Forward definition of a joint group state. More...
#include <kinematic_state.h>
Public Member Functions | |
| bool | allJointStateValuesAreDefined (const std::map< std::string, double > &joint_value_map) const |
| Specifies whether or not all values associated with a joint are defined in the supplied joint value map. | |
| bool | areJointStateValuesWithinBounds () const |
| Checks if the current joint state values are all within the bounds set in the model. | |
| const std::map< std::string, std::pair< double, double > > & | getAllJointValueBounds () const |
| gets all bounds for a particular joint | |
| const std::string & | getChildFrameId () const |
| unsigned int | getDimension () |
| Gets the number of dimensions for a joint. | |
| const KinematicModel::JointModel * | getJointModel () const |
| Gets the joint model. | |
| const std::map< std::string, unsigned int > & | getJointStateIndexMap () const |
| const std::vector< std::string > & | getJointStateNameOrder () const |
| Gets the required name order for the joint state values. | |
| const std::vector< double > & | getJointStateValues () const |
| Gets the joint state values stored in the required order. | |
| bool | getJointValueBounds (const std::string &value_name, double &low, double &high) const |
| returns a pair of the low and high bounds for the given joint value. Supplied name should be externally defined name. | |
| const std::string & | getName () const |
| const std::string & | getParentFrameId () const |
| const btTransform & | getVariableTransform () const |
| Gets the current variable transform. | |
| JointState (const KinematicModel::JointModel *jm) | |
| bool | setJointStateValues (const btTransform &transform) |
| Sets the internal values from the transform. | |
| bool | setJointStateValues (const std::vector< double > &joint_value_vector) |
| Sets the internal values from the supplied vector, which are assumed to be in the required order. | |
| bool | setJointStateValues (const std::map< std::string, double > &joint_value_map, std::vector< std::string > &missing_states) |
| Sets the internal values from the joint_value_map, returning states that aren't being set. | |
| bool | setJointStateValues (const std::map< std::string, double > &joint_value_map) |
| Sets the internal values from the joint_value_map. | |
| ~JointState () | |
Private Attributes | |
| const KinematicModel::JointModel * | joint_model_ |
| std::map< std::string, unsigned int > | joint_state_index_map_ |
| std::vector< std::string > | joint_state_name_order_ |
| std::vector< double > | joint_state_values_ |
| btTransform | variable_transform_ |
| the local transform (computed by forward kinematics) | |
Forward definition of a joint group state.
Definition at line 53 of file kinematic_state.h.
| planning_models::KinematicState::JointState::JointState | ( | const KinematicModel::JointModel * | jm | ) |
brief Constructs the joint state from the model
Definition at line 374 of file kinematic_state.cpp.
| planning_models::KinematicState::JointState::~JointState | ( | ) | [inline] |
Definition at line 60 of file kinematic_state.h.
| bool planning_models::KinematicState::JointState::allJointStateValuesAreDefined | ( | const std::map< std::string, double > & | joint_value_map | ) | const |
Specifies whether or not all values associated with a joint are defined in the supplied joint value map.
Definition at line 461 of file kinematic_state.cpp.
| bool planning_models::KinematicState::JointState::areJointStateValuesWithinBounds | ( | ) | const |
Checks if the current joint state values are all within the bounds set in the model.
Definition at line 496 of file kinematic_state.cpp.
| const std::map< std::string, std::pair< double, double > > & planning_models::KinematicState::JointState::getAllJointValueBounds | ( | ) | const |
gets all bounds for a particular joint
Definition at line 491 of file kinematic_state.cpp.
| const std::string& planning_models::KinematicState::JointState::getChildFrameId | ( | ) | const [inline] |
Definition at line 130 of file kinematic_state.h.
| unsigned int planning_models::KinematicState::JointState::getDimension | ( | ) | [inline] |
Gets the number of dimensions for a joint.
Definition at line 97 of file kinematic_state.h.
| const KinematicModel::JointModel* planning_models::KinematicState::JointState::getJointModel | ( | ) | const [inline] |
Gets the joint model.
Definition at line 115 of file kinematic_state.h.
| const std::map<std::string, unsigned int>& planning_models::KinematicState::JointState::getJointStateIndexMap | ( | ) | const [inline] |
Definition at line 120 of file kinematic_state.h.
| const std::vector< std::string > & planning_models::KinematicState::JointState::getJointStateNameOrder | ( | ) | const |
Gets the required name order for the joint state values.
Definition at line 476 of file kinematic_state.cpp.
| const std::vector< double > & planning_models::KinematicState::JointState::getJointStateValues | ( | ) | const |
Gets the joint state values stored in the required order.
Definition at line 472 of file kinematic_state.cpp.
| bool planning_models::KinematicState::JointState::getJointValueBounds | ( | const std::string & | value_name, | |
| double & | low, | |||
| double & | high | |||
| ) | const |
returns a pair of the low and high bounds for the given joint value. Supplied name should be externally defined name.
Definition at line 480 of file kinematic_state.cpp.
| const std::string& planning_models::KinematicState::JointState::getName | ( | void | ) | const [inline] |
Definition at line 91 of file kinematic_state.h.
| const std::string& planning_models::KinematicState::JointState::getParentFrameId | ( | ) | const [inline] |
Definition at line 125 of file kinematic_state.h.
| const btTransform& planning_models::KinematicState::JointState::getVariableTransform | ( | ) | const [inline] |
Gets the current variable transform.
Definition at line 109 of file kinematic_state.h.
| bool planning_models::KinematicState::JointState::setJointStateValues | ( | const btTransform & | transform | ) |
Sets the internal values from the transform.
Definition at line 455 of file kinematic_state.cpp.
| bool planning_models::KinematicState::JointState::setJointStateValues | ( | const std::vector< double > & | joint_value_vector | ) |
Sets the internal values from the supplied vector, which are assumed to be in the required order.
Definition at line 394 of file kinematic_state.cpp.
| bool planning_models::KinematicState::JointState::setJointStateValues | ( | const std::map< std::string, double > & | joint_value_map, | |
| std::vector< std::string > & | missing_states | |||
| ) |
Sets the internal values from the joint_value_map, returning states that aren't being set.
Definition at line 428 of file kinematic_state.cpp.
| bool planning_models::KinematicState::JointState::setJointStateValues | ( | const std::map< std::string, double > & | joint_value_map | ) |
Sets the internal values from the joint_value_map.
Definition at line 403 of file kinematic_state.cpp.
const KinematicModel::JointModel* planning_models::KinematicState::JointState::joint_model_ [private] |
Definition at line 137 of file kinematic_state.h.
std::map<std::string, unsigned int> planning_models::KinematicState::JointState::joint_state_index_map_ [private] |
Definition at line 142 of file kinematic_state.h.
std::vector<std::string> planning_models::KinematicState::JointState::joint_state_name_order_ [private] |
Definition at line 144 of file kinematic_state.h.
std::vector<double> planning_models::KinematicState::JointState::joint_state_values_ [private] |
Definition at line 146 of file kinematic_state.h.
btTransform planning_models::KinematicState::JointState::variable_transform_ [private] |
the local transform (computed by forward kinematics)
Definition at line 140 of file kinematic_state.h.
