Core components of MoveIt. More...

Namespaces
	collision_detection

	kinematic_constraints

	planning_scene

	robot_model

	robot_state

	transforms

Classes
class	AABB
	Represents an axis-aligned bounding box. More...

class	AttachedBody
	Object defining bodies that can be attached to robot links. More...

class	CartesianInterpolator

struct	CartesianPrecision

class	FixedJointModel
	A fixed joint. More...

class	FloatingJointModel
	A floating joint. More...

class	JointModel
	A joint from the robot. Models the transform that this joint applies in the kinematic chain. A joint consists of multiple variables. In the simplest case, when the joint is a single DOF, there is only one variable and its name is the same as the joint's name. For multi-DOF joints, each variable has a local name (e.g., x, y) but the full variable name as seen from the outside of this class is a concatenation of the "joint name"/"local name" (e.g., a joint named 'base' with local variables 'x' and 'y' will store its full variable names as 'base/x' and 'base/y'). Local names are never used to reference variables directly. More...

class	JointModelGroup

struct	JumpThreshold
	Struct for containing jump_threshold. More...

class	LinkModel
	A link from the robot. Contains the constant transform applied to the link and its geometry. More...

struct	MaxEEFStep
	Struct for containing max_step for computeCartesianPath. More...

class	MoveItErrorCode
	a wrapper around moveit_msgs::MoveItErrorCodes to make it easier to return an error code message from a function More...

class	PlanarJointModel
	A planar joint. More...

class	PrismaticJointModel
	A prismatic joint. More...

class	RevoluteJointModel
	A revolute joint. More...

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

class	RobotModelBuilder
	Easily build different robot models for testing. Essentially a programmer-friendly light wrapper around URDF and SRDF. Best shown by an example: More...

class	RobotState
	Representation of a robot's state. This includes position, velocity, acceleration and effort. More...

class	Transforms
	Provides an implementation of a snapshot of a transform tree that can be easily queried for transforming different quantities. Transforms are maintained as a list of transforms to a particular frame. All stored transforms are considered fixed. More...

struct	VariableBounds

Typedefs
typedef boost::function< void(AttachedBody *body, bool attached)>	AttachedBodyCallback

using	FixedTransformsMap = std::map< std::string, Eigen::Isometry3d, std::less< std::string >, Eigen::aligned_allocator< std::pair< const std::string, Eigen::Isometry3d > > >
	Map frame names to the transformation matrix that can transform objects from the frame name to the planning frame. More...

typedef boost::function< bool(RobotState robot_state, const JointModelGroup joint_group, const double *joint_group_variable_values)>	GroupStateValidityCallbackFn
	Signature for functions that can verify that if the group joint_group in robot_state is set to joint_group_variable_values the state is valid or not. Returns true if the state is valid. This call is allowed to modify robot_state (e.g., set joint_group_variable_values) More...

using	JointBoundsVector = std::vector< const JointModel::Bounds * >

using	JointModelGroupMap = std::map< std::string, JointModelGroup * >
	Map of names to instances for JointModelGroup. More...

using	JointModelGroupMapConst = std::map< std::string, const JointModelGroup * >
	Map of names to const instances for JointModelGroup. More...

using	JointModelMap = std::map< std::string, JointModel * >
	Map of names to instances for JointModel. More...

using	JointModelMapConst = std::map< std::string, const JointModel * >
	Map of names to const instances for JointModel. More...

typedef std::map< std::string, LinkModel * >	LinkModelMap
	Map of names to instances for LinkModel. More...

using	LinkModelMapConst = std::map< std::string, const LinkModel * >
	Map of names to const instances for LinkModel. More...

using	LinkTransformMap = std::map< const LinkModel , Eigen::Isometry3d, std::less< const LinkModel >, Eigen::aligned_allocator< std::pair< const LinkModel *const, Eigen::Isometry3d > > >
	Map from link model instances to Eigen transforms. More...

typedef boost::function< kinematics::KinematicsBasePtr(const JointModelGroup *)>	SolverAllocatorFn
	Function type that allocates a kinematics solver for a particular group. More...

using	SolverAllocatorMapFn = std::map< const JointModelGroup *, SolverAllocatorFn >
	Map from group instances to allocator functions & bijections. More...

using	VariableBoundsMap = std::map< std::string, VariableBounds >
	Data type for holding mappings from variable names to their bounds. More...

typedef std::map< std::string, int >	VariableIndexMap
	Data type for holding mappings from variable names to their position in a state vector. More...

