The class of EXOTica Scene. More...

#include <scene.h>

Inheritance diagram for exotica::Scene:

[legend]

Public Member Functions
void	AddObject (const std::string &name, const KDL::Frame &transform=KDL::Frame(), const std::string &parent="", const std::string &shape_resource_path="", const Eigen::Vector3d &scale=Eigen::Vector3d::Ones(), const KDL::RigidBodyInertia &inertia=KDL::RigidBodyInertia::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const bool update_collision_scene=true)

void	AddObject (const std::string &name, const KDL::Frame &transform=KDL::Frame(), const std::string &parent="", shapes::ShapeConstPtr shape=shapes::ShapeConstPtr(nullptr), const KDL::RigidBodyInertia &inertia=KDL::RigidBodyInertia::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const bool update_collision_scene=true)

void	AddObjectToEnvironment (const std::string &name, const KDL::Frame &transform=KDL::Frame(), shapes::ShapeConstPtr shape=nullptr, const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const bool update_collision_scene=true)

void	AddTrajectory (const std::string &link, const std::string &traj)

void	AddTrajectory (const std::string &link, std::shared_ptr< Trajectory > traj)

void	AddTrajectoryFromFile (const std::string &link, const std::string &traj)

bool	AlwaysUpdatesCollisionScene () const
	Whether the collision scene transforms get updated on every scene update. More...

void	AttachObject (const std::string &name, const std::string &parent)
	Attaches existing object to a new parent. E.g. attaching a grasping target to the end-effector. The relative transformation will be computed from current object and new parent transformations in the world frame. More...

void	AttachObjectLocal (const std::string &name, const std::string &parent, const Eigen::VectorXd &pose)

void	AttachObjectLocal (const std::string &name, const std::string &parent, const KDL::Frame &pose)
	Attaches existing object to a new parent specifying an offset in the new parent local frame. More...

void	CleanScene ()

void	DetachObject (const std::string &name)
	Detaches an object and leaves it a at its current world location. This effectively attaches the object to the world frame. More...

bool	get_has_quaternion_floating_base () const

int	get_num_controls () const

int	get_num_positions () const

int	get_num_state () const

int	get_num_state_derivative () const

int	get_num_velocities () const

const std::set< std::string > &	get_world_links_to_exclude_from_collision_scene () const
	Returns world links that are to be excluded from collision checking. More...

const CollisionScenePtr &	GetCollisionScene () const
	Returns a pointer to the CollisionScene. More...

std::vector< std::string >	GetControlledJointNames ()

const std::map< std::string, std::vector< std::string > > &	GetControlledJointToCollisionLinkMap () const
	Returns a map between controlled robot joint names and associated collision link names. Here we consider all fixed links between controlled links as belonging to the previous controlled joint (as if the collision links had been fused). More...

std::vector< std::string >	GetControlledLinkNames ()

Eigen::VectorXd	GetControlledState ()

std::shared_ptr< DynamicsSolver >	GetDynamicsSolver () const
	Returns a pointer to the CollisionScene. More...

exotica::KinematicTree &	GetKinematicTree ()

std::vector< std::string >	GetModelJointNames ()

std::vector< std::string >	GetModelLinkNames ()

const std::map< std::string, std::vector< std::shared_ptr< KinematicElement > > > &	GetModelLinkToCollisionElementMap () const
	Returns a map between a model link name and the KinematicElement of associated collision links. More...

const std::map< std::string, std::vector< std::string > > &	GetModelLinkToCollisionLinkMap () const
	Returns a map between a model link name and the names of associated collision links. More...

