#include <joint_model_group.h>

Classes
struct	GroupMimicUpdate
struct	KinematicsSolver
Public Types
typedef std::map< const JointModelGroup *, KinematicsSolver >	KinematicsSolverMap
	Map from group instances to allocator functions & bijections.
Public Member Functions
void	addDefaultState (const std::string &name, const std::map< std::string, double > &default_state)
void	attachEndEffector (const std::string &eef_name)
	Notify this group that there is an end-effector attached to it.
bool	canSetStateFromIK (const std::string &tip) const
double	distance (const double state1, const double state2) const
bool	enforcePositionBounds (double *state) const
bool	enforcePositionBounds (double *state, const JointBoundsVector &active_joint_bounds) const
const std::vector< std::string > &	getActiveJointModelNames () const
	Get the names of the active joints in this group. These are the names of the joints returned by getJointModels().
const std::vector< const JointModel * > &	getActiveJointModels () const
	Get the active joints in this group (that have controllable DOF). This does not include mimic joints.
const JointBoundsVector &	getActiveJointModelsBounds () const
	Get the bounds for all the active joints.
const std::vector< std::string > &	getAttachedEndEffectorNames () const
	Get the names of the end effectors attached to this group.
const JointModel *	getCommonRoot () const
	Get the common root of all joint roots; not necessarily part of this group.
const srdf::Model::Group &	getConfig () const
	get the SRDF configuration this group is based on
const std::vector< const JointModel * > &	getContinuousJointModels () const
	Get the array of continuous joints used in this group (may include mimic joints).
unsigned int	getDefaultIKAttempts () const
	Get the default IK attempts.
double	getDefaultIKTimeout () const
	Get the default IK timeout.
const std::vector< std::string > &	getDefaultStateNames () const
	Get the names of the known default states (as specified in the SRDF)
const std::string &	getEndEffectorName () const
	Return the name of the end effector, if this group is an end-effector.
const std::pair< std::string, std::string > &	getEndEffectorParentGroup () const
	Get the name of the group this end-effector attaches to (first) and the name of the link in that group (second)
bool	getEndEffectorTips (std::vector< const LinkModel * > &tips) const
	Get a vector of end effector tips included in a particular joint model group as defined by the SRDF end effector semantic e.g. for a humanoid robot this would return 4 tips for the hands and feet.
bool	getEndEffectorTips (std::vector< std::string > &tips) const
	Get a vector of end effector tips included in a particular joint model group as defined by the SRDF end effector semantic e.g. for a humanoid robot this would return 4 tips for the hands and feet.
const std::vector< const JointModel * > &	getFixedJointModels () const
	Get the fixed joints that are part of this group.
const std::pair < KinematicsSolver, KinematicsSolverMap > &	getGroupKinematics () const
const JointModel *	getJointModel (const std::string &joint) const
	Get a joint by its name. Throw an exception if the joint is not part of this group.
const std::vector< std::string > &	getJointModelNames () const
	Get the names of the joints in this group. These are the names of the joints returned by getJointModels().
const std::vector< const JointModel * > &	getJointModels () const
	Get all the joints in this group (including fixed and mimic joints).
const std::vector< const JointModel * > &	getJointRoots () const
	Unlike a complete kinematic model, a group may contain disconnected parts of the kinematic tree -- a set of smaller trees. This function gives the roots of those smaller trees. Furthermore, it is ensured that the roots are on different branches in the kinematic tree. This means that in following any root in the given list, none of the other returned roots will be encountered.
const std::vector< unsigned int > &	getKinematicsSolverJointBijection () const
	Return the mapping between the order of the joints in this group and the order of the joints in the kinematics solver. An element bijection[i] at index i in this array, maps the variable at index bijection[i] in this group to the variable at index i in the kinematic solver.
const LinkModel *	getLinkModel (const std::string &link) const
	Get a joint by its name. Throw an exception if the joint is not part of this group.
const std::vector< std::string > &	getLinkModelNames () const
	Get the names of the links that are part of this joint group.
const std::vector< std::string > &	getLinkModelNamesWithCollisionGeometry () const
	Get the names of the links that are part of this joint group and also have geometry associated with them.
const std::vector< const LinkModel * > &	getLinkModels () const
	Get the links that are part of this joint group.
double	getMaximumExtent () const
double	getMaximumExtent (const JointBoundsVector &active_joint_bounds) const
const std::vector< const JointModel * > &	getMimicJointModels () const
	Get the mimic joints that are part of this group.
const std::string &	getName () const
	Get the name of the joint group.
const moveit::core::LinkModel *	getOnlyOneEndEffectorTip () const
	Get one end effector tip, throwing an error if there ends up being more in the joint model group This is a useful helper function because most planning groups (almost all) only have one tip.
const RobotModel &	getParentModel () const
	Get the kinematic model this group is part of.
const kinematics::KinematicsBaseConstPtr &	getSolverInstance () const
const kinematics::KinematicsBasePtr &	getSolverInstance ()
const std::vector< std::string > &	getSubgroupNames () const
	Get the names of the groups that are subsets of this one (in terms of joints set)
void	getSubgroups (std::vector< const JointModelGroup * > &sub_groups) const
	Get the groups that are subsets of this one (in terms of joints set)
const std::vector< std::string > &	getUpdatedLinkModelNames () const
	Get the names of the links returned by getUpdatedLinkModels()
const std::vector< const LinkModel * > &	getUpdatedLinkModels () const