Functions
void	attachedBodiesToAttachedCollisionObjectMsgs (const std::vector< const AttachedBody * > &attached_bodies, std::vector< moveit_msgs::AttachedCollisionObject > &attached_collision_objs)
	Convert AttachedBodies to AttachedCollisionObjects. More...

static void	checkInterpolationParamBounds (const char LOGNAME[], double t)

void	computeTurnDriveTurnGeometry (const double from, const double to, const double min_translational_distance, double &dx, double &dy, double &initial_turn, double &drive_angle, double &final_turn)
	Compute the geometry to turn toward the target point, drive straight and then turn to target orientation. More...

bool	haveSameAttachedObjects (const RobotState &left, const RobotState &right, const std::string &logprefix="")

bool	isArray (const XmlRpc::XmlRpcValue &v, size_t size=0, const std::string &name="", const std::string &description="")

bool	isEmpty (const geometry_msgs::Pose &msg)
	Check if the message contains any non-zero entries. More...

bool	isEmpty (const geometry_msgs::Quaternion &msg)
	Check if the message contains any non-zero entries. More...

bool	isEmpty (const moveit_msgs::Constraints &msg)
	Check if a message specifies constraints. More...

bool	isEmpty (const moveit_msgs::PlanningScene &msg)
	Check if a message includes any information about a planning scene, or whether it is empty. More...

bool	isEmpty (const moveit_msgs::PlanningSceneWorld &msg)
	Check if a message includes any information about a planning scene world, or whether it is empty. More...

bool	isEmpty (const moveit_msgs::RobotState &msg)
	Check if a message includes any information about a robot state, or whether it is empty. More...

bool	isStruct (const XmlRpc::XmlRpcValue &v, const std::vector< std::string > &keys={}, const std::string &name="")

bool	jointStateToRobotState (const sensor_msgs::JointState &joint_state, RobotState &state)
	Convert a joint state to a MoveIt robot state. More...

bool	jointTrajPointToRobotState (const trajectory_msgs::JointTrajectory &trajectory, std::size_t point_id, RobotState &state)
	Convert a joint trajectory point to a MoveIt robot state. More...

void	loadIKPluginForGroup (JointModelGroup *jmg, const std::string &base_link, const std::string &tip_link, std::string plugin="KDL", double timeout=0.1)
	Load an IK solver plugin for the given joint model group. More...

urdf::ModelInterfaceSharedPtr	loadModelInterface (const std::string &robot_name)
	Loads a URDF Model Interface from moveit_resources. More...

srdf::ModelSharedPtr	loadSRDFModel (const std::string &robot_name)
	Loads an SRDF Model from moveit_resources. More...

moveit::core::RobotModelPtr	loadTestingRobotModel (const std::string &robot_name)
	Loads a robot from moveit_resources. More...

	MOVEIT_CLASS_FORWARD (JointModelGroup)

	MOVEIT_CLASS_FORWARD (RobotModel)

	MOVEIT_CLASS_FORWARD (RobotState)

	MOVEIT_CLASS_FORWARD (Transforms)

std::ostream &	operator<< (std::ostream &out, const MoveItErrorCode &e)

std::ostream &	operator<< (std::ostream &out, const RobotState &s)
	Operator overload for printing variable bounds to a stream. More...

std::ostream &	operator<< (std::ostream &out, const VariableBounds &b)
	Operator overload for printing variable bounds to a stream. More...

double	parseDouble (const XmlRpc::XmlRpcValue &v)
	parse a double value from a scalar XmlRpc More...