Eigen::VectorXd	GetModelState ()

std::map< std::string, double >	GetModelStateMap ()

const std::string &	GetName () const

moveit_msgs::PlanningScene	GetPlanningSceneMsg ()
	Returns the current robot configuration and collision environment as a moveit_msgs::PlanningScene. More...

std::string	GetRootFrameName ()

std::string	GetRootJointName ()

std::string	GetScene ()

std::shared_ptr< Trajectory >	GetTrajectory (const std::string &link)

std::map< std::string, std::weak_ptr< KinematicElement > >	GetTreeMap ()

bool	HasAttachedObject (const std::string &name)

virtual void	Instantiate (const SceneInitializer &init)

void	LoadScene (const std::string &scene, const Eigen::Isometry3d &offset=Eigen::Isometry3d::Identity(), bool update_collision_scene=true)

void	LoadScene (const std::string &scene, const KDL::Frame &offset=KDL::Frame(), bool update_collision_scene=true)

void	LoadSceneFile (const std::string &file_name, const Eigen::Isometry3d &offset=Eigen::Isometry3d::Identity(), bool update_collision_scene=true)

void	LoadSceneFile (const std::string &file_name, const KDL::Frame &offset=KDL::Frame(), bool update_collision_scene=true)

visualization_msgs::Marker	ProxyToMarker (const std::vector< CollisionProxy > &proxies, const std::string &frame)

void	PublishProxies (const std::vector< CollisionProxy > &proxies)

void	PublishScene ()

void	RemoveObject (const std::string &name)

void	RemoveTrajectory (const std::string &link)

void	RequestKinematics (KinematicsRequest &request, std::function< void(std::shared_ptr< KinematicResponse >)> callback)

	Scene ()

	Scene (const std::string &name)

void	SetModelState (const std::map< std::string, double > &x, double t=0, bool update_traj=true)

void	SetModelState (Eigen::VectorXdRefConst x, double t=0, bool update_traj=true)

void	Update (Eigen::VectorXdRefConst x, double t=0)

void	UpdateCollisionObjects ()

void	UpdatePlanningScene (const moveit_msgs::PlanningScene &scene)
	Update the collision scene from a moveit_msgs::PlanningScene. More...

void	UpdatePlanningSceneWorld (const moveit_msgs::PlanningSceneWorldConstPtr &world)
	Update the collision scene from a moveit_msgs::PlanningSceneWorld. More...

void	UpdateSceneFrames ()
	Updates exotica scene object frames from the MoveIt scene. More...

void	UpdateTrajectoryGenerators (double t=0)

virtual	~Scene ()

Public Member Functions inherited from exotica::Object
std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

	Object ()

virtual std::string	Print (const std::string &prepend) const

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

virtual	~Object ()

Public Member Functions inherited from exotica::Instantiable< SceneInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const SceneInitializer &	GetParameters () const

void	InstantiateInternal (const Initializer &init) override

Public Member Functions inherited from exotica::InstantiableBase
virtual std::vector< Initializer >	GetAllTemplates () const =0

	InstantiableBase ()=default

virtual void	InstantiateBase (const Initializer &)

virtual	~InstantiableBase ()=default

Private Member Functions
void	LoadSceneFromStringStream (std::istream &in, const Eigen::Isometry3d &offset, bool update_collision_scene)

void	UpdateInternalFrames (bool update_request=true)

void	UpdateMoveItPlanningScene ()
	Updates the internal state of the MoveIt PlanningScene from Kinematica. More...

Private Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default

	~Uncopyable ()=default

Private Attributes
std::map< std::string, AttachedObject >	attached_objects_
	List of attached objects These objects will be reattached if the scene gets reloaded. More...

CollisionScenePtr	collision_scene_
	The collision scene. More...

std::map< std::string, std::vector< std::string > >	controlled_joint_to_collision_link_map_
	Mapping between controlled joint name and collision links. More...

std::vector< std::shared_ptr< KinematicElement > >	custom_links_
	List of frames/links added on top of robot links and scene objects defined in the MoveIt scene. More...

std::shared_ptr< DynamicsSolver >	dynamics_solver_ = std::shared_ptr<DynamicsSolver>(nullptr)
	The dynamics solver. More...

bool	force_collision_

bool	has_quaternion_floating_base_ = false
	Whether the state includes a SE(3) floating base. More...

