robot_model.h
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35 
36 /* Author: Ioan Sucan */
37 
38 #pragma once
39 
42 #include <urdf/model.h>
43 #include <srdfdom/model.h>
44 
45 // joint types
52 
53 #include <Eigen/Geometry>
54 #include <iostream>
55 
57 namespace moveit
58 {
60 namespace core
61 {
62 MOVEIT_CLASS_FORWARD(RobotModel); // Defines RobotModelPtr, ConstPtr, WeakPtr... etc
63 
66 class RobotModel
67 {
68 public:
70  RobotModel(const urdf::ModelInterfaceSharedPtr& urdf_model, const srdf::ModelConstSharedPtr& srdf_model);
71 
73  ~RobotModel();
74 
76  const std::string& getName() const
77  {
78  return model_name_;
79  }
80 
85  const std::string& getModelFrame() const
86  {
87  return model_frame_;
88  }
89 
91  bool isEmpty() const
92  {
93  return root_link_ == nullptr;
94  }
95 
97  const urdf::ModelInterfaceSharedPtr& getURDF() const
98  {
99  return urdf_;
100  }
101 
103  const srdf::ModelConstSharedPtr& getSRDF() const
104  {
105  return srdf_;
106  }
107 
109  void printModelInfo(std::ostream& out) const;
110 
119  const JointModel* getRootJoint() const;
120 
122  const std::string& getRootJointName() const
123  {
124  return getRootJoint()->getName();
125  }
126 
128  bool hasJointModel(const std::string& name) const;
129 
131  const JointModel* getJointModel(const std::string& joint) const;
132 
134  const JointModel* getJointModel(int index) const;
135 
137  JointModel* getJointModel(const std::string& joint);
138 
141  const std::vector<const JointModel*>& getJointModels() const
142  {
144  }
145 
149  const std::vector<JointModel*>& getJointModels()
150  {
152  }
153 
155  const std::vector<std::string>& getJointModelNames() const
156  {
158  }
159 
161  const std::vector<const JointModel*>& getActiveJointModels() const
162  {
164  }
165 
167  const std::vector<JointModel*>& getActiveJointModels()
168  {
170  }
171 
173  const std::vector<const JointModel*>& getSingleDOFJointModels() const
174  {
175  return single_dof_joints_;
176  }
177 
179  const std::vector<const JointModel*>& getMultiDOFJointModels() const
180  {
181  return multi_dof_joints_;
182  }
183 
186  const std::vector<const JointModel*>& getContinuousJointModels() const
187  {
189  }
190 
193  const std::vector<const JointModel*>& getMimicJointModels() const
194  {
195  return mimic_joints_;
196  }
197 
198  const JointModel* getJointOfVariable(int variable_index) const
199  {
200  return joints_of_variable_[variable_index];
201  }
202 
203  const JointModel* getJointOfVariable(const std::string& variable) const
204  {
205  return joints_of_variable_[getVariableIndex(variable)];
206  }
207 
208  std::size_t getJointModelCount() const
209  {
210  return joint_model_vector_.size();
211  }
212 
220  const LinkModel* getRootLink() const;
221 
223  const std::string& getRootLinkName() const
224  {
225  return getRootLink()->getName();
226  }
227 
231  bool hasLinkModel(const std::string& name) const;
232 
234  const LinkModel* getLinkModel(const std::string& link, bool* has_link = nullptr) const;
235 
237  const LinkModel* getLinkModel(int index) const;
238 
240  LinkModel* getLinkModel(const std::string& link, bool* has_link = nullptr);
241 
254 
256  const std::vector<const LinkModel*>& getLinkModels() const
257  {
259  }
260 
262  const std::vector<LinkModel*>& getLinkModels()
263  {
265  }
266 
268  const std::vector<std::string>& getLinkModelNames() const
269  {
271  }
272 
274  const std::vector<const LinkModel*>& getLinkModelsWithCollisionGeometry() const
275  {
277  }
278 
280  const std::vector<std::string>& getLinkModelNamesWithCollisionGeometry() const
281  {
283  }
284 
285  std::size_t getLinkModelCount() const
286  {
287  return link_model_vector_.size();
288  }
289 
290  std::size_t getLinkGeometryCount() const
291  {
292  return link_geometry_count_;
293  }
294 
298  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values) const;
299 