bool	robotStateMsgToRobotState (const moveit_msgs::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
	Convert a robot state msg (with accompanying extra transforms) to a MoveIt robot state. More...

bool	robotStateMsgToRobotState (const Transforms &tf, const moveit_msgs::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
	Convert a robot state msg (with accompanying extra transforms) to a MoveIt robot state. More...

void	robotStateToJointStateMsg (const RobotState &state, sensor_msgs::JointState &joint_state)
	Convert a MoveIt robot state to a joint state message. More...

void	robotStateToRobotStateMsg (const RobotState &state, moveit_msgs::RobotState &robot_state, bool copy_attached_bodies=true)
	Convert a MoveIt robot state to a robot state message. More...

void	robotStateToStream (const RobotState &state, std::ostream &out, bool include_header=true, const std::string &separator=",")
	Convert a MoveIt robot state to common separated values (CSV) on a single line that is outputted to a stream e.g. for file saving. More...

void	robotStateToStream (const RobotState &state, std::ostream &out, const std::vector< std::string > &joint_groups_ordering, bool include_header=true, const std::string &separator=",")
	Convert a MoveIt robot state to common separated values (CSV) on a single line that is outputted to a stream e.g. for file saving. This version can order by joint model groups. More...

void	streamToRobotState (RobotState &state, const std::string &line, const std::string &separator=",")
	Convert a string of joint values from a file (CSV) or input source into a RobotState. More...

double	toDouble (const std::string &s)
	Converts a std::string to double using the classic C locale. More...

float	toFloat (const std::string &s)
	Converts a std::string to float using the classic C locale. More...

template<class OutType >
OutType	toRealImpl (const std::string &s)

std::string	toString (double d)
	Convert a double to std::string using the classic C locale. More...

std::string	toString (float f)
	Convert a float to std::string using the classic C locale. More...

template<class InType >
std::string	toStringImpl (InType t)

bool	validateAndImproveInterval (const RobotState &start_state, const RobotState &end_state, const Eigen::Isometry3d &start_pose, const Eigen::Isometry3d &end_pose, std::vector< RobotStatePtr > &traj, double &percentage, const double width, const JointModelGroup group, const LinkModel link, const CartesianPrecision &precision, const GroupStateValidityCallbackFn &validCallback, const kinematics::KinematicsQueryOptions &options, const Eigen::Isometry3d &link_offset)

Variables
const std::string	LOGNAME = "robot_model.jmg"

static const std::size_t	MIN_STEPS_FOR_JUMP_THRESH = 10
	It is recommended that there are at least 10 steps per trajectory for testing jump thresholds with computeCartesianPath. With less than 10 steps it is difficult to choose a jump_threshold parameter that effectively separates valid paths from paths with large joint space jumps. More...

Detailed Description

Core components of MoveIt.

Typedef Documentation

◆ AttachedBodyCallback

typedef boost::function<void(AttachedBody* body, bool attached)> moveit::core::AttachedBodyCallback

Definition at line 115 of file attached_body.h.

◆ FixedTransformsMap

using moveit::core::FixedTransformsMap = typedef std::map<std::string, Eigen::Isometry3d, std::less<std::string>, Eigen::aligned_allocator<std::pair<const std::string, Eigen::Isometry3d> > >

Map frame names to the transformation matrix that can transform objects from the frame name to the planning frame.

Definition at line 117 of file transforms.h.

◆ GroupStateValidityCallbackFn

typedef boost::function<bool(RobotState* robot_state, const JointModelGroup* joint_group, const double* joint_group_variable_values)> moveit::core::GroupStateValidityCallbackFn

Signature for functions that can verify that if the group joint_group in robot_state is set to joint_group_variable_values the state is valid or not. Returns true if the state is valid. This call is allowed to modify robot_state (e.g., set joint_group_variable_values)

Definition at line 136 of file robot_state.h.

◆ JointBoundsVector

using moveit::core::JointBoundsVector = typedef std::vector<const JointModel::Bounds*>

Definition at line 132 of file joint_model_group.h.