KinematicsRequest	kinematic_request_

std::function< void(std::shared_ptr< KinematicResponse >)>	kinematic_request_callback_

std::shared_ptr< KinematicResponse >	kinematic_solution_

exotica::KinematicTree	kinematica_
	The kinematica tree. More...

std::map< std::string, std::vector< std::shared_ptr< KinematicElement > > >	model_link_to_collision_element_map_

std::map< std::string, std::vector< std::string > >	model_link_to_collision_link_map_
	Mapping between model link names and collision links. More...

int	num_controls_ = 0
	"nu" More...

int	num_positions_ = 0
	"nq" More...

int	num_state_ = 0
	"nx" More...

int	num_state_derivative_ = 0
	"ndx" More...

int	num_velocities_ = 0
	"nv" More...

ros::Publisher	proxy_pub_

planning_scene::PlanningScenePtr	ps_
	Internal MoveIt planning scene. More...

ros::Publisher	ps_pub_
	Visual debug. More...

bool	request_needs_updating_

std::set< std::string >	robot_links_to_exclude_from_collision_scene_
	List of robot links to be excluded from the collision scene. More...

std::map< std::string, std::pair< std::weak_ptr< KinematicElement >, std::shared_ptr< Trajectory > > >	trajectory_generators_

std::set< std::string >	world_links_to_exclude_from_collision_scene_
	List of world links to be excluded from the collision scene. More...

Additional Inherited Members
Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Protected Attributes inherited from exotica::Instantiable< SceneInitializer >
SceneInitializer	parameters_

Detailed Description

The class of EXOTica Scene.

Definition at line 69 of file scene.h.

Constructor & Destructor Documentation

◆ Scene() [1/2]

exotica::Scene::Scene ( const std::string & name )

Definition at line 57 of file scene.cpp.

◆ Scene() [2/2]

exotica::Scene::Scene ( )

default

◆ ~Scene()

exotica::Scene::~Scene ( )

virtualdefault

Member Function Documentation

◆ AddObject() [1/2]

void exotica::Scene::AddObject	(	const std::string &	name,
		const KDL::Frame &	transform = `KDL::Frame()`,
		const std::string &	parent = `""`,
		const std::string &	shape_resource_path = `""`,
		const Eigen::Vector3d &	scale = `Eigen::Vector3d::Ones()`,
		const KDL::RigidBodyInertia &	inertia = `KDL::RigidBodyInertia::Zero()`,
		const Eigen::Vector4d &	color = `Eigen::Vector4d(0.5, 0.5, 0.5, 1.0)`,
		const bool	update_collision_scene = `true`
	)

Definition at line 840 of file scene.cpp.

◆ AddObject() [2/2]

void exotica::Scene::AddObject	(	const std::string &	name,
		const KDL::Frame &	transform = `KDL::Frame()`,
		const std::string &	parent = `""`,
		shapes::ShapeConstPtr	shape = `shapes::ShapeConstPtr(nullptr)`,
		const KDL::RigidBodyInertia &	inertia = `KDL::RigidBodyInertia::Zero()`,
		const Eigen::Vector4d &	color = `Eigen::Vector4d(0.5, 0.5, 0.5, 1.0)`,
		const bool	update_collision_scene = `true`
	)

Definition at line 829 of file scene.cpp.

◆ AddObjectToEnvironment()

void exotica::Scene::AddObjectToEnvironment	(	const std::string &	name,
		const KDL::Frame &	transform = `KDL::Frame()`,
		shapes::ShapeConstPtr	shape = `nullptr`,
		const Eigen::Vector4d &	color = `Eigen::Vector4d(0.5, 0.5, 0.5, 1.0)`,
		const bool	update_collision_scene = `true`
	)

Definition at line 853 of file scene.cpp.

