planning_models::KinematicModel Class Reference

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

#include <kinematic_model.h>

Classes
class	AttachedBodyModel
	Class defining bodies that can be attached to robot links. This is useful when handling objects picked up by the robot. More...
class	FixedJointModel
	A fixed joint. More...
class	FloatingJointModel
	A floating joint. More...
class	JointModel
	A joint from the robot. Contains the transform applied by the joint type. More...
class	JointModelGroup
class	LinkModel
	A link from the robot. Contains the constant transform applied to the link and its geometry. More...
struct	MultiDofConfig
class	PlanarJointModel
	A planar joint. More...
class	PrismaticJointModel
	A prismatic joint. More...
class	RevoluteJointModel
	A revolute joint. More...
Public Member Functions
void	addAttachedBodyModel (const std::string &link_name, AttachedBodyModel *att_body_model)
void	clearAllAttachedBodyModels ()
void	clearLinkAttachedBodyModel (const std::string &link_name, const std::string &att_name)
void	clearLinkAttachedBodyModels (const std::string &link_name)
void	copyFrom (const KinematicModel &source)
void	defaultState (void)
void	exclusiveLock (void) const
	Provide interface to get an exclusive lock to change the model. Use carefully!
void	exclusiveUnlock (void) const
	Provide interface to release an exclusive lock. Use carefully!
void	getChildLinkModels (const LinkModel parent, std::vector< const LinkModel > &links) const
	Get the set of links that follow a parent link in the kinematic chain.
const JointModel *	getJointModel (const std::string &joint) const
	Get a joint by its name.
const std::map< std::string, JointModelGroup * > &	getJointModelGroupMap () const
void	getJointModelNames (std::vector< std::string > &joints) const
	Get the array of joint names, in the order they appear in the robot state.
const std::vector< JointModel * > &	getJointModels () const
	Get the array of joints, in the order they appear in the robot state.
const LinkModel *	getLinkModel (const std::string &link) const
	Get a link by its name.
void	getLinkModelNames (std::vector< std::string > &links) const
	Get the link names in the order they should be updated.
const std::vector< LinkModel * > &	getLinkModels () const
	Get the array of joints, in the order they should be updated.
const JointModelGroup *	getModelGroup (const std::string &name) const
void	getModelGroupNames (std::vector< std::string > &getModelGroupNames) const
const std::string &	getName (void) const
	General the model name.
const JointModel *	getRoot (void) const
	Get the root joint.
bool	hasJointModel (const std::string &name) const
	Check if a joint exists.
bool	hasLinkModel (const std::string &name) const
	Check if a link exists.
bool	hasModelGroup (const std::string &group) const
	KinematicModel (const urdf::Model &model, const std::map< std::string, std::vector< std::string > > &groups, const std::vector< MultiDofConfig > &multi_dof_configs)
	Construct a kinematic model from a parsed description and a list of planning groups.
	KinematicModel (const KinematicModel &source)
	Construct a kinematic model from another one.
void	printModelInfo (std::ostream &out=std::cout) const
	Print information about the constructed model.
void	replaceAttachedBodyModels (const std::string &link_name, std::vector< AttachedBodyModel * > &attached_body_vector)
void	sharedLock (void) const
	Provide interface to get a shared lock for reading model data.
void	sharedUnlock (void) const
	Provide interface to release a shared lock.
	~KinematicModel (void)
	Destructor. Clear all memory.
Private Member Functions
void	buildGroups (const std::map< std::string, std::vector< std::string > > &groups)
JointModel *	buildRecursive (LinkModel parent, const urdf::Link link, const std::vector< MultiDofConfig > &multi_dof_configs)
JointModel *	constructJointModel (const urdf::Joint urdfJointModel, const urdf::Link child_link, const std::vector< MultiDofConfig > &multi_dof_configs)
LinkModel *	constructLinkModel (const urdf::Link *urdfLink)
shapes::Shape *	constructShape (const urdf::Geometry *geom)
JointModel *	copyJointModel (const JointModel *joint)
JointModel *	copyRecursive (LinkModel parent, const LinkModel link)
Private Attributes
std::map< std::string, JointModelGroup * >	joint_model_group_map_
std::map< std::string, JointModel * >	joint_model_map_
	A map from joint names to their instances.
std::vector< JointModel * >	joint_model_vector_
	The vector of joints in the model, in the order they appear in the state vector.
std::map< std::string, LinkModel * >	link_model_map_
	A map from link names to their instances.
std::vector< LinkModel * >	link_model_vector_
	The vector of links that are updated when computeTransforms() is called, in the order they are updated.
boost::shared_mutex	lock_
	Shared lock for changing models.
std::string	model_name_
	The name of the model.
JointModel *	root_
	The root joint.

Detailed Description

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

Definition at line 48 of file kinematic_model.h.

Constructor & Destructor Documentation

planning_models::KinematicModel::KinematicModel ( const KinematicModel & source )

Construct a kinematic model from another one.

Definition at line 68 of file kinematic_model.cpp.

planning_models::KinematicModel::KinematicModel	(	const urdf::Model &	model,
		const std::map< std::string, std::vector< std::string > > &	groups,
		const std::vector< MultiDofConfig > &	multi_dof_configs
	)

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

Author:: Ioan Sucan

Definition at line 50 of file kinematic_model.cpp.

planning_models::KinematicModel::~KinematicModel ( void )

Destructor. Clear all memory.

Definition at line 73 of file kinematic_model.cpp.

