState.

Definition at line 1415 of file robot_model.cpp.

◆ getVariableDefaultPositions() [3/3]

void moveit::core::RobotModel::getVariableDefaultPositions ( std::vector< double > & values ) const

inline

Compute the default values for a RobotState.

Definition at line 405 of file robot_model.h.

◆ getVariableIndex()

int moveit::core::RobotModel::getVariableIndex ( const std::string & variable ) const

Get the index of a variable in the robot state.

Definition at line 1435 of file robot_model.cpp.

◆ getVariableNames()

const std::vector<std::string>& moveit::core::RobotModel::getVariableNames ( ) const

inline

Get the names of the variables that make up the joints that form this state. Fixed joints have no DOF, so they are not here, but the variables for mimic joints are included. The number of returned elements is always equal to getVariableCount()

Definition at line 506 of file robot_model.h.

◆ getVariableRandomPositions() [1/3]

void moveit::core::RobotModel::getVariableRandomPositions	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values
	)		const

Compute the random values for a RobotState.

Definition at line 1391 of file robot_model.cpp.

◆ getVariableRandomPositions() [2/3]

void moveit::core::RobotModel::getVariableRandomPositions	(	random_numbers::RandomNumberGenerator &	rng,
		std::map< std::string, double > &	values
	)		const

Compute the random values for a RobotState.

Definition at line 1398 of file robot_model.cpp.

◆ getVariableRandomPositions() [3/3]

void moveit::core::RobotModel::getVariableRandomPositions	(	random_numbers::RandomNumberGenerator &	rng,
		std::vector< double > &	values
	)		const

inline

Compute the random values for a RobotState.

Definition at line 398 of file robot_model.h.

◆ hasEndEffector()

bool moveit::core::RobotModel::hasEndEffector ( const std::string & eef ) const

Check if an end effector exists.

Definition at line 509 of file robot_model.cpp.

◆ hasJointModel()

bool moveit::core::RobotModel::hasJointModel ( const std::string & name ) const

Check if a joint exists. Return true if it does.

Definition at line 1276 of file robot_model.cpp.

◆ hasJointModelGroup()

bool moveit::core::RobotModel::hasJointModelGroup ( const std::string & group ) const

Check if the JointModelGroup group exists.

Definition at line 542 of file robot_model.cpp.

◆ hasLinkModel()

bool moveit::core::RobotModel::hasLinkModel ( const std::string & name ) const

Check if a link exists. Return true if it does.

If this is followed by a call to getLinkModel(), better use the latter with the has_link argument

Definition at line 1281 of file robot_model.cpp.

◆ interpolate()

void moveit::core::RobotModel::interpolate	(	const double *	from,
		const double *	to,
		double	t,
		double *	state
	)		const

Interpolate between "from" state, to "to" state. Mimic joints are correctly updated.

Parameters

from	interpolate from this state
to	to this state
t	a fraction in the range [0 1]. If 1, the result matches "to" state exactly.
state	holds the result

Definition at line 1486 of file robot_model.cpp.

◆ isEmpty()

bool moveit::core::RobotModel::isEmpty ( ) const

inline

Return true if the model is empty (has no root link, no joints)

Definition at line 168 of file robot_model.h.

◆ printModelInfo()

void moveit::core::RobotModel::printModelInfo ( std::ostream & out ) const

Print information about the constructed model.

Definition at line 1570 of file robot_model.cpp.

◆ satisfiesPositionBounds() [1/2]

bool moveit::core::RobotModel::satisfiesPositionBounds	(	const double *	state,
		const JointBoundsVector &	active_joint_bounds,
		double	margin = `0.0`
	)		const

Definition at line 1452 of file robot_model.cpp.

◆ satisfiesPositionBounds() [2/2]

bool moveit::core::RobotModel::satisfiesPositionBounds	(	const double *	state,
		double	margin = `0.0`
	)		const

inline

Definition at line 423 of file robot_model.h.

◆ setKinematicsAllocators()

void moveit::core::RobotModel::setKinematicsAllocators ( const std::map< std::string, SolverAllocatorFn > & allocators )

A map of known kinematics solvers (associated to their group name)

Definition at line 1498 of file robot_model.cpp.

◆ updateMimicJoints()

void moveit::core::RobotModel::updateMimicJoints ( double * values ) const

protected

Update the variable values for the state of a group with respect to the mimic joints.

Definition at line 1381 of file robot_model.cpp.

Member Data Documentation

◆ active_joint_model_names_vector_

std::vector<std::string> moveit::core::RobotModel::active_joint_model_names_vector_

protected

The vector of joint names that corresponds to active_joint_model_vector_.

Definition at line 613 of file robot_model.h.

◆ active_joint_model_start_index_

std::vector<int> moveit::core::RobotModel::active_joint_model_start_index_

protected

Definition at line 651 of file robot_model.h.

◆ active_joint_model_vector_

std::vector<JointModel*> moveit::core::RobotModel::active_joint_model_vector_

protected

The vector of joints in the model, in the order they appear in the state vector.