◆ AddTrajectory() [1/2]

void exotica::Scene::AddTrajectory	(	const std::string &	link,
		const std::string &	traj
	)

Definition at line 922 of file scene.cpp.

◆ AddTrajectory() [2/2]

void exotica::Scene::AddTrajectory	(	const std::string &	link,
		std::shared_ptr< Trajectory >	traj
	)

Definition at line 927 of file scene.cpp.

◆ AddTrajectoryFromFile()

void exotica::Scene::AddTrajectoryFromFile	(	const std::string &	link,
		const std::string &	traj
	)

Definition at line 917 of file scene.cpp.

◆ AlwaysUpdatesCollisionScene()

bool exotica::Scene::AlwaysUpdatesCollisionScene ( ) const

inline

Whether the collision scene transforms get updated on every scene update.

Returns: Whether collision scene transforms are force updated on every scene update.

Definition at line 165 of file scene.h.

◆ AttachObject()

void exotica::Scene::AttachObject	(	const std::string &	name,
		const std::string &	parent
	)

Attaches existing object to a new parent. E.g. attaching a grasping target to the end-effector. The relative transformation will be computed from current object and new parent transformations in the world frame.

Parameters

name	Name of the object to attach.
parent	Name of the new parent frame.

Definition at line 887 of file scene.cpp.

◆ AttachObjectLocal() [1/2]

void exotica::Scene::AttachObjectLocal	(	const std::string &	name,
		const std::string &	parent,
		const Eigen::VectorXd &	pose
	)

Definition at line 899 of file scene.cpp.

◆ AttachObjectLocal() [2/2]

void exotica::Scene::AttachObjectLocal	(	const std::string &	name,
		const std::string &	parent,
		const KDL::Frame &	pose
	)

Attaches existing object to a new parent specifying an offset in the new parent local frame.

Parameters

name	Name of the object to attach.
parent	Name of the new parent frame.
pose	Relative pose of the attached object in the new parent's local frame.

Definition at line 893 of file scene.cpp.

◆ CleanScene()

void exotica::Scene::CleanScene ( )

Definition at line 657 of file scene.cpp.

◆ DetachObject()

void exotica::Scene::DetachObject ( const std::string & name )

Detaches an object and leaves it a at its current world location. This effectively attaches the object to the world frame.

Parameters

name	Name of the object to detach.

Definition at line 904 of file scene.cpp.

◆ get_has_quaternion_floating_base()

bool exotica::Scene::get_has_quaternion_floating_base ( ) const

Definition at line 977 of file scene.cpp.

◆ get_num_controls()

int exotica::Scene::get_num_controls ( ) const

Definition at line 962 of file scene.cpp.

◆ get_num_positions()

int exotica::Scene::get_num_positions ( ) const

Definition at line 952 of file scene.cpp.

◆ get_num_state()

int exotica::Scene::get_num_state ( ) const

Definition at line 967 of file scene.cpp.

◆ get_num_state_derivative()

int exotica::Scene::get_num_state_derivative ( ) const

Definition at line 972 of file scene.cpp.

◆ get_num_velocities()

int exotica::Scene::get_num_velocities ( ) const

Definition at line 957 of file scene.cpp.

◆ get_world_links_to_exclude_from_collision_scene()

const std::set<std::string>& exotica::Scene::get_world_links_to_exclude_from_collision_scene ( ) const

inline

Returns world links that are to be excluded from collision checking.

Definition at line 176 of file scene.h.

◆ GetCollisionScene()

const CollisionScenePtr & exotica::Scene::GetCollisionScene ( ) const

Returns a pointer to the CollisionScene.

Definition at line 452 of file scene.cpp.

◆ GetControlledJointNames()

std::vector< std::string > exotica::Scene::GetControlledJointNames ( )

Definition at line 540 of file scene.cpp.