301  void getVariableDefaultPositions(double* values) const;
302 
304  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, std::vector<double>& values) const
305  {
306  values.resize(variable_count_);
307  getVariableRandomPositions(rng, &values[0]);
308  }
309 
311  void getVariableDefaultPositions(std::vector<double>& values) const
312  {
313  values.resize(variable_count_);
314  getVariableDefaultPositions(&values[0]);
315  }
316 
319  std::map<std::string, double>& values) const;
320 
322  void getVariableDefaultPositions(std::map<std::string, double>& values) const;
323 
324  bool enforcePositionBounds(double* state) const
325  {
327  }
328  bool enforcePositionBounds(double* state, const JointBoundsVector& active_joint_bounds) const;
329  bool satisfiesPositionBounds(const double* state, double margin = 0.0) const
330  {
332  }
333  bool satisfiesPositionBounds(const double* state, const JointBoundsVector& active_joint_bounds,
334  double margin = 0.0) const;
335  double getMaximumExtent() const
336  {
338  }
339  double getMaximumExtent(const JointBoundsVector& active_joint_bounds) const;
340 
341  double distance(const double* state1, const double* state2) const;
342  void interpolate(const double* from, const double* to, double t, double* state) const;
343 
349  bool hasJointModelGroup(const std::string& group) const;
350 
352  const JointModelGroup* getJointModelGroup(const std::string& name) const;
353 
355  JointModelGroup* getJointModelGroup(const std::string& name);
356 
358  const std::vector<const JointModelGroup*>& getJointModelGroups() const
359  {
361  }
362 
364  const std::vector<JointModelGroup*>& getJointModelGroups()
365  {
366  return joint_model_groups_;
367  }
368 
370  const std::vector<std::string>& getJointModelGroupNames() const
371  {
373  }
374 
376  bool hasEndEffector(const std::string& eef) const;
377 
379  const JointModelGroup* getEndEffector(const std::string& name) const;
380 
382  JointModelGroup* getEndEffector(const std::string& name);
383 
385  const std::vector<const JointModelGroup*>& getEndEffectors() const
386  {
387  return end_effectors_;
388  }
389 
393  std::size_t getVariableCount() const
394  {
396  }
397 
402  const std::vector<std::string>& getVariableNames() const
403  {
404  return variable_names_;
405  }
406 
408  const VariableBounds& getVariableBounds(const std::string& variable) const
409  {
410  return getJointOfVariable(variable)->getVariableBounds(variable);
411  }
412 
415  {
417  }
418 
419  void getMissingVariableNames(const std::vector<std::string>& variables,
420  std::vector<std::string>& missing_variables) const;
421 
423  int getVariableIndex(const std::string& variable) const;
424 
426  const JointModel* getCommonRoot(const JointModel* a, const JointModel* b) const
427  {
428  if (!a)
429  return b;
430  if (!b)
431  return a;
433  }
434 
436  void setKinematicsAllocators(const std::map<std::string, SolverAllocatorFn>& allocators);
437 
438 protected:
440  void computeFixedTransforms(const LinkModel* link, const Eigen::Isometry3d& transform,
441  LinkTransformMap& associated_transforms);
442 
444  const JointModel* computeCommonRoot(const JointModel* a, const JointModel* b) const;
445 
447  void updateMimicJoints(double* values) const;
448 
449  // GENERIC INFO
450 
452  std::string model_name_;
453 
456  std::string model_frame_;
457 
459 
460  urdf::ModelInterfaceSharedPtr urdf_;
461 
462  // LINKS
463 
465  const LinkModel* root_link_;
466 
469 
471  std::vector<LinkModel*> link_model_vector_;
472 
474  std::vector<const LinkModel*> link_model_vector_const_;
475 
477  std::vector<std::string> link_model_names_vector_;
478 
480  std::vector<const LinkModel*> link_models_with_collision_geometry_vector_;
481 
483  std::vector<std::string> link_model_names_with_collision_geometry_vector_;
484 
486  std::size_t link_geometry_count_;
487 
488  // JOINTS
489 
491  const JointModel* root_joint_;
492 
495 
