Definition of a kinematic state - the parts of the robot state which can change. It is not thread safe, however multiple instances can be created. More...
#include <kinematic_state.h>
Classes | |
| class | AttachedBodyState |
| class | JointState |
| Forward definition of a joint group state. More... | |
| class | JointStateGroup |
| class | LinkState |
Public Member Functions | |
| bool | areJointsWithinBounds (const std::vector< std::string > &joints) const |
| AttachedBodyState * | getAttachedBodyState (const std::string &attached) const |
| Get an attached body state by its name. | |
| const std::vector< const AttachedBodyState * > & | getAttachedBodyStateVector () const |
| std::vector< LinkState * > | getChildLinkStates (const std::string &link_name) const |
| unsigned int | getDimension () const |
| JointState * | getJointState (const std::string &joint) const |
| Get a joint state by its name. | |
| JointStateGroup * | getJointStateGroup (const std::string &name) |
| Get a group by its name. | |
| const JointStateGroup * | getJointStateGroup (const std::string &name) const |
| Get a group by its name. | |
| const std::map< std::string, JointStateGroup * > & | getJointStateGroupMap () const |
| void | getJointStateGroupNames (std::vector< std::string > &names) const |
| std::vector< JointState * > & | getJointStateVector () |
| const std::vector< JointState * > & | getJointStateVector () const |
| const boost::shared_ptr< const KinematicModel > | getKinematicModel () const |
| const std::map< std::string, unsigned int > | getKinematicStateIndexMap () const |
| void | getKinematicStateValues (std::map< std::string, double > &joint_state_values) const |
| void | getKinematicStateValues (std::vector< double > &joint_state_values) const |
| LinkState * | getLinkState (const std::string &link) const |
| Get a link state by its name. | |
| const std::vector< LinkState * > & | getLinkStateVector () const |
| bool | hasJointState (const std::string &joint) const |
| Check if a joint is part of this state. | |
| bool | hasJointStateGroup (const std::string &name) const |
| Check if a group exists. | |
| bool | hasLinkState (const std::string &joint) const |
| Check if a link is updated by this state. | |
| bool | isJointWithinBounds (const std::string &joint) const |
| KinematicState (const KinematicState *state) | |
| KinematicState (const boost::shared_ptr< const KinematicModel > kinematic_model) | |
| void | printStateInfo (std::ostream &out=std::cout) const |
| Print information about the constructed model. | |
| void | printTransform (const std::string &st, const btTransform &t, std::ostream &out=std::cout) const |
| void | printTransforms (std::ostream &out=std::cout) const |
| Print the pose of every link. | |
| bool | setKinematicState (const std::map< std::string, double > &joint_state_map) |
| bool | setKinematicState (const std::vector< double > &joint_state_values) |
| void | setKinematicStateToDefault () |
| void | updateKinematicLinks () |
| bool | updateKinematicStateWithLinkAt (const std::string &link_name, const btTransform &transform) |
| ~KinematicState (void) | |
Private Member Functions | |
| void | setLinkStatesParents () |
Private Attributes | |
| std::vector< const AttachedBodyState * > | attached_body_state_vector_ |
| unsigned int | dimension_ |
| std::map< std::string, JointStateGroup * > | joint_state_group_map_ |
| std::map< std::string, JointState * > | joint_state_map_ |
| std::vector< JointState * > | joint_state_vector_ |
| const boost::shared_ptr< const KinematicModel > | kinematic_model_ |
| std::map< std::string, unsigned int > | kinematic_state_index_map_ |
| std::map< std::string, LinkState * > | link_state_map_ |
| std::vector< LinkState * > | link_state_vector_ |
Definition of a kinematic state - the parts of the robot state which can change. It is not thread safe, however multiple instances can be created.
Definition at line 46 of file kinematic_state.h.
| planning_models::KinematicState::KinematicState | ( | const boost::shared_ptr< const KinematicModel > | kinematic_model | ) |
Definition at line 39 of file kinematic_state.cpp.
| planning_models::KinematicState::KinematicState | ( | const KinematicState * | state | ) |
Definition at line 80 of file kinematic_state.cpp.
| planning_models::KinematicState::~KinematicState | ( | void | ) |
Definition at line 118 of file kinematic_state.cpp.
| bool planning_models::KinematicState::areJointsWithinBounds | ( | const std::vector< std::string > & | joints | ) | const |
Definition at line 255 of file kinematic_state.cpp.
| planning_models::KinematicState::AttachedBodyState * planning_models::KinematicState::getAttachedBodyState | ( | const std::string & | attached | ) | const |
Get an attached body state by its name.
Definition at line 342 of file kinematic_state.cpp.
| const std::vector<const AttachedBodyState*>& planning_models::KinematicState::getAttachedBodyStateVector | ( | ) | const [inline] |
Definition at line 445 of file kinematic_state.h.
| std::vector< planning_models::KinematicState::LinkState * > planning_models::KinematicState::getChildLinkStates | ( | const std::string & | link_name | ) | const |
Definition at line 215 of file kinematic_state.cpp.
| unsigned int planning_models::KinematicState::getDimension | ( | ) | const [inline] |
Definition at line 394 of file kinematic_state.h.
| planning_models::KinematicState::JointState * planning_models::KinematicState::getJointState | ( | const std::string & | joint | ) | const |
Get a joint state by its name.
Definition at line 330 of file kinematic_state.cpp.
| planning_models::KinematicState::JointStateGroup * planning_models::KinematicState::getJointStateGroup | ( | const std::string & | name | ) |
Get a group by its name.