	Get the names of the links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated. The order is the correct order for updating the corresponding states.
const std::set< const LinkModel * > &	getUpdatedLinkModelsSet () const
	Return the same data as getUpdatedLinkModels() but as a set.
const std::vector< const LinkModel * > &	getUpdatedLinkModelsWithGeometry () const
	Get the names of the links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated.
const std::vector< std::string > &	getUpdatedLinkModelsWithGeometryNames () const
	Get the names of the links returned by getUpdatedLinkModels()
const std::set< std::string > &	getUpdatedLinkModelsWithGeometryNamesSet () const
	Get the names of the links returned by getUpdatedLinkModels()
const std::set< const LinkModel * > &	getUpdatedLinkModelsWithGeometrySet () const
	Return the same data as getUpdatedLinkModelsWithGeometry() but as a set.
unsigned int	getVariableCount () const
	Get the number of variables that describe this joint group. This includes variables necessary for mimic joints, so will always be >= the number of items returned by getActiveVariableNames()
bool	getVariableDefaultPositions (const std::string &name, std::map< std::string, double > &values) const
	Get the values that correspond to a named state as read from the URDF. Return false on failure.
void	getVariableDefaultPositions (std::map< std::string, double > &values) const
	Compute the default values for the joint group.
void	getVariableDefaultPositions (std::vector< double > &values) const
	Compute the default values for the joint group.
void	getVariableDefaultPositions (double *values) const
	Compute the default values for the joint group.
int	getVariableGroupIndex (const std::string &variable) const
	Get the index of a variable within the group. Return -1 on error.
const std::vector< int > &	getVariableIndexList () const
	Get the index locations in the complete robot state for all the variables in this group.
const std::vector< std::string > &	getVariableNames () const
	Get the names of the variables that make up the joints included in this group. The number of returned elements is always equal to getVariableCount(). This includes mimic joints.
void	getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values) const
	Compute random values for the state of the joint group.
void	getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values) const
	Compute random values for the state of the joint group.
void	getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values, const JointBoundsVector &active_joint_bounds) const
void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double values, const double near, const double distance) const
	Compute random values for the state of the joint group.
void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const std::vector< double > &near, double distance) const
	Compute random values for the state of the joint group.
void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const std::vector< double > &near, const std::map< JointModel::JointType, double > &distance_map) const
	Compute random values for the state of the joint group.
void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const std::vector< double > &near, const std::vector< double > &distances) const
	Compute random values for the state of the joint group.
void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double values, const JointBoundsVector &active_joint_bounds, const double near, const double distance) const
	Compute random values for the state of the joint group.
void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double values, const JointBoundsVector &active_joint_bounds, const double near, const std::map< JointModel::JointType, double > &distance_map) const
	Compute random values for the state of the joint group.
void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double values, const JointBoundsVector &active_joint_bounds, const double near, const std::vector< double > &distances) const
	Compute random values for the state of the joint group.
bool	hasJointModel (const std::string &joint) const
	Check if a joint is part of this group.
bool	hasLinkModel (const std::string &link) const
	Check if a link is part of this group.
void	interpolate (const double from, const double to, double t, double *state) const
bool	isChain () const
	Check if this group is a linear chain.
bool	isContiguousWithinState () const
bool	isEndEffector () const
	Check if this group was designated as an end-effector in the SRDF.
bool	isLinkUpdated (const std::string &name) const
	True if this name is in the set of links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated.
bool	isSingleDOFJoints () const
	Return true if the group consists only of joints that are single DOF.
bool	isSubgroup (const std::string &group) const
	Check if the joints of group group are a subset of the joints in this group.
	JointModelGroup (const std::string &name, const srdf::Model::Group &config, const std::vector< const JointModel * > &joint_vector, const RobotModel *parent_model)
void	printGroupInfo (std::ostream &out=std::cout) const
	Print information about the constructed model.
bool	satisfiesPositionBounds (const double *state, double margin=0.0) const
bool	satisfiesPositionBounds (const double *state, const JointBoundsVector &active_joint_bounds, double margin=0.0) const
void	setDefaultIKAttempts (unsigned int ik_attempts)
	Set the default IK attempts.
void	setDefaultIKTimeout (double ik_timeout)
	Set the default IK timeout.
void	setEndEffectorName (const std::string &name)
	Set the name of the end-effector, and remember this group is indeed an end-effector.
void	setEndEffectorParent (const std::string &group, const std::string &link)
	If this group is an end-effector, specify the parent group (e.g., the arm holding the eef) and the link the end effector connects to.
bool	setRedundantJoints (const std::vector< std::string > &joints)
void	setSolverAllocators (const SolverAllocatorFn &solver, const SolverAllocatorMapFn &solver_map=SolverAllocatorMapFn())
void	setSolverAllocators (const std::pair< SolverAllocatorFn, SolverAllocatorMapFn > &solvers)
void	setSubgroupNames (const std::vector< std::string > &subgroups)
	Set the names of the subgroups for this group.