◆ GetControlledJointToCollisionLinkMap()

const std::map<std::string, std::vector<std::string> >& exotica::Scene::GetControlledJointToCollisionLinkMap ( ) const

inline

Returns a map between controlled robot joint names and associated collision link names. Here we consider all fixed links between controlled links as belonging to the previous controlled joint (as if the collision links had been fused).

Returns: Map between controlled joints and associated collision links.

Definition at line 174 of file scene.h.

◆ GetControlledLinkNames()

std::vector< std::string > exotica::Scene::GetControlledLinkNames ( )

Definition at line 545 of file scene.cpp.

◆ GetControlledState()

Eigen::VectorXd exotica::Scene::GetControlledState ( )

Definition at line 605 of file scene.cpp.

◆ GetDynamicsSolver()

std::shared_ptr< DynamicsSolver > exotica::Scene::GetDynamicsSolver ( ) const

Returns a pointer to the CollisionScene.

Definition at line 458 of file scene.cpp.

◆ GetKinematicTree()

exotica::KinematicTree & exotica::Scene::GetKinematicTree ( )

Definition at line 535 of file scene.cpp.

◆ GetModelJointNames()

std::vector< std::string > exotica::Scene::GetModelJointNames ( )

Definition at line 555 of file scene.cpp.

◆ GetModelLinkNames()

std::vector< std::string > exotica::Scene::GetModelLinkNames ( )

Definition at line 550 of file scene.cpp.

◆ GetModelLinkToCollisionElementMap()

const std::map<std::string, std::vector<std::shared_ptr<KinematicElement> > >& exotica::Scene::GetModelLinkToCollisionElementMap ( ) const

inline

Returns a map between a model link name and the KinematicElement of associated collision links.

Returns: Map between model links and all the KinematicElements of the associated collision links.

Definition at line 171 of file scene.h.

◆ GetModelLinkToCollisionLinkMap()

const std::map<std::string, std::vector<std::string> >& exotica::Scene::GetModelLinkToCollisionLinkMap ( ) const

inline

Returns a map between a model link name and the names of associated collision links.

Returns: Map between model links and all associated collision links.

Definition at line 168 of file scene.h.

◆ GetModelState()

Eigen::VectorXd exotica::Scene::GetModelState ( )

Definition at line 560 of file scene.cpp.

◆ GetModelStateMap()

std::map< std::string, double > exotica::Scene::GetModelStateMap ( )

Definition at line 565 of file scene.cpp.

◆ GetName()

const std::string & exotica::Scene::GetName ( ) const

Definition at line 64 of file scene.cpp.

◆ GetPlanningSceneMsg()

moveit_msgs::PlanningScene exotica::Scene::GetPlanningSceneMsg ( )

Returns the current robot configuration and collision environment as a moveit_msgs::PlanningScene.

Definition at line 473 of file scene.cpp.

◆ GetRootFrameName()

std::string exotica::Scene::GetRootFrameName ( )

Definition at line 463 of file scene.cpp.

◆ GetRootJointName()

std::string exotica::Scene::GetRootJointName ( )

Definition at line 468 of file scene.cpp.

◆ GetScene()

std::string exotica::Scene::GetScene ( )

Definition at line 649 of file scene.cpp.

◆ GetTrajectory()

std::shared_ptr< Trajectory > exotica::Scene::GetTrajectory ( const std::string & link )

Definition at line 937 of file scene.cpp.

◆ GetTreeMap()

std::map< std::string, std::weak_ptr< KinematicElement > > exotica::Scene::GetTreeMap ( )

Definition at line 570 of file scene.cpp.

◆ HasAttachedObject()

bool exotica::Scene::HasAttachedObject ( const std::string & name )

Definition at line 912 of file scene.cpp.

◆ Instantiate()

void exotica::Scene::Instantiate ( const SceneInitializer & init )

virtual

Reimplemented from exotica::Instantiable< SceneInitializer >.

Definition at line 69 of file scene.cpp.