◆ JointModelGroupMap

using moveit::core::JointModelGroupMap = typedef std::map<std::string, JointModelGroup*>

Map of names to instances for JointModelGroup.

Definition at line 127 of file joint_model_group.h.

◆ JointModelGroupMapConst

using moveit::core::JointModelGroupMapConst = typedef std::map<std::string, const JointModelGroup*>

Map of names to const instances for JointModelGroup.

Definition at line 130 of file joint_model_group.h.

◆ JointModelMap

using moveit::core::JointModelMap = typedef std::map<std::string, JointModel*>

Map of names to instances for JointModel.

Definition at line 156 of file joint_model.h.

◆ JointModelMapConst

using moveit::core::JointModelMapConst = typedef std::map<std::string, const JointModel*>

Map of names to const instances for JointModel.

Definition at line 159 of file joint_model.h.

◆ LinkModelMap

typedef std::map<std::string, LinkModel*> moveit::core::LinkModelMap

Map of names to instances for LinkModel.

Definition at line 58 of file link_model.h.

◆ LinkModelMapConst

using moveit::core::LinkModelMapConst = typedef std::map<std::string, const LinkModel*>

Map of names to const instances for LinkModel.

Definition at line 64 of file link_model.h.

◆ LinkTransformMap

using moveit::core::LinkTransformMap = typedef std::map<const LinkModel*, Eigen::Isometry3d, std::less<const LinkModel*>, Eigen::aligned_allocator<std::pair<const LinkModel* const, Eigen::Isometry3d> > >

Map from link model instances to Eigen transforms.

Definition at line 68 of file link_model.h.

◆ SolverAllocatorFn

typedef boost::function<kinematics::KinematicsBasePtr(const JointModelGroup*)> moveit::core::SolverAllocatorFn

Function type that allocates a kinematics solver for a particular group.

Definition at line 118 of file joint_model_group.h.

◆ SolverAllocatorMapFn

using moveit::core::SolverAllocatorMapFn = typedef std::map<const JointModelGroup*, SolverAllocatorFn>

Map from group instances to allocator functions & bijections.

Definition at line 124 of file joint_model_group.h.

◆ VariableBoundsMap

using moveit::core::VariableBoundsMap = typedef std::map<std::string, VariableBounds>

Data type for holding mappings from variable names to their bounds.

Definition at line 153 of file joint_model.h.

◆ VariableIndexMap

typedef std::map<std::string, int> moveit::core::VariableIndexMap

Data type for holding mappings from variable names to their position in a state vector.

Definition at line 147 of file joint_model.h.

Function Documentation

◆ attachedBodiesToAttachedCollisionObjectMsgs()

void moveit::core::attachedBodiesToAttachedCollisionObjectMsgs	(	const std::vector< const AttachedBody * > &	attached_bodies,
		std::vector< moveit_msgs::AttachedCollisionObject > &	attached_collision_objs
	)

Convert AttachedBodies to AttachedCollisionObjects.

Parameters

attached_bodies	The input MoveIt attached body objects
attached_collision_objs	The resultant AttachedCollisionObject messages

Definition at line 487 of file conversions.cpp.

◆ checkInterpolationParamBounds()

static void moveit::core::checkInterpolationParamBounds	(	const char	LOGNAME[],
		double	t
	)

inlinestatic

Definition at line 132 of file robot_model.h.

◆ computeTurnDriveTurnGeometry()

void moveit::core::computeTurnDriveTurnGeometry	(	const double *	from,
		const double *	to,
		const double	min_translational_distance,
		double &	dx,
		double &	dy,
		double &	initial_turn,
		double &	drive_angle,
		double &	final_turn
	)

Compute the geometry to turn toward the target point, drive straight and then turn to target orientation.