	~JointModelGroup ()
Protected Member Functions
bool	computeIKIndexBijection (const std::vector< std::string > &ik_jnames, std::vector< unsigned int > &joint_bijection) const
void	updateMimicJoints (double *values) const
	Update the variable values for the state of a group with respect to the mimic joints. This only updates mimic joints that have the parent in this group. If there is a joint mimicking one that is outside the group, there are no values to be read (values is only the group state)
Protected Attributes
std::vector< std::string >	active_joint_model_name_vector_
	Names of active joints in the order they appear in the group state.
std::vector< int >	active_joint_model_start_index_
	For each active joint model in this group, hold the index at which the corresponding joint state starts in the group state.
std::vector< const JointModel * >	active_joint_model_vector_
	Active joint instances in the order they appear in the group state.
JointBoundsVector	active_joint_models_bounds_
	The bounds for all the active joint models.
std::vector< std::string >	attached_end_effector_names_
	If an end-effector is attached to this group, the name of that end-effector is stored in this variable.
const JointModel *	common_root_
	The joint that is a common root for all joints in this group (not necessarily part of this group)
srdf::Model::Group	config_
std::vector< const JointModel * >	continuous_joint_model_vector_
	The set of continuous joints this group contains.
std::map< std::string, std::map< std::string, double > >	default_states_
	The set of default states specified for this group in the SRDF.
std::vector< std::string >	default_states_names_
	The names of the default states specified for this group in the SRDF.
std::string	end_effector_name_
	The name of the end effector, if this group is an end-effector.
std::pair< std::string, std::string >	end_effector_parent_
	First: name of the group that is parent to this end-effector group; Second: the link this in the parent group that this group attaches to.
std::vector< const JointModel * >	fixed_joints_
	The joints that have no DOF (fixed)
std::pair< KinematicsSolver, KinematicsSolverMap >	group_kinematics_
std::vector< GroupMimicUpdate >	group_mimic_update_
bool	is_chain_
bool	is_contiguous_index_list_
	True if the state of this group is contiguous within the full robot state; this also means that the index values in variable_index_list_ are consecutive integers.
bool	is_single_dof_
JointModelMapConst	joint_model_map_
	A map from joint names to their instances. This includes all joints in the group.
std::vector< std::string >	joint_model_name_vector_
	Names of joints in the order they appear in the group state.
std::vector< const JointModel * >	joint_model_vector_
	Joint instances in the order they appear in the group state.
std::vector< const JointModel * >	joint_roots_
	The list of active joint models that are roots in this group.
VariableIndexMap	joint_variables_index_map_
	The group includes all the joint variables that make up the joints the group consists of. This map gives the position in the state vector of the group for each of these variables. Additionaly, it includes the names of the joints and the index for the first variable of that joint.
LinkModelMapConst	link_model_map_
	A map from link names to their instances.
std::vector< std::string >	link_model_name_vector_
	The names of the links in this group.
std::vector< const LinkModel * >	link_model_vector_
	The links that are on the direct lineage between joints and joint_roots_, as well as the children of the joint leafs. May not be in any particular order.
std::vector< std::string >	link_model_with_geometry_name_vector_
	The names of the links in this group that also have geometry.
std::vector< const LinkModel * >	link_model_with_geometry_vector_
std::vector< const JointModel * >	mimic_joints_
	Joints that mimic other joints.
std::string	name_
	Name of group.
const RobotModel *	parent_model_
	Owner model.
std::vector< std::string >	subgroup_names_
	The set of labelled subgroups that are included in this group.
std::set< std::string >	subgroup_names_set_
	The set of labelled subgroups that are included in this group.
std::set< std::string >	updated_link_model_name_set_
	The list of downstream link names in the order they should be updated (may include links that are not in this group)
std::vector< std::string >	updated_link_model_name_vector_
	The list of downstream link names in the order they should be updated (may include links that are not in this group)
std::set< const LinkModel * >	updated_link_model_set_
	The list of downstream link models in the order they should be updated (may include links that are not in this group)
std::vector< const LinkModel * >	updated_link_model_vector_
	The list of downstream link models in the order they should be updated (may include links that are not in this group)
std::set< std::string >	updated_link_model_with_geometry_name_set_
	The list of downstream link names in the order they should be updated (may include links that are not in this group)
std::vector< std::string >	updated_link_model_with_geometry_name_vector_
	The list of downstream link names in the order they should be updated (may include links that are not in this group)
std::set< const LinkModel * >	updated_link_model_with_geometry_set_
	The list of downstream link models in the order they should be updated (may include links that are not in this group)
std::vector< const LinkModel * >	updated_link_model_with_geometry_vector_
	The list of downstream link models in the order they should be updated (may include links that are not in this group)
unsigned int	variable_count_
	The number of variables necessary to describe this group of joints.
std::vector< int >	variable_index_list_
	The list of index values this group includes, with respect to a full robot state; this includes mimic joints.
std::vector< std::string >	variable_names_
	The names of the DOF that make up this group (this is just a sequence of joint variable names; not necessarily joint names!)
std::set< std::string >	variable_names_set_
	The names of the DOF that make up this group (this is just a sequence of joint variable names; not necessarily joint names!)