◆ LoadScene() [1/2]

void exotica::Scene::LoadScene	(	const std::string &	scene,
		const Eigen::Isometry3d &	offset = `Eigen::Isometry3d::Identity()`,
		bool	update_collision_scene = `true`
	)

Definition at line 617 of file scene.cpp.

◆ LoadScene() [2/2]

void exotica::Scene::LoadScene	(	const std::string &	scene,
		const KDL::Frame &	offset = `KDL::Frame()`,
		bool	update_collision_scene = `true`
	)

Definition at line 610 of file scene.cpp.

◆ LoadSceneFile() [1/2]

void exotica::Scene::LoadSceneFile	(	const std::string &	file_name,
		const Eigen::Isometry3d &	offset = `Eigen::Isometry3d::Identity()`,
		bool	update_collision_scene = `true`
	)

Definition at line 630 of file scene.cpp.

◆ LoadSceneFile() [2/2]

void exotica::Scene::LoadSceneFile	(	const std::string &	file_name,
		const KDL::Frame &	offset = `KDL::Frame()`,
		bool	update_collision_scene = `true`
	)

Definition at line 623 of file scene.cpp.

◆ LoadSceneFromStringStream()

void exotica::Scene::LoadSceneFromStringStream	(	std::istream &	in,
		const Eigen::Isometry3d &	offset,
		bool	update_collision_scene
	)

private

Definition at line 637 of file scene.cpp.

◆ ProxyToMarker()

visualization_msgs::Marker exotica::Scene::ProxyToMarker	(	const std::vector< CollisionProxy > &	proxies,
		const std::string &	frame
	)

Definition at line 397 of file scene.cpp.

◆ PublishProxies()

void exotica::Scene::PublishProxies ( const std::vector< CollisionProxy > & proxies )

Definition at line 389 of file scene.cpp.

◆ PublishScene()

void exotica::Scene::PublishScene ( )

Definition at line 381 of file scene.cpp.

◆ RemoveObject()

void exotica::Scene::RemoveObject ( const std::string & name )

Definition at line 867 of file scene.cpp.

◆ RemoveTrajectory()

void exotica::Scene::RemoveTrajectory ( const std::string & link )

Definition at line 944 of file scene.cpp.

◆ RequestKinematics()

void exotica::Scene::RequestKinematics	(	KinematicsRequest &	request,
		std::function< void(std::shared_ptr< KinematicResponse >)>	callback
	)

Definition at line 320 of file scene.cpp.

◆ SetModelState() [1/2]

void exotica::Scene::SetModelState	(	const std::map< std::string, double > &	x,
		double	t = `0`,
		bool	update_traj = `true`
	)

Definition at line 590 of file scene.cpp.

◆ SetModelState() [2/2]

void exotica::Scene::SetModelState	(	Eigen::VectorXdRefConst	x,
		double	t = `0`,
		bool	update_traj = `true`
	)

Definition at line 575 of file scene.cpp.

◆ Update()

void exotica::Scene::Update	(	Eigen::VectorXdRefConst	x,
		double	t = `0`
	)

Definition at line 337 of file scene.cpp.

◆ UpdateCollisionObjects()

void exotica::Scene::UpdateCollisionObjects ( )

Definition at line 447 of file scene.cpp.

◆ UpdateInternalFrames()

void exotica::Scene::UpdateInternalFrames ( bool update_request = true )

private

Definition at line 664 of file scene.cpp.

◆ UpdateMoveItPlanningScene()

void exotica::Scene::UpdateMoveItPlanningScene ( )

private

Updates the internal state of the MoveIt PlanningScene from Kinematica.

Definition at line 350 of file scene.cpp.

◆ UpdatePlanningScene()

void exotica::Scene::UpdatePlanningScene ( const moveit_msgs::PlanningScene & scene )

Update the collision scene from a moveit_msgs::PlanningScene.

Parameters

[in] scene moveit_msgs::PlanningScene

Definition at line 433 of file scene.cpp.