497  std::vector<JointModel*> joint_model_vector_;
498 
500  std::vector<const JointModel*> joint_model_vector_const_;
501 
503  std::vector<std::string> joint_model_names_vector_;
504 
506  std::vector<JointModel*> active_joint_model_vector_;
507 
509  std::vector<const JointModel*> active_joint_model_vector_const_;
510 
512  std::vector<const JointModel*> continuous_joint_model_vector_;
513 
515  std::vector<const JointModel*> mimic_joints_;
516 
517  std::vector<const JointModel*> single_dof_joints_;
518 
519  std::vector<const JointModel*> multi_dof_joints_;
520 
528  std::vector<int> common_joint_roots_;
529 
530  // INDEXING
531 
534  std::vector<std::string> variable_names_;
535 
537  std::size_t variable_count_;
538 
543 
544  std::vector<int> active_joint_model_start_index_;
545 
548 
550  std::vector<const JointModel*> joints_of_variable_;
551 
552  // GROUPS
553 
556 
559 
561  std::vector<JointModelGroup*> joint_model_groups_;
562 
564  std::vector<const JointModelGroup*> joint_model_groups_const_;
565 
567  std::vector<std::string> joint_model_group_names_;
568 
570  std::vector<const JointModelGroup*> end_effectors_;
571 
573  void buildModel(const urdf::ModelInterface& urdf_model, const srdf::Model& srdf_model);
574 
576  void buildGroups(const srdf::Model& srdf_model);
577 
579  void buildGroupsInfoSubgroups(const srdf::Model& srdf_model);
580 
582  void buildGroupsInfoEndEffectors(const srdf::Model& srdf_model);
583 
585  void buildMimic(const urdf::ModelInterface& urdf_model);
586 
588  void buildGroupStates(const srdf::Model& srdf_model);
589 
591  void buildJointInfo();
592 
595 
597  void computeCommonRoots();
598 
601  JointModel* buildRecursive(LinkModel* parent, const urdf::Link* link, const srdf::Model& srdf_model);
602 
604  bool addJointModelGroup(const srdf::Model::Group& group);
605 
608  JointModel* constructJointModel(const urdf::Joint* urdf_joint_model, const urdf::Link* child_link,
609  const srdf::Model& srdf_model);
610 
612  LinkModel* constructLinkModel(const urdf::Link* urdf_link);
613 
615  shapes::ShapePtr constructShape(const urdf::Geometry* geom);
616 };
617 } // namespace core
618 } // namespace moveit
619 
620 namespace robot_model = moveit::core;
moveit::core::LinkModel
A link from the robot. Contains the constant transform applied to the link and its geometry.
Definition: link_model.h:71
moveit::core
Core components of MoveIt.
Definition: kinematics_base.h:81
moveit::core::RobotModel::getModelFrame
const std::string & getModelFrame() const
Get the frame in which the transforms for this model are computed (when using a RobotState)....
Definition: robot_model.h:151
moveit::core::RobotModel::variable_count_
std::size_t variable_count_
Get the number of variables necessary to describe this model.
Definition: robot_model.h:603
moveit::core::RobotModel::getLinkModels
const std::vector< const LinkModel * > & getLinkModels() const
Get the array of links
Definition: robot_model.h:322
moveit::core::RobotModel::getJointModel
const JointModel * getJointModel(const std::string &joint) const
Get a joint by its name. Output error and return NULL when the joint is missing.
Definition: robot_model.cpp:1175
moveit::core::RobotModel::end_effectors_
std::vector< const JointModelGroup * > end_effectors_
The array of end-effectors, in alphabetical order.
Definition: robot_model.h:636
exceptions.h
fixed_joint_model.h
moveit::core::RobotModel::getSRDF
const srdf::ModelConstSharedPtr & getSRDF() const
Get the parsed SRDF model.
Definition: robot_model.h:169
moveit::core::RobotModel::active_joint_model_vector_
std::vector< JointModel * > active_joint_model_vector_
The vector of joints in the model, in the order they appear in the state vector.
Definition: robot_model.h:572
moveit::core::RobotModel::active_joint_model_vector_const_
std::vector< const JointModel * > active_joint_model_vector_const_
The vector of joints in the model, in the order they appear in the state vector.