Definition at line 610 of file robot_model.h.

◆ active_joint_model_vector_const_

std::vector<const JointModel*> moveit::core::RobotModel::active_joint_model_vector_const_

protected

The vector of joints in the model, in the order they appear in the state vector.

Definition at line 616 of file robot_model.h.

◆ active_joint_models_bounds_

JointBoundsVector moveit::core::RobotModel::active_joint_models_bounds_

protected

The bounds for all the active joint models.

Definition at line 654 of file robot_model.h.

◆ common_joint_roots_

std::vector<int> moveit::core::RobotModel::common_joint_roots_

protected

For every two joints, the index of the common root for thw joints is stored.

for jointA, jointB the index of the common root is located in the array at location jointA->getJointIndex() * nr.joints + jointB->getJointIndex(). The size of this array is nr.joints * nr.joints

Definition at line 635 of file robot_model.h.

◆ continuous_joint_model_vector_

std::vector<const JointModel*> moveit::core::RobotModel::continuous_joint_model_vector_

protected

The set of continuous joints this model contains.

Definition at line 619 of file robot_model.h.

◆ end_effectors_

std::vector<const JointModelGroup*> moveit::core::RobotModel::end_effectors_

protected

The array of end-effectors, in alphabetical order.

Definition at line 677 of file robot_model.h.

◆ end_effectors_map_

JointModelGroupMap moveit::core::RobotModel::end_effectors_map_

protected

The known end effectors.

Definition at line 665 of file robot_model.h.

◆ joint_model_group_map_

JointModelGroupMap moveit::core::RobotModel::joint_model_group_map_

protected

A map from group names to joint groups.

Definition at line 662 of file robot_model.h.

◆ joint_model_group_names_

std::vector<std::string> moveit::core::RobotModel::joint_model_group_names_

protected

A vector of all group names, in alphabetical order.

Definition at line 674 of file robot_model.h.

◆ joint_model_groups_

std::vector<JointModelGroup*> moveit::core::RobotModel::joint_model_groups_

protected

The array of joint model groups, in alphabetical order.

Definition at line 668 of file robot_model.h.

◆ joint_model_groups_const_

std::vector<const JointModelGroup*> moveit::core::RobotModel::joint_model_groups_const_

protected

The array of joint model groups, in alphabetical order.

Definition at line 671 of file robot_model.h.

◆ joint_model_map_

JointModelMap moveit::core::RobotModel::joint_model_map_

protected

A map from joint names to their instances.

Definition at line 598 of file robot_model.h.

◆ joint_model_names_vector_

std::vector<std::string> moveit::core::RobotModel::joint_model_names_vector_

protected

The vector of joint names that corresponds to joint_model_vector_.

Definition at line 607 of file robot_model.h.

◆ joint_model_vector_

std::vector<JointModel*> moveit::core::RobotModel::joint_model_vector_

protected

The vector of joints in the model, in the order they appear in the state vector.

Definition at line 601 of file robot_model.h.

◆ joint_model_vector_const_

std::vector<const JointModel*> moveit::core::RobotModel::joint_model_vector_const_

protected

The vector of joints in the model, in the order they appear in the state vector.

Definition at line 604 of file robot_model.h.

◆ joint_variables_index_map_

VariableIndexMap moveit::core::RobotModel::joint_variables_index_map_

protected

The state includes all the joint variables that make up the joints the state consists of. This map gives the position in the state vector of the group for each of these variables. Additionaly, it includes the names of the joints and the index for the first variable of that joint.

Definition at line 649 of file robot_model.h.

◆ joints_of_variable_

std::vector<const JointModel*> moveit::core::RobotModel::joints_of_variable_

protected

The joints that correspond to each variable index.

Definition at line 657 of file robot_model.h.

◆ link_geometry_count_

std::size_t moveit::core::RobotModel::link_geometry_count_

protected

Total number of geometric shapes in this model.

Definition at line 590 of file robot_model.h.

◆ link_model_map_

LinkModelMap moveit::core::RobotModel::link_model_map_

protected

A map from link names to their instances.

Definition at line 572 of file robot_model.h.

◆ link_model_names_vector_

std::vector<std::string> moveit::core::RobotModel::link_model_names_vector_

protected

The vector of link names that corresponds to link_model_vector_.

Definition at line 581 of file robot_model.h.

◆ link_model_names_with_collision_geometry_vector_

std::vector<std::string> moveit::core::RobotModel::link_model_names_with_collision_geometry_vector_

protected

The vector of link names that corresponds to link_models_with_collision_geometry_vector_.

Definition at line 587 of file robot_model.h.

◆ link_model_vector_

std::vector<LinkModel*> moveit::core::RobotModel::link_model_vector_

protected

The vector of links that are updated when computeTransforms() is called, in the order they are updated.

Definition at line 575 of file robot_model.h.

◆ link_model_vector_const_

std::vector<const LinkModel*> moveit::core::RobotModel::link_model_vector_const_

protected

The vector of links that are updated when computeTransforms() is called, in the order they are updated.

