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_

Detailed Description

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.

Constructor & Destructor Documentation

planning_models::KinematicState::KinematicState ( const KinematicModel * kinematic_model )

Author:: E. Gil Jones, Ioan Sucan

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.

planning_models::KinematicState::~KinematicState ( void )

Definition at line 125 of file kinematic_state.cpp.

Member Function Documentation

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.

std::vector<JointState*>& planning_models::KinematicState::getJointStateVector ( ) [inline]

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
	)