◆ UpdatePlanningSceneWorld()

void exotica::Scene::UpdatePlanningSceneWorld ( const moveit_msgs::PlanningSceneWorldConstPtr & world )

Update the collision scene from a moveit_msgs::PlanningSceneWorld.

Parameters

[in] world moveit_msgs::PlanningSceneWorld

Definition at line 440 of file scene.cpp.

◆ UpdateSceneFrames()

void exotica::Scene::UpdateSceneFrames ( )

Updates exotica scene object frames from the MoveIt scene.

Definition at line 702 of file scene.cpp.

◆ UpdateTrajectoryGenerators()

void exotica::Scene::UpdateTrajectoryGenerators ( double t = 0 )

Definition at line 329 of file scene.cpp.

Member Data Documentation

◆ attached_objects_

std::map<std::string, AttachedObject> exotica::Scene::attached_objects_

private

List of attached objects These objects will be reattached if the scene gets reloaded.

Definition at line 218 of file scene.h.

◆ collision_scene_

CollisionScenePtr exotica::Scene::collision_scene_

private

The collision scene.

Definition at line 198 of file scene.h.

◆ controlled_joint_to_collision_link_map_

std::map<std::string, std::vector<std::string> > exotica::Scene::controlled_joint_to_collision_link_map_

private

Mapping between controlled joint name and collision links.

Definition at line 232 of file scene.h.

◆ custom_links_

std::vector<std::shared_ptr<KinematicElement> > exotica::Scene::custom_links_

private

List of frames/links added on top of robot links and scene objects defined in the MoveIt scene.

Definition at line 221 of file scene.h.

◆ dynamics_solver_

std::shared_ptr<DynamicsSolver> exotica::Scene::dynamics_solver_ = std::shared_ptr<DynamicsSolver>(nullptr)

private

The dynamics solver.

Definition at line 201 of file scene.h.

◆ force_collision_

bool exotica::Scene::force_collision_

private

Definition at line 225 of file scene.h.

◆ has_quaternion_floating_base_

bool exotica::Scene::has_quaternion_floating_base_ = false

private

Whether the state includes a SE(3) floating base.

Definition at line 185 of file scene.h.

◆ kinematic_request_

KinematicsRequest exotica::Scene::kinematic_request_

private

Definition at line 240 of file scene.h.

◆ kinematic_request_callback_

std::function<void(std::shared_ptr<KinematicResponse>)> exotica::Scene::kinematic_request_callback_

private

Definition at line 242 of file scene.h.

◆ kinematic_solution_

std::shared_ptr<KinematicResponse> exotica::Scene::kinematic_solution_

private

Definition at line 241 of file scene.h.

◆ kinematica_

exotica::KinematicTree exotica::Scene::kinematica_

private

The kinematica tree.

Definition at line 195 of file scene.h.

◆ model_link_to_collision_element_map_

std::map<std::string, std::vector<std::shared_ptr<KinematicElement> > > exotica::Scene::model_link_to_collision_element_map_

private

Definition at line 229 of file scene.h.

◆ model_link_to_collision_link_map_

std::map<std::string, std::vector<std::string> > exotica::Scene::model_link_to_collision_link_map_

private

Mapping between model link names and collision links.

Definition at line 228 of file scene.h.

◆ num_controls_

int exotica::Scene::num_controls_ = 0

private

"nu"

Definition at line 205 of file scene.h.

◆ num_positions_

int exotica::Scene::num_positions_ = 0

private

"nq"

Definition at line 203 of file scene.h.

◆ num_state_

int exotica::Scene::num_state_ = 0

private

"nx"

Definition at line 206 of file scene.h.

◆ num_state_derivative_

int exotica::Scene::num_state_derivative_ = 0

private

"ndx"

Definition at line 207 of file scene.h.

◆ num_velocities_

int exotica::Scene::num_velocities_ = 0

private

"nv"

Definition at line 204 of file scene.h.