Definition: robot_model.h:575
moveit::core::JointModelGroup
Definition: joint_model_group.h:134
moveit::core::RobotModel::getURDF
const urdf::ModelInterfaceSharedPtr & getURDF() const
Get the parsed URDF model.
Definition: robot_model.h:163
moveit::core::RobotModel::setKinematicsAllocators
void setKinematicsAllocators(const std::map< std::string, SolverAllocatorFn > &allocators)
A map of known kinematics solvers (associated to their group name)
Definition: robot_model.cpp:1367
moveit::core::RobotModel::constructLinkModel
LinkModel * constructLinkModel(const urdf::Link *urdf_link)
Given a urdf link, build the corresponding LinkModel object.
Definition: robot_model.cpp:1050
moveit::core::RobotModel::joint_model_vector_const_
std::vector< const JointModel * > joint_model_vector_const_
The vector of joints in the model, in the order they appear in the state vector.
Definition: robot_model.h:566
moveit::core::RobotModel::addJointModelGroup
bool addJointModelGroup(const srdf::Model::Group &group)
Construct a JointModelGroup given a SRDF description group.
Definition: robot_model.cpp:729
moveit::core::RobotModel::joint_model_groups_const_
std::vector< const JointModelGroup * > joint_model_groups_const_
The array of joint model groups, in alphabetical order.
Definition: robot_model.h:630
moveit::core::MOVEIT_CLASS_FORWARD
MOVEIT_CLASS_FORWARD(RobotModel)
moveit::core::VariableIndexMap
std::map< std::string, int > VariableIndexMap
Data type for holding mappings from variable names to their position in a state vector.
Definition: joint_model.h:147
moveit::core::JointModel::getName
const std::string & getName() const
Get the name of the joint.
Definition: joint_model.h:196
moveit::core::RobotModel::link_geometry_count_
std::size_t link_geometry_count_
Total number of geometric shapes in this model.
Definition: robot_model.h:552
moveit::core::RobotModel::computeDescendants
void computeDescendants()
For every joint, pre-compute the list of descendant joints & links.
Definition: robot_model.cpp:292
moveit::core::RobotModel::joint_model_names_vector_
std::vector< std::string > joint_model_names_vector_
The vector of joint names that corresponds to joint_model_vector_.
Definition: robot_model.h:569
moveit::core::RobotModel::getVariableBounds
const VariableBounds & getVariableBounds(const std::string &variable) const
Get the bounds for a specific variable. Throw an exception of variable is not found.
Definition: robot_model.h:474
moveit::core::RobotModel::continuous_joint_model_vector_
std::vector< const JointModel * > continuous_joint_model_vector_
The set of continuous joints this model contains.
Definition: robot_model.h:578
moveit::core::RobotModel::getRootJoint
const JointModel * getRootJoint() const
Get the root joint. There will be one root joint unless the model is empty. This is either extracted ...
Definition: robot_model.cpp:138
moveit::core::RobotModel::joint_model_vector_
std::vector< JointModel * > joint_model_vector_
The vector of joints in the model, in the order they appear in the state vector.
Definition: robot_model.h:563
moveit::core::RobotModel::joint_model_group_map_
JointModelGroupMap joint_model_group_map_
A map from group names to joint groups.
Definition: robot_model.h:621
moveit::core::JointBoundsVector
std::vector< const JointModel::Bounds * > JointBoundsVector
Definition: joint_model_group.h:132
moveit::core::RobotModel::getLinkGeometryCount
std::size_t getLinkGeometryCount() const
Definition: robot_model.h:356
class_forward.h
moveit::core::RobotModel::getVariableCount
std::size_t getVariableCount() const
Get the number of variables that describe this model.
Definition: robot_model.h:459
moveit::core::RobotModel::buildRecursive
JointModel * buildRecursive(LinkModel *parent, const urdf::Link *link, const srdf::Model &srdf_model)
(This function is mostly intended for internal use). Given a parent link, build up (recursively),...
Definition: robot_model.cpp:845
moveit::core::RobotModel::computeCommonRoots
void computeCommonRoots()
For every pair of joints, pre-compute the common roots of the joints.
Definition: robot_model.cpp:261
moveit::core::RobotModel::joint_model_group_names_
std::vector< std::string > joint_model_group_names_
A vector of all group names, in alphabetical order.