Parameters

[in]	from	A vector representing the initial position [x0, y0, theta0]
[in]	to	A vector representing the target position [x1, y1, theta1]
[in]	min_translational_distance	If the translational distance between `from` and `to` is less than this value the motion will be pure rotation (meters)
[out]	dx	x1 - x0 (meters)
[out]	dy	y1 - y0 (meters)
[out]	initial_turn	The initial turn in radians to face the target
[out]	drive_angle	The orientation in radians that the robot will be driving straight at
[out]	final_turn	The final turn in radians to the target orientation

Definition at line 210 of file planar_joint_model.cpp.

◆ haveSameAttachedObjects()

bool moveit::core::haveSameAttachedObjects	(	const RobotState &	left,
		const RobotState &	right,
		const std::string &	logprefix = `""`
	)

Check that both RobotStates have the same set of attached objects

Definition at line 2357 of file robot_state.cpp.

◆ isArray()

bool moveit::core::isArray	(	const XmlRpc::XmlRpcValue &	v,
		size_t	size = `0`,
		const std::string &	name = `""`,
		const std::string &	description = `""`
	)

check that v is an array of given size

Parameters

size	check that array has given size, zero value allows for array size
name	if non-empty, print a warning message "name is not an array[size]"
description	if non-empty, serves as a descriptor for array items

Definition at line 119 of file xmlrpc_casts.cpp.

◆ isEmpty() [1/6]

bool moveit::core::isEmpty ( const geometry_msgs::Pose & msg )

Check if the message contains any non-zero entries.

Definition at line 141 of file message_checks.cpp.

◆ isEmpty() [2/6]

bool moveit::core::isEmpty ( const geometry_msgs::Quaternion & msg )

Check if the message contains any non-zero entries.

Definition at line 136 of file message_checks.cpp.

◆ isEmpty() [3/6]

bool moveit::core::isEmpty ( const moveit_msgs::Constraints & msg )

Check if a message specifies constraints.

Definition at line 130 of file message_checks.cpp.

◆ isEmpty() [4/6]

bool moveit::core::isEmpty ( const moveit_msgs::PlanningScene & msg )

Check if a message includes any information about a planning scene, or whether it is empty.

Definition at line 107 of file message_checks.cpp.

◆ isEmpty() [5/6]

bool moveit::core::isEmpty ( const moveit_msgs::PlanningSceneWorld & msg )

Check if a message includes any information about a planning scene world, or whether it is empty.

Definition at line 113 of file message_checks.cpp.

◆ isEmpty() [6/6]

bool moveit::core::isEmpty ( const moveit_msgs::RobotState & msg )

Check if a message includes any information about a robot state, or whether it is empty.

Definition at line 118 of file message_checks.cpp.

◆ isStruct()

bool moveit::core::isStruct	(	const XmlRpc::XmlRpcValue &	v,
		const std::vector< std::string > &	keys = `{}`,
		const std::string &	name = `""`
	)

check that v is a struct with given keys

Parameters

keys	list of required keys
name	if non-empty, print a warning message "name is not a struct with keys ..."

Definition at line 131 of file xmlrpc_casts.cpp.

◆ jointStateToRobotState()

bool moveit::core::jointStateToRobotState	(	const sensor_msgs::JointState &	joint_state,
		RobotState &	state
	)

Convert a joint state to a MoveIt robot state.

Parameters

joint_state	The input joint state to be converted
state	The resultant MoveIt robot state

Returns: True if successful, false if failed for any reason

Definition at line 451 of file conversions.cpp.

◆ jointTrajPointToRobotState()

bool moveit::core::jointTrajPointToRobotState	(	const trajectory_msgs::JointTrajectory &	trajectory,
		std::size_t	point_id,
		RobotState &	state
	)

Convert a joint trajectory point to a MoveIt robot state.

Parameters

joint_trajectory	The input msg
point_id	The index of the trajectory point in the joint trajectory.
state	The resultant MoveIt robot state

Returns: True if successful, false if failed for any reason

Definition at line 516 of file conversions.cpp.

