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

#include <kinematic_model.h>

Classes
class	AttachedBodyModel
	Class defining bodies that can be attached to robot links. This is useful when handling objects picked up by the robot. More...
class	FixedJointModel
	A fixed joint. More...
class	FloatingJointModel
	A floating joint. More...
struct	GroupConfig
class	JointModel
	A joint from the robot. Contains the transform applied by the joint type. More...
class	JointModelGroup
class	LinkModel
	A link from the robot. Contains the constant transform applied to the link and its geometry. More...
struct	MultiDofConfig
class	PlanarJointModel
	A planar joint. More...
class	PrismaticJointModel
	A prismatic joint. More...
class	RevoluteJointModel
	A revolute joint. More...
Public Member Functions
void	addAttachedBodyModel (const std::string &link_name, AttachedBodyModel *att_body_model)
bool	addModelGroup (const GroupConfig &group)
void	clearAllAttachedBodyModels ()
void	clearLinkAttachedBodyModel (const std::string &link_name, const std::string &att_name)
void	clearLinkAttachedBodyModels (const std::string &link_name)
void	copyFrom (const KinematicModel &source)
void	exclusiveLock (void) const
	Provide interface to get an exclusive lock to change the model. Use carefully!
void	exclusiveUnlock (void) const
	Provide interface to release an exclusive lock. Use carefully!
std::vector< const AttachedBodyModel * >	getAttachedBodyModels () const
std::vector< std::string >	getChildJointModelNames (const LinkModel *parent) const
	Get the set of joint names that follow a parent link in the kinematic chain.
std::vector< std::string >	getChildJointModelNames (const JointModel *parent) const
	Get the set of joint names that follow a parent joint in the kinematic chain.
void	getChildJointModels (const LinkModel parent, std::vector< const JointModel > &links) const
	Get the set of joint models that follow a parent link in the kinematic chain.
void	getChildJointModels (const JointModel parent, std::vector< const JointModel > &links) const
	Get the set of joint models that follow a parent joint in the kinematic chain.
std::vector< std::string >	getChildLinkModelNames (const LinkModel *parent) const
	Get the set of link names that follow a parent link in the kinematic chain.
std::vector< std::string >	getChildLinkModelNames (const JointModel *parent) const
	Get the set of link names that follow a parent link in the kinematic chain.
void	getChildLinkModels (const LinkModel parent, std::vector< const LinkModel > &links) const
	Get the set of link models that follow a parent link in the kinematic chain.
void	getChildLinkModels (const JointModel parent, std::vector< const LinkModel > &links) const
	Get the set of link models that follow a parent joint in the kinematic chain.
const JointModel *	getJointModel (const std::string &joint) const
	Get a joint by its name.
const std::map< std::string, GroupConfig > &	getJointModelGroupConfigMap () const
const std::map< std::string, JointModelGroup * > &	getJointModelGroupMap () const
void	getJointModelNames (std::vector< std::string > &joints) const
	Get the array of joint names, in the order they appear in the robot state.
const std::vector< JointModel * > &	getJointModels () const
	Get the array of joints, in the order they appear in the robot state.
const LinkModel *	getLinkModel (const std::string &link) const
	Get a link by its name.
void	getLinkModelNames (std::vector< std::string > &links) const
	Get the link names in the order they should be updated.
const std::vector< LinkModel * > &	getLinkModels () const
	Get the array of joints, in the order they should be updated.
const std::vector< LinkModel * > &	getLinkModelsWithCollisionGeometry () const
const JointModelGroup *	getModelGroup (const std::string &name) const
void	getModelGroupNames (std::vector< std::string > &getModelGroupNames) const
const std::string &	getName (void) const
	General the model name.
std::string	getRobotName () const
const JointModel *	getRoot (void) const
	Get the root joint.
bool	hasJointModel (const std::string &name) const
	Check if a joint exists.
bool	hasLinkModel (const std::string &name) const
	Check if a link exists.
bool	hasModelGroup (const std::string &group) const
	KinematicModel (const KinematicModel &source)
	Construct a kinematic model from another one.
	KinematicModel (const urdf::Model &model, const std::vector< GroupConfig > &group_configs, const std::vector< MultiDofConfig > &multi_dof_configs)
	Construct a kinematic model from a parsed description and a list of planning groups.
void	printModelInfo (std::ostream &out=std::cout) const
	Print information about the constructed model.
void	removeModelGroup (const std::string &group)
void	replaceAttachedBodyModels (const std::string &link_name, std::vector< AttachedBodyModel * > &attached_body_vector)
void	sharedLock (void) const
	Provide interface to get a shared lock for reading model data.
void	sharedUnlock (void) const
	Provide interface to release a shared lock.
	~KinematicModel (void)
	Destructor. Clear all memory.
Private Member Functions
void	buildGroups (const std::vector< GroupConfig > &)
JointModel *	buildRecursive (LinkModel parent, const urdf::Link link, const std::vector< MultiDofConfig > &multi_dof_configs)
JointModel *	constructJointModel (const urdf::Joint urdfJointModel, const urdf::Link child_link, const std::vector< MultiDofConfig > &multi_dof_configs)
LinkModel *	constructLinkModel (const urdf::Link *urdfLink)
shapes::Shape *	constructShape (const urdf::Geometry *geom)
JointModel *	copyJointModel (const JointModel *joint)
JointModel *	copyRecursive (LinkModel parent, const LinkModel link)
Private Attributes
std::map< std::string, GroupConfig >	joint_model_group_config_map_
std::map< std::string, JointModelGroup * >	joint_model_group_map_
std::map< std::string, JointModel * >	joint_model_map_
	A map from joint names to their instances.
std::vector< JointModel * >	joint_model_vector_
	The vector of joints in the model, in the order they appear in the state vector.
std::map< std::string, LinkModel * >	link_model_map_
	A map from link names to their instances.
std::vector< LinkModel * >	link_model_vector_
	The vector of links that are updated when computeTransforms() is called, in the order they are updated.
std::vector< LinkModel * >	link_models_with_collision_geometry_vector_
	Only links that have collision geometry specified.
boost::shared_mutex	lock_
	Shared lock for changing models.
std::string	model_name_
	The name of the model.
JointModel *	root_
	The root joint.