Definition: robot_model.h:633
moveit::core::RobotModel::joint_model_groups_
std::vector< JointModelGroup * > joint_model_groups_
The array of joint model groups, in alphabetical order.
Definition: robot_model.h:627
moveit::core::RobotModel::getJointModelGroup
const JointModelGroup * getJointModelGroup(const std::string &name) const
Get a joint group from this model (by name)
Definition: robot_model.cpp:543
moveit::core::RobotModel::buildMimic
void buildMimic(const urdf::ModelInterface &urdf_model)
Given the URDF model, build up the mimic joints (mutually constrained joints)
Definition: robot_model.cpp:446
moveit::core::RobotModel::interpolate
void interpolate(const double *from, const double *to, double t, double *state) const
Definition: robot_model.cpp:1356
moveit::core::RobotModel::buildGroupsInfoSubgroups
void buildGroupsInfoSubgroups(const srdf::Model &srdf_model)
Compute helpful information about groups (that can be queried later)
Definition: robot_model.cpp:617
moveit::core::RobotModel::joint_model_map_
JointModelMap joint_model_map_
A map from joint names to their instances.
Definition: robot_model.h:560
moveit::core::RobotModel::single_dof_joints_
std::vector< const JointModel * > single_dof_joints_
Definition: robot_model.h:583
planar_joint_model.h
moveit::core::RobotModel::link_model_map_
LinkModelMap link_model_map_
A map from link names to their instances.
Definition: robot_model.h:534
moveit::core::RobotModel::link_model_vector_const_
std::vector< const LinkModel * > link_model_vector_const_
The vector of links that are updated when computeTransforms() is called, in the order they are update...
Definition: robot_model.h:540
moveit::core::RobotModel::srdf_
srdf::ModelConstSharedPtr srdf_
Definition: robot_model.h:524
moveit::core::RobotModel::link_model_vector_
std::vector< LinkModel * > link_model_vector_
The vector of links that are updated when computeTransforms() is called, in the order they are update...
Definition: robot_model.h:537
moveit::core::RobotModel::getEndEffectors
const std::vector< const JointModelGroup * > & getEndEffectors() const
Get the map between end effector names and the groups they correspond to.
Definition: robot_model.h:451
moveit::core::RobotModel::getMaximumExtent
double getMaximumExtent() const
Definition: robot_model.h:401
moveit::core::RobotModel::hasEndEffector
bool hasEndEffector(const std::string &eef) const
Check if an end effector exists.
Definition: robot_model.cpp:505
shapes::ShapePtr
std::shared_ptr< Shape > ShapePtr
moveit::core::JointModelMap
std::map< std::string, JointModel * > JointModelMap
Map of names to instances for JointModel.
Definition: joint_model.h:156
moveit::core::RobotModel::link_models_with_collision_geometry_vector_
std::vector< const LinkModel * > link_models_with_collision_geometry_vector_
Only links that have collision geometry specified.
Definition: robot_model.h:546
moveit::core::RobotModel::common_joint_roots_
std::vector< int > common_joint_roots_
For every two joints, the index of the common root for thw joints is stored.
Definition: robot_model.h:594
moveit::core::RobotModel::getLinkModelsWithCollisionGeometry
const std::vector< const LinkModel * > & getLinkModelsWithCollisionGeometry() const
Get the link models that have some collision geometry associated to themselves.
Definition: robot_model.h:340
moveit::core::RobotModel::isEmpty
bool isEmpty() const
Return true if the model is empty (has no root link, no joints)
Definition: robot_model.h:157
moveit::core::JointModel::getVariableBounds
const VariableBounds & getVariableBounds(const std::string &variable) const
Get the bounds for a variable. Throw an exception if the variable was not found.
Definition: joint_model.cpp:191
moveit::core::RobotModel::mimic_joints_
std::vector< const JointModel * > mimic_joints_
The set of mimic joints this model contains.
Definition: robot_model.h:581
moveit::core::RobotModel::getJointModelGroupNames
const std::vector< std::string > & getJointModelGroupNames() const
Get the names of all groups that are defined for this model.
Definition: robot_model.h:436
moveit::core::RobotModel::getVariableNames
const std::vector< std::string > & getVariableNames() const
Get the names of the variables that make up the joints that form this state. Fixed joints have no DOF...
