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. | |
| const JointStateGroup * | getJointStateGroup (const std::string &name) const |
| Get a group by its name. | |
| JointStateGroup * | getJointStateGroup (const std::string &name) |
| Get a group by its name. | |
| const std::map< std::string, JointStateGroup * > & | getJointStateGroupMap () const |
| void | getJointStateGroupNames (std::vector< std::string > &names) const |
| const std::vector< JointState * > & | getJointStateVector () const |
| std::vector< JointState * > & | getJointStateVector () |
| const KinematicModel * | getKinematicModel () const |
| const std::map< std::string, unsigned int > | getKinematicStateIndexMap () const |
| void | getKinematicStateValues (std::vector< double > &joint_state_values) const |
| void | getKinematicStateValues (std::map< std::string, 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 |
| const tf::Transform & | getRootTransform () 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 KinematicModel *kinematic_model) | |
| KinematicState (const KinematicState &state) | |
| void | printStateInfo (std::ostream &out=std::cout) const |
| Print information about the constructed model. | |
| void | printTransform (const std::string &st, const tf::Transform &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::vector< double > &joint_state_values) |
| bool | setKinematicState (const std::map< std::string, double > &joint_state_map) |
| bool | setKinematicState (const std::map< std::string, double > &joint_state_map, std::vector< std::string > &missing_links) |
| void | setKinematicStateToDefault () |
| void | updateKinematicLinks () |
| bool | updateKinematicStateWithLinkAt (const std::string &link_name, const tf::Transform &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 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 49 of file kinematic_state.h.
| planning_models::KinematicState::KinematicState | ( | const KinematicModel * | kinematic_model | ) |
Definition at line 40 of file kinematic_state.cpp.
| planning_models::KinematicState::KinematicState | ( | const KinematicState & | state | ) |
Definition at line 81 of file kinematic_state.cpp.
Definition at line 125 of file kinematic_state.cpp.
| bool planning_models::KinematicState::areJointsWithinBounds | ( | const std::vector< std::string > & | joints | ) | const |
Definition at line 274 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 361 of file kinematic_state.cpp.
| const std::vector<const AttachedBodyState*>& planning_models::KinematicState::getAttachedBodyStateVector | ( | ) | const [inline] |
Definition at line 464 of file kinematic_state.h.
| std::vector< planning_models::KinematicState::LinkState * > planning_models::KinematicState::getChildLinkStates | ( | const std::string & | link_name | ) | const |
Definition at line 243 of file kinematic_state.cpp.
| unsigned int planning_models::KinematicState::getDimension | ( | ) | const [inline] |
Definition at line 413 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 349 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 314 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 320 of file kinematic_state.cpp.
| const std::map<std::string, JointStateGroup*>& planning_models::KinematicState::getJointStateGroupMap | ( | ) | const [inline] |
Definition at line 469 of file kinematic_state.h.
| void planning_models::KinematicState::getJointStateGroupNames | ( | std::vector< std::string > & | names | ) | const |
Definition at line 331 of file kinematic_state.cpp.
| const std::vector<JointState*>& planning_models::KinematicState::getJointStateVector | ( | ) | const [inline] |
Definition at line 449 of file kinematic_state.h.
Definition at line 454 of file kinematic_state.h.
| const KinematicModel* planning_models::KinematicState::getKinematicModel | ( | ) | const [inline] |
Definition at line 408 of file kinematic_state.h.
| const std::map<std::string, unsigned int> planning_models::KinematicState::getKinematicStateIndexMap | ( | ) | const [inline] |
Definition at line 476 of file kinematic_state.h.
| void planning_models::KinematicState::getKinematicStateValues | ( | std::vector< double > & | joint_state_values | ) | const |
Definition at line 188 of file kinematic_state.cpp.
| void planning_models::KinematicState::getKinematicStateValues | ( | std::map< std::string, double > & | joint_state_values | ) | const |
Definition at line 203 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 355 of file kinematic_state.cpp.
| const std::vector<LinkState*>& planning_models::KinematicState::getLinkStateVector | ( | ) | const [inline] |
Definition at line 459 of file kinematic_state.h.
| const tf::Transform & planning_models::KinematicState::getRootTransform | ( | ) | const |
Definition at line 238 of file kinematic_state.cpp.
| bool planning_models::KinematicState::hasJointState | ( | const std::string & | joint | ) | const |
Check if a joint is part of this state.
Definition at line 340 of file kinematic_state.cpp.
| bool planning_models::KinematicState::hasJointStateGroup | ( | const std::string & | name | ) | const |
Check if a group exists.
Definition at line 326 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 344 of file kinematic_state.cpp.
| bool planning_models::KinematicState::isJointWithinBounds | ( | const std::string & | joint | ) | const |
Definition at line 265 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 713 of file kinematic_state.cpp.
| void planning_models::KinematicState::printTransform | ( | const std::string & | st, |
| const tf::Transform & | t, | ||
| std::ostream & | out = std::cout |
||
| ) | const |
Definition at line 764 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 773 of file kinematic_state.cpp.
| bool planning_models::KinematicState::setKinematicState | ( | const std::vector< double > & | joint_state_values | ) |
Definition at line 141 of file kinematic_state.cpp.
| bool planning_models::KinematicState::setKinematicState | ( | const std::map< std::string, double > & | joint_state_map | ) |
Definition at line 162 of file kinematic_state.cpp.
| bool planning_models::KinematicState::setKinematicState | ( | const std::map< std::string, double > & | joint_state_map, |
| std::vector< std::string > & | missing_links | ||
| ) |
Definition at line 173 of file kinematic_state.cpp.
Definition at line 253 of file kinematic_state.cpp.
| void planning_models::KinematicState::setLinkStatesParents | ( | ) | [private] |
Definition at line 291 of file kinematic_state.cpp.
Definition at line 218 of file kinematic_state.cpp.
| bool planning_models::KinematicState::updateKinematicStateWithLinkAt | ( | const std::string & | link_name, |
| const tf::Transform & | transform | ||
| ) |
Definition at line 225 of file kinematic_state.cpp.
std::vector<const AttachedBodyState*> planning_models::KinematicState::attached_body_state_vector_ [private] |
Definition at line 507 of file kinematic_state.h.
unsigned int planning_models::KinematicState::dimension_ [private] |
Definition at line 497 of file kinematic_state.h.
std::map<std::string, JointStateGroup*> planning_models::KinematicState::joint_state_group_map_ [private] |
Definition at line 509 of file kinematic_state.h.
std::map<std::string, JointState*> planning_models::KinematicState::joint_state_map_ [private] |
Definition at line 501 of file kinematic_state.h.
Definition at line 500 of file kinematic_state.h.
const KinematicModel* planning_models::KinematicState::kinematic_model_ [private] |
Definition at line 495 of file kinematic_state.h.
std::map<std::string, unsigned int> planning_models::KinematicState::kinematic_state_index_map_ [private] |
Definition at line 498 of file kinematic_state.h.
std::map<std::string, LinkState*> planning_models::KinematicState::link_state_map_ [private] |
Definition at line 504 of file kinematic_state.h.
Definition at line 503 of file kinematic_state.h.