Detailed Description

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

Definition at line 58 of file kinematic_model.h.

Constructor & Destructor Documentation

planning_models::KinematicModel::KinematicModel ( const KinematicModel & source )

Construct a kinematic model from another one.

Definition at line 67 of file kinematic_model.cpp.

planning_models::KinematicModel::KinematicModel	(	const urdf::Model &	model,
		const std::vector< GroupConfig > &	group_configs,
		const std::vector< MultiDofConfig > &	multi_dof_configs
	)

Construct a kinematic model from a parsed description and a list of planning groups.

Author:: Ioan Sucan

Definition at line 49 of file kinematic_model.cpp.

planning_models::KinematicModel::~KinematicModel ( void )

Destructor. Clear all memory.

Definition at line 72 of file kinematic_model.cpp.

Member Function Documentation

void planning_models::KinematicModel::addAttachedBodyModel	(	const std::string &	link_name,
		AttachedBodyModel *	att_body_model
	)

Definition at line 774 of file kinematic_model.cpp.

bool planning_models::KinematicModel::addModelGroup ( const GroupConfig & group )

Definition at line 180 of file kinematic_model.cpp.

void planning_models::KinematicModel::buildGroups ( const std::vector< GroupConfig > & group_configs ) [private]

Definition at line 133 of file kinematic_model.cpp.

planning_models::KinematicModel::JointModel * planning_models::KinematicModel::buildRecursive	(	LinkModel *	parent,
		const urdf::Link *	link,
		const std::vector< MultiDofConfig > &	multi_dof_configs
	)		`[private]`

Definition at line 282 of file kinematic_model.cpp.

void planning_models::KinematicModel::clearAllAttachedBodyModels ( )

Definition at line 718 of file kinematic_model.cpp.

void planning_models::KinematicModel::clearLinkAttachedBodyModel	(	const std::string &	link_name,
		const std::string &	att_name
	)

Definition at line 762 of file kinematic_model.cpp.

void planning_models::KinematicModel::clearLinkAttachedBodyModels ( const std::string & link_name )

Definition at line 737 of file kinematic_model.cpp.

planning_models::KinematicModel::JointModel * planning_models::KinematicModel::constructJointModel	(	const urdf::Joint *	urdfJointModel,
		const urdf::Link *	child_link,
		const std::vector< MultiDofConfig > &	multi_dof_configs
	)		`[private]`

Definition at line 317 of file kinematic_model.cpp.

planning_models::KinematicModel::LinkModel * planning_models::KinematicModel::constructLinkModel ( const urdf::Link * urdfLink ) [private]

Definition at line 423 of file kinematic_model.cpp.

shapes::Shape * planning_models::KinematicModel::constructShape ( const urdf::Geometry * geom ) [private]

Definition at line 454 of file kinematic_model.cpp.

void planning_models::KinematicModel::copyFrom ( const KinematicModel & source )

Definition at line 108 of file kinematic_model.cpp.

planning_models::KinematicModel::JointModel * planning_models::KinematicModel::copyJointModel ( const JointModel * joint ) [private]

Definition at line 582 of file kinematic_model.cpp.

planning_models::KinematicModel::JointModel * planning_models::KinematicModel::copyRecursive	(	LinkModel *	parent,
		const LinkModel *	link
	)		`[private]`

Definition at line 561 of file kinematic_model.cpp.

void planning_models::KinematicModel::exclusiveLock ( void ) const

Provide interface to get an exclusive lock to change the model. Use carefully!

Definition at line 84 of file kinematic_model.cpp.

void planning_models::KinematicModel::exclusiveUnlock ( void ) const

Provide interface to release an exclusive lock. Use carefully!

Definition at line 89 of file kinematic_model.cpp.

std::vector< const planning_models::KinematicModel::AttachedBodyModel * > planning_models::KinematicModel::getAttachedBodyModels ( void ) const

Definition at line 727 of file kinematic_model.cpp.

std::vector< std::string > planning_models::KinematicModel::getChildJointModelNames ( const LinkModel * parent ) const

Get the set of joint names that follow a parent link in the kinematic chain.