Definition: robot_model.h:468
moveit::core::RobotModel::model_frame_
std::string model_frame_
The reference (base) frame for this model. The frame is either extracted from the SRDF as a virtual j...
Definition: robot_model.h:522
moveit::core::RobotModel::multi_dof_joints_
std::vector< const JointModel * > multi_dof_joints_
Definition: robot_model.h:585
moveit::core::RobotModel::root_link_
const LinkModel * root_link_
The first physical link for the robot.
Definition: robot_model.h:531
moveit::core::RobotModel::link_model_names_vector_
std::vector< std::string > link_model_names_vector_
The vector of link names that corresponds to link_model_vector_.
Definition: robot_model.h:543
moveit::core::RobotModel::urdf_
urdf::ModelInterfaceSharedPtr urdf_
Definition: robot_model.h:526
moveit::core::RobotModel::RobotModel
RobotModel(const urdf::ModelInterfaceSharedPtr &urdf_model, const srdf::ModelConstSharedPtr &srdf_model)
Construct a kinematic model from a parsed description and a list of planning groups.
Definition: robot_model.cpp:120
moveit::core::RobotModel::getJointOfVariable
const JointModel * getJointOfVariable(int variable_index) const
Definition: robot_model.h:264
model.h
moveit::core::RobotModel::buildGroupsInfoEndEffectors
void buildGroupsInfoEndEffectors(const srdf::Model &srdf_model)
Compute helpful information about groups (that can be queried later)
Definition: robot_model.cpp:646
srdf::ModelConstSharedPtr
std::shared_ptr< const Model > ModelConstSharedPtr
moveit::core::RobotModel::computeFixedTransforms
void computeFixedTransforms(const LinkModel *link, const Eigen::Isometry3d &transform, LinkTransformMap &associated_transforms)
Get the transforms between link and all its rigidly attached descendants.
Definition: robot_model.cpp:1488
moveit::core::RobotModel::hasJointModelGroup
bool hasJointModelGroup(const std::string &group) const
Check if the JointModelGroup group exists.
Definition: robot_model.cpp:538
moveit::core::RobotModel::joints_of_variable_
std::vector< const JointModel * > joints_of_variable_
The joints that correspond to each variable index.
Definition: robot_model.h:616
moveit::core::RobotModel::getActiveJointModels
const std::vector< const JointModel * > & getActiveJointModels() const
Get the array of joints that are active (not fixed, not mimic) in this model.
Definition: robot_model.h:227
moveit::core::RobotModel::satisfiesPositionBounds
bool satisfiesPositionBounds(const double *state, double margin=0.0) const
Definition: robot_model.h:395
moveit::core::RobotModel::active_joint_models_bounds_
JointBoundsVector active_joint_models_bounds_
The bounds for all the active joint models.
Definition: robot_model.h:613
moveit::core::RobotModel::getLinkModelCount
std::size_t getLinkModelCount() const
Definition: robot_model.h:351
moveit::core::RobotModel::enforcePositionBounds
bool enforcePositionBounds(double *state) const
Definition: robot_model.h:390
moveit::core::RobotModel::getContinuousJointModels
const std::vector< const JointModel * > & getContinuousJointModels() const
Get the array of continuous joints, in the order they appear in the robot state.
Definition: robot_model.h:252
moveit::core::RobotModel::constructJointModel
JointModel * constructJointModel(const urdf::Joint *urdf_joint_model, const urdf::Link *child_link, const srdf::Model &srdf_model)
Given a urdf joint model, a child link and a set of virtual joints, build up the corresponding JointM...
Definition: robot_model.cpp:930
moveit::core::JointModel::getJointIndex
int getJointIndex() const
Get the index of this joint within the robot model.
Definition: joint_model.h:279
moveit::core::RobotModel::link_model_names_with_collision_geometry_vector_
std::vector< std::string > link_model_names_with_collision_geometry_vector_
The vector of link names that corresponds to link_models_with_collision_geometry_vector_.
Definition: robot_model.h:549
moveit::core::RobotModel::variable_names_
std::vector< std::string > variable_names_
The names of the DOF that make up this state (this is just a sequence of joint variable names; not ne...