◆ loadIKPluginForGroup()

void moveit::core::loadIKPluginForGroup	(	JointModelGroup *	jmg,
		const std::string &	base_link,
		const std::string &	tip_link,
		std::string	plugin = `"KDL"`,
		double	timeout = `0.1`
	)

Load an IK solver plugin for the given joint model group.

Parameters

[in]	jmg	joint model group to load the plugin for
[in]	base_link	base link of chain
[in]	tip_link	tip link of chain
[in]	plugin	name of the plugin ("KDL", or full name)
[in]	timeout	default solver timeout

Definition at line 165 of file robot_model_test_utils.cpp.

◆ loadModelInterface()

urdf::ModelInterfaceSharedPtr moveit::core::loadModelInterface ( const std::string & robot_name )

Loads a URDF Model Interface from moveit_resources.

Parameters

[in] robot_name The name of the robot in moveit_resources to load. This should be the prefix to many of the robot packages. For example, "pr2", "panda", or "fanuc".

Returns: a ModelInterface constructed from robot_name's URDF.

Definition at line 126 of file robot_model_test_utils.cpp.

◆ loadSRDFModel()

srdf::ModelSharedPtr moveit::core::loadSRDFModel ( const std::string & robot_name )

Loads an SRDF Model from moveit_resources.

Parameters

[in] robot_name The name of the robot in moveit_resources to load. This should be the prefix to many of the robot packages. For example, "pr2", "panda", or "fanuc".

Returns: an SRDF Model constructed from robot_name's URDF and SRDF.

Definition at line 147 of file robot_model_test_utils.cpp.

◆ loadTestingRobotModel()

moveit::core::RobotModelPtr moveit::core::loadTestingRobotModel ( const std::string & robot_name )

Loads a robot from moveit_resources.

Parameters

[in] robot_name The name of the robot in moveit_resources to load. This should be the prefix to many of the robot packages. For example, "pr2", "panda", or "fanuc".

Returns: a RobotModel constructed from robot_name's URDF and SRDF.

Definition at line 117 of file robot_model_test_utils.cpp.

◆ MOVEIT_CLASS_FORWARD() [1/4]

moveit::core::MOVEIT_CLASS_FORWARD ( JointModelGroup )

◆ MOVEIT_CLASS_FORWARD() [2/4]

moveit::core::MOVEIT_CLASS_FORWARD ( RobotModel )

◆ MOVEIT_CLASS_FORWARD() [3/4]

moveit::core::MOVEIT_CLASS_FORWARD ( RobotState )

◆ MOVEIT_CLASS_FORWARD() [4/4]

moveit::core::MOVEIT_CLASS_FORWARD ( Transforms )

◆ operator<<() [1/3]

std::ostream & moveit::core::operator<<	(	std::ostream &	out,
		const MoveItErrorCode &	e
	)

Definition at line 166 of file moveit_error_code.cpp.

◆ operator<<() [2/3]

std::ostream & moveit::core::operator<<	(	std::ostream &	out,
		const RobotState &	s
	)

Operator overload for printing variable bounds to a stream.

Definition at line 2351 of file robot_state.cpp.

◆ operator<<() [3/3]

std::ostream & moveit::core::operator<<	(	std::ostream &	out,
		const VariableBounds &	b
	)

Operator overload for printing variable bounds to a stream.

Definition at line 309 of file joint_model.cpp.

◆ parseDouble()

double moveit::core::parseDouble ( const XmlRpc::XmlRpcValue & v )

parse a double value from a scalar XmlRpc

Definition at line 109 of file xmlrpc_casts.cpp.

◆ robotStateMsgToRobotState() [1/2]

bool moveit::core::robotStateMsgToRobotState	(	const moveit_msgs::RobotState &	robot_state,
		RobotState &	state,
		bool	copy_attached_bodies = `true`
	)

Convert a robot state msg (with accompanying extra transforms) to a MoveIt robot state.

Parameters

robot_state	The input robot state msg
state	The resultant MoveIt robot state
copy_attached_bodies	Flag to include attached objects in robot state copy

Returns: True if successful, false if failed for any reason

Definition at line 458 of file conversions.cpp.