Definition at line 695 of file kinematic_model.cpp.

std::vector< std::string > planning_models::KinematicModel::getChildJointModelNames ( const JointModel * parent ) const

Get the set of joint names that follow a parent joint in the kinematic chain.

Definition at line 707 of file kinematic_model.cpp.

void planning_models::KinematicModel::getChildJointModels	(	const LinkModel *	parent,
		std::vector< const JointModel * > &	links
	)		const

Get the set of joint models that follow a parent link in the kinematic chain.

void planning_models::KinematicModel::getChildJointModels	(	const JointModel *	parent,
		std::vector< const JointModel * > &	links
	)		const

Get the set of joint models that follow a parent joint in the kinematic chain.

std::vector< std::string > planning_models::KinematicModel::getChildLinkModelNames ( const LinkModel * parent ) const

Get the set of link names that follow a parent link in the kinematic chain.

Definition at line 671 of file kinematic_model.cpp.

std::vector< std::string > planning_models::KinematicModel::getChildLinkModelNames ( const JointModel * parent ) const

Get the set of link names that follow a parent link in the kinematic chain.

Definition at line 683 of file kinematic_model.cpp.

void planning_models::KinematicModel::getChildLinkModels	(	const LinkModel *	parent,
		std::vector< const LinkModel * > &	links
	)		const

Get the set of link models that follow a parent link in the kinematic chain.

void planning_models::KinematicModel::getChildLinkModels	(	const JointModel *	parent,
		std::vector< const LinkModel * > &	links
	)		const

Get the set of link models that follow a parent joint in the kinematic chain.

const planning_models::KinematicModel::JointModel * planning_models::KinematicModel::getJointModel ( const std::string & joint ) const

Get a joint by its name.

Definition at line 512 of file kinematic_model.cpp.

const std::map<std::string, GroupConfig>& planning_models::KinematicModel::getJointModelGroupConfigMap ( ) const [inline]

Definition at line 687 of file kinematic_model.h.

const std::map<std::string, JointModelGroup*>& planning_models::KinematicModel::getJointModelGroupMap ( ) const [inline]

Definition at line 682 of file kinematic_model.h.

void planning_models::KinematicModel::getJointModelNames ( std::vector< std::string > & joints ) const

Get the array of joint names, in the order they appear in the robot state.

Definition at line 553 of file kinematic_model.cpp.

const std::vector<JointModel*>& planning_models::KinematicModel::getJointModels ( ) const [inline]

Get the array of joints, in the order they appear in the robot state.

Definition at line 632 of file kinematic_model.h.

const planning_models::KinematicModel::LinkModel * planning_models::KinematicModel::getLinkModel ( const std::string & link ) const

Get a link by its name.

Definition at line 524 of file kinematic_model.cpp.

void planning_models::KinematicModel::getLinkModelNames ( std::vector< std::string > & links ) const

Get the link names in the order they should be updated.

Definition at line 544 of file kinematic_model.cpp.

const std::vector<LinkModel*>& planning_models::KinematicModel::getLinkModels ( ) const [inline]

Get the array of joints, in the order they should be updated.

Definition at line 638 of file kinematic_model.h.

const std::vector<LinkModel*>& planning_models::KinematicModel::getLinkModelsWithCollisionGeometry ( ) const [inline]

Definition at line 643 of file kinematic_model.h.

const JointModelGroup* planning_models::KinematicModel::getModelGroup ( const std::string & name ) const [inline]

Definition at line 676 of file kinematic_model.h.

void planning_models::KinematicModel::getModelGroupNames ( std::vector< std::string > & getModelGroupNames ) const

Definition at line 536 of file kinematic_model.cpp.

const std::string & planning_models::KinematicModel::getName ( void ) const

General the model name.

Definition at line 104 of file kinematic_model.cpp.

std::string planning_models::KinematicModel::getRobotName ( ) const [inline]

Definition at line 705 of file kinematic_model.h.

const planning_models::KinematicModel::JointModel * planning_models::KinematicModel::getRoot ( void ) const

Get the root joint.

Definition at line 492 of file kinematic_model.cpp.

bool planning_models::KinematicModel::hasJointModel ( const std::string & name ) const

Check if a joint exists.

Definition at line 497 of file kinematic_model.cpp.

bool planning_models::KinematicModel::hasLinkModel ( const std::string & name ) const

Check if a link exists.

Definition at line 502 of file kinematic_model.cpp.

bool planning_models::KinematicModel::hasModelGroup ( const std::string & group ) const

Definition at line 507 of file kinematic_model.cpp.

void planning_models::KinematicModel::printModelInfo ( std::ostream & out = std::cout ) const

Print information about the constructed model.

void planning_models::KinematicModel::removeModelGroup ( const std::string & group )

Definition at line 173 of file kinematic_model.cpp.

void planning_models::KinematicModel::replaceAttachedBodyModels	(	const std::string &	link_name,
		std::vector< AttachedBodyModel * > &	attached_body_vector
	)