Definition: robot_model.h:600
moveit::core::RobotModel::buildGroupStates
void buildGroupStates(const srdf::Model &srdf_model)
Given a SRDF model describing the groups, build the default states defined in the SRDF.
Definition: robot_model.cpp:386
moveit::core::RobotModel::getRootLink
const LinkModel * getRootLink() const
Get the physical root link of the robot.
Definition: robot_model.cpp:143
moveit::core::RobotModel::buildJointInfo
void buildJointInfo()
Compute helpful information about joints.
Definition: robot_model.cpp:312
moveit::core::LinkTransformMap
std::map< const LinkModel *, Eigen::Isometry3d, std::less< const LinkModel * >, Eigen::aligned_allocator< std::pair< const LinkModel *const, Eigen::Isometry3d > > > LinkTransformMap
Map from link model instances to Eigen transforms.
Definition: link_model.h:68
moveit::core::RobotModel::active_joint_model_start_index_
std::vector< int > active_joint_model_start_index_
Definition: robot_model.h:610
moveit::core::RobotModel::getName
const std::string & getName() const
Get the model name.
Definition: robot_model.h:142
moveit::core::LinkModelMap
std::map< std::string, LinkModel * > LinkModelMap
Map of names to instances for LinkModel.
Definition: link_model.h:58
revolute_joint_model.h
random_numbers::RandomNumberGenerator
moveit::core::RobotModel::printModelInfo
void printModelInfo(std::ostream &out) const
Print information about the constructed model.
Definition: robot_model.cpp:1439
moveit::core::RobotModel::getLinkModel
const LinkModel * getLinkModel(const std::string &link, bool *has_link=nullptr) const
Get a link by its name. Output error and return NULL when the link is missing.
Definition: robot_model.cpp:1204
moveit::core::RobotModel::getMissingVariableNames
void getMissingVariableNames(const std::vector< std::string > &variables, std::vector< std::string > &missing_variables) const
Definition: robot_model.cpp:1294
moveit::core::RobotModel::getRigidlyConnectedParentLinkModel
static const moveit::core::LinkModel * getRigidlyConnectedParentLinkModel(const LinkModel *link)
Get the latest link upwards the kinematic tree, which is only connected via fixed joints.
Definition: robot_model.cpp:1235
moveit
Main namespace for MoveIt.
Definition: background_processing.h:46
values
std::vector< double > values
moveit::core::RobotModel::getCommonRoot
const JointModel * getCommonRoot(const JointModel *a, const JointModel *b) const
Get the deepest joint in the kinematic tree that is a common parent of both joints passed as argument...
Definition: robot_model.h:492
moveit::core::RobotModel::model_name_
std::string model_name_
The name of the robot.
Definition: robot_model.h:518
moveit::core::RobotModel::getJointModelGroups
const std::vector< const JointModelGroup * > & getJointModelGroups() const
Get the available joint groups.
Definition: robot_model.h:424
moveit::core::RobotModel::getRootLinkName
const std::string & getRootLinkName() const
Get the name of the root link of the robot.
Definition: robot_model.h:289
moveit::core::RobotModel::getMimicJointModels
const std::vector< const JointModel * > & getMimicJointModels() const
Get the array of mimic joints, in the order they appear in the robot state.
Definition: robot_model.h:259
moveit::core::RobotModel::getVariableIndex
int getVariableIndex(const std::string &variable) const
Get the index of a variable in the robot state.
Definition: robot_model.cpp:1305
moveit::core::RobotModel::getActiveJointModelsBounds
const JointBoundsVector & getActiveJointModelsBounds() const
Get the bounds for all the active joints.
Definition: robot_model.h:480
moveit::core::RobotModel::distance
double distance(const double *state1, const double *state2) const
Definition: robot_model.cpp:1346
moveit::core::RobotModel::getLinkModelNames
const std::vector< std::string > & getLinkModelNames() const
Get the link names (of all links)
Definition: robot_model.h:334
moveit::core::RobotModel::getJointModels
const std::vector< const JointModel * > & getJointModels() const
Get the array of joints, in the order they appear in the robot state.
Definition: robot_model.h:207
joint_model_group.h
moveit::core::JointModelGroupMap
std::map< std::string, JointModelGroup * > JointModelGroupMap
Map of names to instances for JointModelGroup.