Member Function Documentation

void planning_models::KinematicModel::addAttachedBodyModel	(	const std::string &	link_name,
		AttachedBodyModel *	att_body_model
	)

Definition at line 601 of file kinematic_model.cpp.

void planning_models::KinematicModel::buildGroups ( const std::map< std::string, std::vector< std::string > > & groups ) [private]

Definition at line 132 of file kinematic_model.cpp.

planning_models::KinematicModel::JointModel * planning_models::KinematicModel::buildRecursive	(	LinkModel *	parent,
		const urdf::Link *	link,
		const std::vector< MultiDofConfig > &	multi_dof_configs
	)			`[private]`

Definition at line 160 of file kinematic_model.cpp.

void planning_models::KinematicModel::clearAllAttachedBodyModels ( )

Definition at line 562 of file kinematic_model.cpp.

void planning_models::KinematicModel::clearLinkAttachedBodyModel	(	const std::string &	link_name,
		const std::string &	att_name
	)

Definition at line 592 of file kinematic_model.cpp.

void planning_models::KinematicModel::clearLinkAttachedBodyModels ( const std::string & link_name )

Definition at line 571 of file kinematic_model.cpp.

planning_models::KinematicModel::JointModel * planning_models::KinematicModel::constructJointModel	(	const urdf::Joint *	urdfJointModel,
		const urdf::Link *	child_link,
		const std::vector< MultiDofConfig > &	multi_dof_configs
	)			`[private]`

Definition at line 185 of file kinematic_model.cpp.

planning_models::KinematicModel::LinkModel * planning_models::KinematicModel::constructLinkModel ( const urdf::Link * urdfLink ) [private]

Definition at line 291 of file kinematic_model.cpp.

shapes::Shape * planning_models::KinematicModel::constructShape ( const urdf::Geometry * geom ) [private]

Definition at line 318 of file kinematic_model.cpp.

void planning_models::KinematicModel::copyFrom ( const KinematicModel & source )

Definition at line 109 of file kinematic_model.cpp.

planning_models::KinematicModel::JointModel * planning_models::KinematicModel::copyJointModel ( const JointModel * joint ) [private]

Definition at line 512 of file kinematic_model.cpp.

planning_models::KinematicModel::JointModel * planning_models::KinematicModel::copyRecursive	(	LinkModel *	parent,
		const LinkModel *	link
	)			`[private]`

Definition at line 491 of file kinematic_model.cpp.

void planning_models::KinematicModel::defaultState ( void )

void planning_models::KinematicModel::exclusiveLock ( void ) const

Provide interface to get an exclusive lock to change the model. Use carefully!

Definition at line 85 of file kinematic_model.cpp.

void planning_models::KinematicModel::exclusiveUnlock ( void ) const

Provide interface to release an exclusive lock. Use carefully!

Definition at line 90 of file kinematic_model.cpp.

void planning_models::KinematicModel::getChildLinkModels	(	const LinkModel *	parent,
		std::vector< const LinkModel * > &	links
	)			const

Get the set of links that follow a parent link in the kinematic chain.

const planning_models::KinematicModel::JointModel * planning_models::KinematicModel::getJointModel ( const std::string & joint ) const

Get a joint by its name.

Definition at line 442 of file kinematic_model.cpp.

const std::map<std::string, JointModelGroup*>& planning_models::KinematicModel::getJointModelGroupMap ( ) const [inline]

Definition at line 559 of file kinematic_model.h.

void planning_models::KinematicModel::getJointModelNames ( std::vector< std::string > & joints ) const

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

Definition at line 483 of file kinematic_model.cpp.

const std::vector<JointModel*>& planning_models::KinematicModel::getJointModels ( ) const [inline]

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

Definition at line 518 of file kinematic_model.h.

const planning_models::KinematicModel::LinkModel * planning_models::KinematicModel::getLinkModel ( const std::string & link ) const

Get a link by its name.

Definition at line 454 of file kinematic_model.cpp.

void planning_models::KinematicModel::getLinkModelNames ( std::vector< std::string > & links ) const

Get the link names in the order they should be updated.

Definition at line 474 of file kinematic_model.cpp.

const std::vector<LinkModel*>& planning_models::KinematicModel::getLinkModels ( ) const [inline]

Get the array of joints, in the order they should be updated.

Definition at line 524 of file kinematic_model.h.

const JointModelGroup* planning_models::KinematicModel::getModelGroup ( const std::string & name ) const [inline]

Definition at line 553 of file kinematic_model.h.

void planning_models::KinematicModel::getModelGroupNames ( std::vector< std::string > & getModelGroupNames ) const

Definition at line 466 of file kinematic_model.cpp.

const std::string & planning_models::KinematicModel::getName ( void ) const

General the model name.

Definition at line 105 of file kinematic_model.cpp.

const planning_models::KinematicModel::JointModel * planning_models::KinematicModel::getRoot ( void ) const

Get the root joint.

Definition at line 422 of file kinematic_model.cpp.

bool planning_models::KinematicModel::hasJointModel ( const std::string & name ) const

Check if a joint exists.

Definition at line 427 of file kinematic_model.cpp.

bool planning_models::KinematicModel::hasLinkModel ( const std::string & name ) const

Check if a link exists.

Definition at line 432 of file kinematic_model.cpp.

bool planning_models::KinematicModel::hasModelGroup ( const std::string & group ) const

Definition at line 437 of file kinematic_model.cpp.

void planning_models::KinematicModel::printModelInfo ( std::ostream & out = std::cout ) const

Print information about the constructed model.

void planning_models::KinematicModel::replaceAttachedBodyModels	(	const std::string &	link_name,
		std::vector< AttachedBodyModel * > &	attached_body_vector
	)