Classes | Typedefs | Functions
robot_model Namespace Reference

Main namespace for representing robot planning models. More...

Classes

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

Typedefs

typedef boost::shared_ptr
< const RobotModel
RobotModelConstPtr
typedef boost::shared_ptr
< RobotModel
RobotModelPtr
typedef boost::function
< kinematics::KinematicsBasePtr(const
JointModelGroup *) 
SolverAllocatorFn )
 function type that allocates a kinematics solver for a particular group
typedef std::map< const
JointModelGroup
*, SolverAllocatorFn
SolverAllocatorMapFn
 function type that allocates a kinematics solvers for subgroups of a group

Functions

static Eigen::Affine3d urdfPose2Affine3d (const urdf::Pose &pose)

Detailed Description

Main namespace for representing robot planning models.


Typedef Documentation

typedef boost::shared_ptr<const RobotModel> robot_model::RobotModelConstPtr

Definition at line 427 of file robot_model.h.

typedef boost::shared_ptr<RobotModel> robot_model::RobotModelPtr

Definition at line 426 of file robot_model.h.

function type that allocates a kinematics solver for a particular group

Definition at line 50 of file joint_model_group.h.

function type that allocates a kinematics solvers for subgroups of a group

Definition at line 56 of file joint_model_group.h.


Function Documentation

static Eigen::Affine3d robot_model::urdfPose2Affine3d ( const urdf::Pose &  pose) [inline, static]

Definition at line 748 of file robot_model.cpp.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Oct 6 2014 02:24:48