◆ robotStateMsgToRobotState() [2/2]

bool moveit::core::robotStateMsgToRobotState	(	const Transforms &	tf,
		const moveit_msgs::RobotState &	robot_state,
		RobotState &	state,
		bool	copy_attached_bodies = `true`
	)

Convert a robot state msg (with accompanying extra transforms) to a MoveIt robot state.

Parameters

tf	An instance of a transforms object
robot_state	The input robot state msg
state	The resultant MoveIt robot state
copy_attached_bodies	Flag to include attached objects in robot state copy

Returns: True if successful, false if failed for any reason

Definition at line 465 of file conversions.cpp.

◆ robotStateToJointStateMsg()

void moveit::core::robotStateToJointStateMsg	(	const RobotState &	state,
		sensor_msgs::JointState &	joint_state
	)

Convert a MoveIt robot state to a joint state message.

Parameters

state	The input MoveIt robot state object
robot_state	The resultant JointState message

Definition at line 496 of file conversions.cpp.

◆ robotStateToRobotStateMsg()

void moveit::core::robotStateToRobotStateMsg	(	const RobotState &	state,
		moveit_msgs::RobotState &	robot_state,
		bool	copy_attached_bodies = `true`
	)

Convert a MoveIt robot state to a robot state message.

Parameters

state	The input MoveIt robot state object
robot_state	The resultant RobotState *message
copy_attached_bodies	Flag to include attached objects in robot state copy

Definition at line 473 of file conversions.cpp.

◆ robotStateToStream() [1/2]

void moveit::core::robotStateToStream	(	const RobotState &	state,
		std::ostream &	out,
		bool	include_header = `true`,
		const std::string &	separator = `","`
	)

Convert a MoveIt robot state to common separated values (CSV) on a single line that is outputted to a stream e.g. for file saving.

Parameters

state	- The input MoveIt robot state object
out	- a file stream, or any other stream
include_header	- flag to prefix the output with a line of joint names.
separator	- allows to override the comma seperator with any symbol, such as a white space

Definition at line 541 of file conversions.cpp.

◆ robotStateToStream() [2/2]

void moveit::core::robotStateToStream	(	const RobotState &	state,
		std::ostream &	out,
		const std::vector< std::string > &	joint_groups_ordering,
		bool	include_header = `true`,
		const std::string &	separator = `","`
	)

Convert a MoveIt robot state to common separated values (CSV) on a single line that is outputted to a stream e.g. for file saving. This version can order by joint model groups.

Parameters

state	- The input MoveIt robot state object
out	- a file stream, or any other stream
joint_group_ordering	- output joints based on ordering of joint groups
include_header	- flag to prefix the output with a line of joint names.
separator	- allows to override the comma seperator with any symbol, such as a white space

Definition at line 569 of file conversions.cpp.

◆ streamToRobotState()

void moveit::core::streamToRobotState	(	RobotState &	state,
		const std::string &	line,
		const std::string &	separator = `","`
	)

Convert a string of joint values from a file (CSV) or input source into a RobotState.

Parameters

state	- the output MoveIt robot state object
line	- the input string of joint values
separator	- allows to override the comma seperator with any symbol, such as a white space

Returns: true on success

Definition at line 606 of file conversions.cpp.

◆ toDouble()

double moveit::core::toDouble ( const std::string & s )

Converts a std::string to double using the classic C locale.

Exceptions

std::runtime_exception if not a valid number

Definition at line 145 of file lexical_casts.cpp.

◆ toFloat()

float moveit::core::toFloat ( const std::string & s )

Converts a std::string to float using the classic C locale.

Exceptions

std::runtime_exception if not a valid number

Definition at line 150 of file lexical_casts.cpp.

◆ toRealImpl()

template<class OutType >

OutType moveit::core::toRealImpl ( const std::string & s )

Definition at line 131 of file lexical_casts.cpp.

◆ toString() [1/2]

std::string moveit::core::toString ( double d )

Convert a double to std::string using the classic C locale.