Definition at line 301 of file kinematic_state.cpp.
| const planning_models::KinematicState::JointStateGroup * planning_models::KinematicState::getJointStateGroup | ( | const std::string & | name | ) | const |
Get a group by its name.
Definition at line 295 of file kinematic_state.cpp.
| const std::map<std::string, JointStateGroup*>& planning_models::KinematicState::getJointStateGroupMap | ( | ) | const [inline] |
Definition at line 450 of file kinematic_state.h.
| void planning_models::KinematicState::getJointStateGroupNames | ( | std::vector< std::string > & | names | ) | const |
Definition at line 312 of file kinematic_state.cpp.
| std::vector<JointState*>& planning_models::KinematicState::getJointStateVector | ( | ) | [inline] |
Definition at line 435 of file kinematic_state.h.
| const std::vector<JointState*>& planning_models::KinematicState::getJointStateVector | ( | ) | const [inline] |
Definition at line 430 of file kinematic_state.h.
| const boost::shared_ptr<const KinematicModel> planning_models::KinematicState::getKinematicModel | ( | ) | const [inline] |
Definition at line 389 of file kinematic_state.h.
| const std::map<std::string, unsigned int> planning_models::KinematicState::getKinematicStateIndexMap | ( | ) | const [inline] |
Definition at line 457 of file kinematic_state.h.
| void planning_models::KinematicState::getKinematicStateValues | ( | std::map< std::string, double > & | joint_state_values | ) | const |
Definition at line 181 of file kinematic_state.cpp.
| void planning_models::KinematicState::getKinematicStateValues | ( | std::vector< double > & | joint_state_values | ) | const |
Definition at line 166 of file kinematic_state.cpp.
| planning_models::KinematicState::LinkState * planning_models::KinematicState::getLinkState | ( | const std::string & | link | ) | const |
Get a link state by its name.
Definition at line 336 of file kinematic_state.cpp.
| const std::vector<LinkState*>& planning_models::KinematicState::getLinkStateVector | ( | ) | const [inline] |
Definition at line 440 of file kinematic_state.h.
| bool planning_models::KinematicState::hasJointState | ( | const std::string & | joint | ) | const |
Check if a joint is part of this state.
Definition at line 321 of file kinematic_state.cpp.
| bool planning_models::KinematicState::hasJointStateGroup | ( | const std::string & | name | ) | const |
Check if a group exists.
Definition at line 307 of file kinematic_state.cpp.
| bool planning_models::KinematicState::hasLinkState | ( | const std::string & | joint | ) | const |
Check if a link is updated by this state.
Definition at line 325 of file kinematic_state.cpp.
| bool planning_models::KinematicState::isJointWithinBounds | ( | const std::string & | joint | ) | const |
Definition at line 246 of file kinematic_state.cpp.
| void planning_models::KinematicState::printStateInfo | ( | std::ostream & | out = std::cout |
) | const |
Print information about the constructed model.
Definition at line 670 of file kinematic_state.cpp.
| void planning_models::KinematicState::printTransform | ( | const std::string & | st, | |
| const btTransform & | t, | |||
| std::ostream & | out = std::cout | |||
| ) | const |
Definition at line 721 of file kinematic_state.cpp.
| void planning_models::KinematicState::printTransforms | ( | std::ostream & | out = std::cout |
) | const |
Print the pose of every link.
Definition at line 730 of file kinematic_state.cpp.
| bool planning_models::KinematicState::setKinematicState | ( | const std::map< std::string, double > & | joint_state_map | ) |
Definition at line 155 of file kinematic_state.cpp.
| bool planning_models::KinematicState::setKinematicState | ( | const std::vector< double > & | joint_state_values | ) |
Definition at line 134 of file kinematic_state.cpp.
| void planning_models::KinematicState::setKinematicStateToDefault | ( | void | ) |
Definition at line 225 of file kinematic_state.cpp.
| void planning_models::KinematicState::setLinkStatesParents | ( | ) | [private] |
Definition at line 272 of file kinematic_state.cpp.
| void planning_models::KinematicState::updateKinematicLinks | ( | ) |
Definition at line 196 of file kinematic_state.cpp.
| bool planning_models::KinematicState::updateKinematicStateWithLinkAt | ( | const std::string & | link_name, | |
| const btTransform & | transform | |||
| ) |
Definition at line 203 of file kinematic_state.cpp.
std::vector<const AttachedBodyState*> planning_models::KinematicState::attached_body_state_vector_ [private] |
Definition at line 486 of file kinematic_state.h.
unsigned int planning_models::KinematicState::dimension_ [private] |
Definition at line 476 of file kinematic_state.h.
std::map<std::string, JointStateGroup*> planning_models::KinematicState::joint_state_group_map_ [private] |
Definition at line 488 of file kinematic_state.h.
std::map<std::string, JointState*> planning_models::KinematicState::joint_state_map_ [private] |
Definition at line 480 of file kinematic_state.h.
std::vector<JointState*> planning_models::KinematicState::joint_state_vector_ [private] |
Definition at line 479 of file kinematic_state.h.
const boost::shared_ptr<const KinematicModel> planning_models::KinematicState::kinematic_model_ [private] |
Definition at line 474 of file kinematic_state.h.
std::map<std::string, unsigned int> planning_models::KinematicState::kinematic_state_index_map_ [private] |
Definition at line 477 of file kinematic_state.h.
std::map<std::string, LinkState*> planning_models::KinematicState::link_state_map_ [private] |
Definition at line 483 of file kinematic_state.h.
std::vector<LinkState*> planning_models::KinematicState::link_state_vector_ [private] |
Definition at line 482 of file kinematic_state.h.