Definition at line 578 of file robot_model.h.

◆ link_models_with_collision_geometry_vector_

std::vector<const LinkModel*> moveit::core::RobotModel::link_models_with_collision_geometry_vector_

protected

Only links that have collision geometry specified.

Definition at line 584 of file robot_model.h.

◆ mimic_joints_

std::vector<const JointModel*> moveit::core::RobotModel::mimic_joints_

protected

The set of mimic joints this model contains.

Definition at line 622 of file robot_model.h.

◆ model_frame_

std::string moveit::core::RobotModel::model_frame_

protected

The reference (base) frame for this model. The frame is either extracted from the SRDF as a virtual joint, or it is assumed to be the name of the root link in the URDF.

Definition at line 560 of file robot_model.h.

◆ model_name_

std::string moveit::core::RobotModel::model_name_

protected

The name of the robot.

Definition at line 556 of file robot_model.h.

◆ multi_dof_joints_

std::vector<const JointModel*> moveit::core::RobotModel::multi_dof_joints_

protected

Definition at line 626 of file robot_model.h.

◆ root_joint_

const JointModel* moveit::core::RobotModel::root_joint_

protected

The root joint.

Definition at line 595 of file robot_model.h.

◆ root_link_

const LinkModel* moveit::core::RobotModel::root_link_

protected

The first physical link for the robot.

Definition at line 569 of file robot_model.h.

◆ single_dof_joints_

std::vector<const JointModel*> moveit::core::RobotModel::single_dof_joints_

protected

Definition at line 624 of file robot_model.h.

◆ srdf_

srdf::ModelConstSharedPtr moveit::core::RobotModel::srdf_

protected

Definition at line 562 of file robot_model.h.

◆ urdf_

urdf::ModelInterfaceSharedPtr moveit::core::RobotModel::urdf_

protected

Definition at line 564 of file robot_model.h.

◆ variable_count_

std::size_t moveit::core::RobotModel::variable_count_

protected

Get the number of variables necessary to describe this model.

Definition at line 644 of file robot_model.h.

◆ variable_names_

std::vector<std::string> moveit::core::RobotModel::variable_names_

protected

The names of the DOF that make up this state (this is just a sequence of joint variable names; not necessarily joint names!)

Definition at line 641 of file robot_model.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Access to link models

Detailed Description

Constructor & Destructor Documentation

◆ RobotModel()

◆ ~RobotModel()

Member Function Documentation

◆ addJointModelGroup()

◆ buildGroups()

◆ buildGroupsInfoEndEffectors()

◆ buildGroupsInfoSubgroups()

◆ buildGroupStates()

◆ buildJointInfo()

◆ buildMimic()

◆ buildModel()

◆ buildRecursive()

◆ computeCommonRoot()

◆ computeCommonRoots()

◆ computeDescendants()

◆ computeFixedTransforms()

◆ constructJointModel()

◆ constructLinkModel()

◆ constructShape()

◆ distance()

◆ enforcePositionBounds() [1/2]

◆ enforcePositionBounds() [2/2]

◆ getActiveJointModelNames()

◆ getActiveJointModels() [1/2]

◆ getActiveJointModels() [2/2]

◆ getActiveJointModelsBounds()

◆ getCommonRoot()

◆ getContinuousJointModels()

◆ getEndEffector() [1/2]

◆ getEndEffector() [2/2]

◆ getEndEffectors()

◆ getJointModel() [1/3]

◆ getJointModel() [2/3]

◆ getJointModel() [3/3]

◆ getJointModelCount()

◆ getJointModelGroup() [1/2]

◆ getJointModelGroup() [2/2]

◆ getJointModelGroupNames()

◆ getJointModelGroups() [1/2]

◆ getJointModelGroups() [2/2]

◆ getJointModelNames()

◆ getJointModels() [1/2]

◆ getJointModels() [2/2]

◆ getJointOfVariable() [1/2]

◆ getJointOfVariable() [2/2]

◆ getLinkGeometryCount()

◆ getLinkModel() [1/3]

◆ getLinkModel() [2/3]

◆ getLinkModel() [3/3]

◆ getLinkModelCount()

◆ getLinkModelNames()

◆ getLinkModelNamesWithCollisionGeometry()

◆ getLinkModels() [1/2]

◆ getLinkModels() [2/2]

◆ getLinkModelsWithCollisionGeometry()

◆ getMaximumExtent() [1/2]

◆ getMaximumExtent() [2/2]

◆ getMimicJointModels()

◆ getMissingVariableNames()

◆ getModelFrame()

◆ getMultiDOFJointModels()

◆ getName()

◆ getRigidlyConnectedParentLinkModel() [1/2]

◆ getRigidlyConnectedParentLinkModel() [2/2]

◆ getRootJoint()

◆ getRootJointName()

◆ getRootLink()

◆ getRootLinkName()

◆ getSingleDOFJointModels()

◆ getSRDF()

◆ getURDF()

◆ getVariableBounds()

◆ getVariableCount()

◆ getVariableDefaultPositions() [1/3]