planning_models::KinematicState::JointStateGroup Class Reference

#include <kinematic_state.h>

Public Member Functions
unsigned int	getDimension () const
const KinematicModel::JointModelGroup *	getJointModelGroup ()
const std::vector< std::string > &	getJointNames () const
const std::vector< JointState * > &	getJointRoots () const
JointState *	getJointState (const std::string &joint) const
	Get a joint state by its name.
const std::vector< JointState * > &	getJointStateVector () const
const std::map< std::string, unsigned int > &	getKinematicStateIndexMap () const
void	getKinematicStateValues (std::map< std::string, double > &joint_state_values) const
void	getKinematicStateValues (std::vector< double > &joint_state_values) const
const std::string &	getName () const
bool	hasJointState (const std::string &joint) const
	Check if a joint is part of this group.
	JointStateGroup (const KinematicModel::JointModelGroup jmg, const KinematicState owner)
bool	setKinematicState (const std::map< std::string, double > &joint_state_map)
	Perform forward kinematics starting at the roots within a group. Links that are not in the group are also updated, but transforms for joints that are not in the group are not recomputed.
bool	setKinematicState (const std::vector< double > &joint_state_values)
	Perform forward kinematics starting at the roots within a group. Links that are not in the group are also updated, but transforms for joints that are not in the group are not recomputed.
void	setKinematicStateToDefault ()
	Bring the group to a default state. All joints are at 0. If 0 is not within the bounds of the joint, the middle of the bounds is used.
void	updateKinematicLinks ()
bool	updatesLinkState (const std::string &joint) const
	Check if a link is updated by this group.
	~JointStateGroup (void)
Private Attributes
unsigned int	dimension_
const KinematicModel::JointModelGroup *	joint_model_group_
std::vector< std::string >	joint_names_
	Names of joints in the order they appear in the group state.
std::vector< JointState * >	joint_roots_
	The list of joints that are roots in this group.
std::map< std::string, JointState * >	joint_state_map_
	A map from joint names to their instances.
std::vector< JointState * >	joint_state_vector_
	Joint instances in the order they appear in the group state.
boost::shared_ptr< KinematicModel >	kinematic_model_
	The kinematic model that owns the group.
std::map< std::string, unsigned int >	kinematic_state_index_map_
std::vector< LinkState * >	updated_links_
	The list of links that are updated when computeTransforms() is called, in the order they are updated.

Detailed Description

Definition at line 273 of file kinematic_state.h.

Constructor & Destructor Documentation

planning_models::KinematicState::JointStateGroup::JointStateGroup	(	const KinematicModel::JointModelGroup *	jmg,
		const KinematicState *	owner
	)

Definition at line 572 of file kinematic_state.cpp.

planning_models::KinematicState::JointStateGroup::~JointStateGroup ( void ) [inline]

Definition at line 281 of file kinematic_state.h.

Member Function Documentation

unsigned int planning_models::KinematicState::JointStateGroup::getDimension ( ) const [inline]

Definition at line 294 of file kinematic_state.h.

const KinematicModel::JointModelGroup* planning_models::KinematicState::JointStateGroup::getJointModelGroup ( ) [inline]

Definition at line 285 of file kinematic_state.h.

const std::vector<std::string>& planning_models::KinematicState::JointStateGroup::getJointNames ( ) const [inline]

Definition at line 342 of file kinematic_state.h.

const std::vector<JointState*>& planning_models::KinematicState::JointStateGroup::getJointRoots ( ) const [inline]

Definition at line 332 of file kinematic_state.h.

planning_models::KinematicState::JointState * planning_models::KinematicState::JointStateGroup::getJointState ( const std::string & joint ) const

Get a joint state by its name.

Definition at line 704 of file kinematic_state.cpp.

const std::vector<JointState*>& planning_models::KinematicState::JointStateGroup::getJointStateVector ( ) const [inline]

Definition at line 347 of file kinematic_state.h.

const std::map<std::string, unsigned int>& planning_models::KinematicState::JointStateGroup::getKinematicStateIndexMap ( ) const [inline]

Definition at line 337 of file kinematic_state.h.

void planning_models::KinematicState::JointStateGroup::getKinematicStateValues ( std::map< std::string, double > & joint_state_values ) const

Definition at line 689 of file kinematic_state.cpp.

void planning_models::KinematicState::JointStateGroup::getKinematicStateValues ( std::vector< double > & joint_state_values ) const

Definition at line 674 of file kinematic_state.cpp.

const std::string& planning_models::KinematicState::JointStateGroup::getName ( void ) const [inline]

Definition at line 289 of file kinematic_state.h.

bool planning_models::KinematicState::JointStateGroup::hasJointState ( const std::string & joint ) const

Check if a joint is part of this group.

Definition at line 611 of file kinematic_state.cpp.

bool planning_models::KinematicState::JointStateGroup::setKinematicState ( const std::map< std::string, double > & joint_state_map )

Perform forward kinematics starting at the roots within a group. Links that are not in the group are also updated, but transforms for joints that are not in the group are not recomputed.

Definition at line 644 of file kinematic_state.cpp.

bool planning_models::KinematicState::JointStateGroup::setKinematicState ( const std::vector< double > & joint_state_values )

Perform forward kinematics starting at the roots within a group. Links that are not in the group are also updated, but transforms for joints that are not in the group are not recomputed.

Definition at line 623 of file kinematic_state.cpp.

void planning_models::KinematicState::JointStateGroup::setKinematicStateToDefault ( void )

Bring the group to a default state. All joints are at 0. If 0 is not within the bounds of the joint, the middle of the bounds is used.

Definition at line 662 of file kinematic_state.cpp.

void planning_models::KinematicState::JointStateGroup::updateKinematicLinks ( )

compute transforms using current joint values

Definition at line 655 of file kinematic_state.cpp.

bool planning_models::KinematicState::JointStateGroup::updatesLinkState ( const std::string & joint ) const

Check if a link is updated by this group.

Definition at line 615 of file kinematic_state.cpp.