Detailed Description

Definition at line 69 of file joint_model_group.h.

Member Typedef Documentation

typedef std::map<const JointModelGroup*, KinematicsSolver> moveit::core::JointModelGroup::KinematicsSolverMap

Map from group instances to allocator functions & bijections.

Definition at line 111 of file joint_model_group.h.

Constructor & Destructor Documentation

moveit::core::JointModelGroup::JointModelGroup	(	const std::string &	name,
		const srdf::Model::Group &	config,
		const std::vector< const JointModel * > &	joint_vector,
		const RobotModel *	parent_model
	)

Definition at line 102 of file joint_model_group.cpp.

moveit::core::JointModelGroup::~JointModelGroup ( )

Definition at line 266 of file joint_model_group.cpp.

Member Function Documentation

void moveit::core::JointModelGroup::addDefaultState	(	const std::string &	name,
		const std::map< std::string, double > &	default_state
	)

Definition at line 447 of file joint_model_group.cpp.

void moveit::core::JointModelGroup::attachEndEffector ( const std::string & eef_name )

Notify this group that there is an end-effector attached to it.

Definition at line 490 of file joint_model_group.cpp.

bool moveit::core::JointModelGroup::canSetStateFromIK ( const std::string & tip ) const

Definition at line 633 of file joint_model_group.cpp.

bool moveit::core::JointModelGroup::computeIKIndexBijection	(	const std::vector< std::string > &	ik_jnames,
		std::vector< unsigned int > &	joint_bijection
	)		const `[protected]`

Definition at line 575 of file joint_model_group.cpp.

double moveit::core::JointModelGroup::distance	(	const double *	state1,
		const double *	state2
	)		const

Definition at line 417 of file joint_model_group.cpp.

bool moveit::core::JointModelGroup::enforcePositionBounds ( double * state ) const [inline]

Definition at line 385 of file joint_model_group.h.

bool moveit::core::JointModelGroup::enforcePositionBounds	(	double *	state,
		const JointBoundsVector &	active_joint_bounds
	)		const

Definition at line 394 of file joint_model_group.cpp.

const std::vector<std::string>& moveit::core::JointModelGroup::getActiveJointModelNames ( ) const [inline]

Get the names of the active joints in this group. These are the names of the joints returned by getJointModels().