Definition: joint_model_group.h:127
moveit::core::RobotModel::hasJointModel
bool hasJointModel(const std::string &name) const
Check if a joint exists. Return true if it does.
Definition: robot_model.cpp:1165
moveit::core::RobotModel::constructShape
shapes::ShapePtr constructShape(const urdf::Geometry *geom)
Given a geometry spec from the URDF and a filename (for a mesh), construct the corresponding shape ob...
Definition: robot_model.cpp:1126
floating_joint_model.h
moveit::core::RobotModel::joint_variables_index_map_
VariableIndexMap joint_variables_index_map_
The state includes all the joint variables that make up the joints the state consists of....
Definition: robot_model.h:608
srdf::Model::Group
moveit::core::RobotModel::getMultiDOFJointModels
const std::vector< const JointModel * > & getMultiDOFJointModels() const
This is a list of all multi-dof joints.
Definition: robot_model.h:245
srdf::Model
moveit::core::LinkModel::getName
const std::string & getName() const
The name of this link.
Definition: link_model.h:80
moveit::core::RobotModel::getJointModelCount
std::size_t getJointModelCount() const
Definition: robot_model.h:274
moveit::core::RobotModel::getLinkModelNamesWithCollisionGeometry
const std::vector< std::string > & getLinkModelNamesWithCollisionGeometry() const
Get the names of the link models that have some collision geometry associated to themselves.
Definition: robot_model.h:346
moveit::core::RobotModel::root_joint_
const JointModel * root_joint_
The root joint.
Definition: robot_model.h:557
moveit::core::RobotModel::buildGroups
void buildGroups(const srdf::Model &srdf_model)
Given a SRDF model describing the groups, build up the groups in this kinematic model.
Definition: robot_model.cpp:565
moveit::core::RobotModel::getVariableDefaultPositions
void getVariableDefaultPositions(double *values) const
Compute the default values for a RobotState.
Definition: robot_model.cpp:1278
moveit::core::RobotModel::getSingleDOFJointModels
const std::vector< const JointModel * > & getSingleDOFJointModels() const
This is a list of all single-dof joints (including mimic joints)
Definition: robot_model.h:239
moveit::core::RobotModel::getVariableRandomPositions
void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values) const
Compute the random values for a RobotState.
Definition: robot_model.cpp:1261
moveit::core::RobotModel::updateMimicJoints
void updateMimicJoints(double *values) const
Update the variable values for the state of a group with respect to the mimic joints.
Definition: robot_model.cpp:1251
moveit::core::RobotModel::~RobotModel
~RobotModel()
Destructor. Clear all memory.
Definition: robot_model.cpp:128
moveit::core::RobotModel::computeCommonRoot
const JointModel * computeCommonRoot(const JointModel *a, const JointModel *b) const
Given two joints, find their common root.
moveit::core::RobotModel::buildModel
void buildModel(const urdf::ModelInterface &urdf_model, const srdf::Model &srdf_model)
Given an URDF model and a SRDF model, build a full kinematic model.
Definition: robot_model.cpp:148
moveit::core::RobotModel::getJointModelNames
const std::vector< std::string > & getJointModelNames() const
Get the array of joint names, in the order they appear in the robot state.
Definition: robot_model.h:221
moveit::core::JointModel
A joint from the robot. Models the transform that this joint applies in the kinematic chain....
Definition: joint_model.h:173
moveit::core::RobotModel::getRootJointName
const std::string & getRootJointName() const
Return the name of the root joint. Throws an exception if there is no root joint.
Definition: robot_model.h:188
moveit::core::RobotModel::hasLinkModel
bool hasLinkModel(const std::string &name) const
Check if a link exists. Return true if it does.
Definition: robot_model.cpp:1170
moveit::core::RobotModel::getEndEffector
const JointModelGroup * getEndEffector(const std::string &name) const
Get the joint group that corresponds to a given end-effector name.
Definition: robot_model.cpp:510
moveit::core::RobotModel::end_effectors_map_
JointModelGroupMap end_effectors_map_
The known end effectors.
Definition: robot_model.h:624
prismatic_joint_model.h


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Nov 24 2020 03:26:40