Definition at line 120 of file lexical_casts.cpp.

◆ toString() [2/2]

std::string moveit::core::toString ( float f )

Convert a float to std::string using the classic C locale.

Definition at line 125 of file lexical_casts.cpp.

◆ toStringImpl()

template<class InType >

std::string moveit::core::toStringImpl ( InType t )

Definition at line 111 of file lexical_casts.cpp.

◆ validateAndImproveInterval()

bool moveit::core::validateAndImproveInterval	(	const RobotState &	start_state,
		const RobotState &	end_state,
		const Eigen::Isometry3d &	start_pose,
		const Eigen::Isometry3d &	end_pose,
		std::vector< RobotStatePtr > &	traj,
		double &	percentage,
		const double	width,
		const JointModelGroup *	group,
		const LinkModel *	link,
		const CartesianPrecision &	precision,
		const GroupStateValidityCallbackFn &	validCallback,
		const kinematics::KinematicsQueryOptions &	options,
		const Eigen::Isometry3d &	link_offset
	)

Definition at line 123 of file cartesian_interpolator.cpp.

Variable Documentation

◆ LOGNAME

const std::string moveit::core::LOGNAME = "robot_model.jmg"

Definition at line 165 of file joint_model_group.cpp.

◆ MIN_STEPS_FOR_JUMP_THRESH

const std::size_t moveit::core::MIN_STEPS_FOR_JUMP_THRESH = 10

static

It is recommended that there are at least 10 steps per trajectory for testing jump thresholds with computeCartesianPath. With less than 10 steps it is difficult to choose a jump_threshold parameter that effectively separates valid paths from paths with large joint space jumps.

Definition at line 119 of file cartesian_interpolator.cpp.

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ AttachedBodyCallback

◆ FixedTransformsMap

◆ GroupStateValidityCallbackFn

◆ JointBoundsVector

◆ JointModelGroupMap

◆ JointModelGroupMapConst

◆ JointModelMap

◆ JointModelMapConst

◆ LinkModelMap

◆ LinkModelMapConst

◆ LinkTransformMap

◆ SolverAllocatorFn

◆ SolverAllocatorMapFn

◆ VariableBoundsMap

◆ VariableIndexMap

Function Documentation

◆ attachedBodiesToAttachedCollisionObjectMsgs()

◆ checkInterpolationParamBounds()

◆ computeTurnDriveTurnGeometry()

◆ haveSameAttachedObjects()

◆ isArray()

◆ isEmpty() [1/6]

◆ isEmpty() [2/6]

◆ isEmpty() [3/6]

◆ isEmpty() [4/6]

◆ isEmpty() [5/6]

◆ isEmpty() [6/6]

◆ isStruct()

◆ jointStateToRobotState()

◆ jointTrajPointToRobotState()

◆ loadIKPluginForGroup()

◆ loadModelInterface()

◆ loadSRDFModel()

◆ loadTestingRobotModel()

◆ MOVEIT_CLASS_FORWARD() [1/4]

◆ MOVEIT_CLASS_FORWARD() [2/4]

◆ MOVEIT_CLASS_FORWARD() [3/4]

◆ MOVEIT_CLASS_FORWARD() [4/4]

◆ operator<<() [1/3]

◆ operator<<() [2/3]

◆ operator<<() [3/3]

◆ parseDouble()

◆ robotStateMsgToRobotState() [1/2]

◆ robotStateMsgToRobotState() [2/2]

◆ robotStateToJointStateMsg()

◆ robotStateToRobotStateMsg()

◆ robotStateToStream() [1/2]

◆ robotStateToStream() [2/2]

◆ streamToRobotState()

◆ toDouble()

◆ toFloat()

◆ toRealImpl()

◆ toString() [1/2]

◆ toString() [2/2]

◆ toStringImpl()

◆ validateAndImproveInterval()

Variable Documentation

◆ LOGNAME

◆ MIN_STEPS_FOR_JUMP_THRESH