Definition at line 169 of file joint_model_group.h.

const std::vector<const JointModel*>& moveit::core::JointModelGroup::getActiveJointModels ( ) const [inline]

Get the active joints in this group (that have controllable DOF). This does not include mimic joints.

Definition at line 162 of file joint_model_group.h.

const JointBoundsVector& moveit::core::JointModelGroup::getActiveJointModelsBounds ( ) const [inline]

Get the bounds for all the active joints.

Definition at line 511 of file joint_model_group.h.

const std::vector<std::string>& moveit::core::JointModelGroup::getAttachedEndEffectorNames ( ) const [inline]

Get the names of the end effectors attached to this group.

Definition at line 480 of file joint_model_group.h.

const JointModel* moveit::core::JointModelGroup::getCommonRoot ( ) const [inline]

Get the common root of all joint roots; not necessarily part of this group.

Definition at line 212 of file joint_model_group.h.

const srdf::Model::Group& moveit::core::JointModelGroup::getConfig ( ) const [inline]

get the SRDF configuration this group is based on

Definition at line 131 of file joint_model_group.h.

const std::vector<const JointModel*>& moveit::core::JointModelGroup::getContinuousJointModels ( ) const [inline]

Get the array of continuous joints used in this group (may include mimic joints).

Definition at line 187 of file joint_model_group.h.

unsigned int moveit::core::JointModelGroup::getDefaultIKAttempts ( ) const [inline]

Get the default IK attempts.

Definition at line 558 of file joint_model_group.h.

double moveit::core::JointModelGroup::getDefaultIKTimeout ( ) const [inline]

Get the default IK timeout.

Definition at line 549 of file joint_model_group.h.

const std::vector<std::string>& moveit::core::JointModelGroup::getDefaultStateNames ( ) const [inline]

Get the names of the known default states (as specified in the SRDF)

Definition at line 300 of file joint_model_group.h.

const std::string& moveit::core::JointModelGroup::getEndEffectorName ( ) const [inline]

Return the name of the end effector, if this group is an end-effector.

Definition at line 456 of file joint_model_group.h.

const std::pair<std::string, std::string>& moveit::core::JointModelGroup::getEndEffectorParentGroup ( ) const [inline]

Get the name of the group this end-effector attaches to (first) and the name of the link in that group (second)

Definition at line 474 of file joint_model_group.h.

bool moveit::core::JointModelGroup::getEndEffectorTips ( std::vector< const LinkModel * > & tips ) const

Get a vector of end effector tips included in a particular joint model group as defined by the SRDF end effector semantic e.g. for a humanoid robot this would return 4 tips for the hands and feet.

Parameters:

tips	- the output vector of link models of the tips

Returns:: true on success

Definition at line 511 of file joint_model_group.cpp.

bool moveit::core::JointModelGroup::getEndEffectorTips ( std::vector< std::string > & tips ) const

Get a vector of end effector tips included in a particular joint model group as defined by the SRDF end effector semantic e.g. for a humanoid robot this would return 4 tips for the hands and feet.

Parameters:

tips	- the output vector of link names of the tips

Returns:: true on success

Definition at line 495 of file joint_model_group.cpp.

const std::vector<const JointModel*>& moveit::core::JointModelGroup::getFixedJointModels ( ) const [inline]

Get the fixed joints that are part of this group.

Definition at line 175 of file joint_model_group.h.

const std::pair<KinematicsSolver, KinematicsSolverMap>& moveit::core::JointModelGroup::getGroupKinematics ( ) const [inline]

Definition at line 516 of file joint_model_group.h.

const moveit::core::JointModel * moveit::core::JointModelGroup::getJointModel ( const std::string & joint ) const

Get a joint by its name. Throw an exception if the joint is not part of this group.

Definition at line 306 of file joint_model_group.cpp.

const std::vector<std::string>& moveit::core::JointModelGroup::getJointModelNames ( ) const [inline]

Get the names of the joints in this group. These are the names of the joints returned by getJointModels().

Definition at line 156 of file joint_model_group.h.

const std::vector<const JointModel*>& moveit::core::JointModelGroup::getJointModels ( ) const [inline]

Get all the joints in this group (including fixed and mimic joints).

Definition at line 149 of file joint_model_group.h.

const std::vector<const JointModel*>& moveit::core::JointModelGroup::getJointRoots ( ) const [inline]

Unlike a complete kinematic model, a group may contain disconnected parts of the kinematic tree -- a set of smaller trees. This function gives the roots of those smaller trees. Furthermore, it is ensured that the roots are on different branches in the kinematic tree. This means that in following any root in the given list, none of the other returned roots will be encountered.