◆ proxy_pub_

ros::Publisher exotica::Scene::proxy_pub_

private

Definition at line 214 of file scene.h.

◆ ps_

planning_scene::PlanningScenePtr exotica::Scene::ps_

private

Internal MoveIt planning scene.

Definition at line 210 of file scene.h.

◆ ps_pub_

ros::Publisher exotica::Scene::ps_pub_

private

Visual debug.

Definition at line 213 of file scene.h.

◆ request_needs_updating_

bool exotica::Scene::request_needs_updating_

private

Definition at line 243 of file scene.h.

◆ robot_links_to_exclude_from_collision_scene_

std::set<std::string> exotica::Scene::robot_links_to_exclude_from_collision_scene_

private

List of robot links to be excluded from the collision scene.

Definition at line 235 of file scene.h.

◆ trajectory_generators_

std::map<std::string, std::pair<std::weak_ptr<KinematicElement>, std::shared_ptr<Trajectory> > > exotica::Scene::trajectory_generators_

private

Definition at line 223 of file scene.h.

◆ world_links_to_exclude_from_collision_scene_

std::set<std::string> exotica::Scene::world_links_to_exclude_from_collision_scene_

private

List of world links to be excluded from the collision scene.

Definition at line 238 of file scene.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Scene() [1/2]

◆ Scene() [2/2]

◆ ~Scene()

Member Function Documentation

◆ AddObject() [1/2]

◆ AddObject() [2/2]

◆ AddObjectToEnvironment()

◆ AddTrajectory() [1/2]

◆ AddTrajectory() [2/2]

◆ AddTrajectoryFromFile()

◆ AlwaysUpdatesCollisionScene()

◆ AttachObject()

◆ AttachObjectLocal() [1/2]

◆ AttachObjectLocal() [2/2]

◆ CleanScene()

◆ DetachObject()

◆ get_has_quaternion_floating_base()

◆ get_num_controls()

◆ get_num_positions()

◆ get_num_state()

◆ get_num_state_derivative()

◆ get_num_velocities()

◆ get_world_links_to_exclude_from_collision_scene()

◆ GetCollisionScene()

◆ GetControlledJointNames()

◆ GetControlledJointToCollisionLinkMap()

◆ GetControlledLinkNames()

◆ GetControlledState()

◆ GetDynamicsSolver()

◆ GetKinematicTree()

◆ GetModelJointNames()

◆ GetModelLinkNames()

◆ GetModelLinkToCollisionElementMap()

◆ GetModelLinkToCollisionLinkMap()

◆ GetModelState()

◆ GetModelStateMap()

◆ GetName()

◆ GetPlanningSceneMsg()

◆ GetRootFrameName()

◆ GetRootJointName()

◆ GetScene()

◆ GetTrajectory()

◆ GetTreeMap()

◆ HasAttachedObject()

◆ Instantiate()

◆ LoadScene() [1/2]

◆ LoadScene() [2/2]

◆ LoadSceneFile() [1/2]

◆ LoadSceneFile() [2/2]

◆ LoadSceneFromStringStream()

◆ ProxyToMarker()

◆ PublishProxies()

◆ PublishScene()

◆ RemoveObject()

◆ RemoveTrajectory()

◆ RequestKinematics()

◆ SetModelState() [1/2]

◆ SetModelState() [2/2]

◆ Update()

◆ UpdateCollisionObjects()

◆ UpdateInternalFrames()

◆ UpdateMoveItPlanningScene()

◆ UpdatePlanningScene()

◆ UpdatePlanningSceneWorld()

◆ UpdateSceneFrames()

◆ UpdateTrajectoryGenerators()

Member Data Documentation

◆ attached_objects_

◆ collision_scene_

◆ controlled_joint_to_collision_link_map_

◆ custom_links_

◆ dynamics_solver_

◆ force_collision_

◆ has_quaternion_floating_base_