Definition at line 206 of file joint_model_group.h.

const std::vector<unsigned int>& moveit::core::JointModelGroup::getKinematicsSolverJointBijection ( ) const [inline]

Return the mapping between the order of the joints in this group and the order of the joints in the kinematics solver. An element bijection[i] at index i in this array, maps the variable at index bijection[i] in this group to the variable at index i in the kinematic solver.

Definition at line 570 of file joint_model_group.h.

const moveit::core::LinkModel * moveit::core::JointModelGroup::getLinkModel ( const std::string & link ) const

Get a joint by its name. Throw an exception if the joint is not part of this group.

Definition at line 295 of file joint_model_group.cpp.

const std::vector<std::string>& moveit::core::JointModelGroup::getLinkModelNames ( ) const [inline]

Get the names of the links that are part of this joint group.

Definition at line 224 of file joint_model_group.h.

const std::vector<std::string>& moveit::core::JointModelGroup::getLinkModelNamesWithCollisionGeometry ( ) const [inline]

Get the names of the links that are part of this joint group and also have geometry associated with them.

Definition at line 230 of file joint_model_group.h.

const std::vector<const LinkModel*>& moveit::core::JointModelGroup::getLinkModels ( ) const [inline]

Get the links that are part of this joint group.

Definition at line 218 of file joint_model_group.h.

double moveit::core::JointModelGroup::getMaximumExtent ( ) const [inline]

Definition at line 398 of file joint_model_group.h.

double moveit::core::JointModelGroup::getMaximumExtent ( const JointBoundsVector & active_joint_bounds ) const

Definition at line 408 of file joint_model_group.cpp.

const std::vector<const JointModel*>& moveit::core::JointModelGroup::getMimicJointModels ( ) const [inline]

Get the mimic joints that are part of this group.

Definition at line 181 of file joint_model_group.h.

const std::string& moveit::core::JointModelGroup::getName ( ) const [inline]

Get the name of the joint group.

Definition at line 125 of file joint_model_group.h.

const moveit::core::LinkModel * moveit::core::JointModelGroup::getOnlyOneEndEffectorTip ( ) const

Get one end effector tip, throwing an error if there ends up being more in the joint model group This is a useful helper function because most planning groups (almost all) only have one tip.

Returns:: pointer to LinkModel, or NULL on failure

Definition at line 535 of file joint_model_group.cpp.

const RobotModel& moveit::core::JointModelGroup::getParentModel ( ) const [inline]

Get the kinematic model this group is part of.

Definition at line 119 of file joint_model_group.h.

const kinematics::KinematicsBaseConstPtr& moveit::core::JointModelGroup::getSolverInstance ( ) const [inline]

Definition at line 529 of file joint_model_group.h.

const kinematics::KinematicsBasePtr& moveit::core::JointModelGroup::getSolverInstance ( ) [inline]

Definition at line 534 of file joint_model_group.h.

const std::vector<std::string>& moveit::core::JointModelGroup::getSubgroupNames ( ) const [inline]

Get the names of the groups that are subsets of this one (in terms of joints set)

Definition at line 418 of file joint_model_group.h.

void moveit::core::JointModelGroup::getSubgroups ( std::vector< const JointModelGroup * > & sub_groups ) const

Get the groups that are subsets of this one (in terms of joints set)

Definition at line 278 of file joint_model_group.cpp.

const std::vector<std::string>& moveit::core::JointModelGroup::getUpdatedLinkModelNames ( ) const [inline]

Get the names of the links returned by getUpdatedLinkModels()

Definition at line 251 of file joint_model_group.h.

const std::vector<const LinkModel*>& moveit::core::JointModelGroup::getUpdatedLinkModels ( ) const [inline]

Get the names of the links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated. The order is the correct order for updating the corresponding states.

Definition at line 239 of file joint_model_group.h.

const std::set<const LinkModel*>& moveit::core::JointModelGroup::getUpdatedLinkModelsSet ( ) const [inline]

Return the same data as getUpdatedLinkModels() but as a set.

Definition at line 245 of file joint_model_group.h.

const std::vector<const LinkModel*>& moveit::core::JointModelGroup::getUpdatedLinkModelsWithGeometry ( ) const [inline]

Get the names of the links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated.

Definition at line 259 of file joint_model_group.h.

const std::vector<std::string>& moveit::core::JointModelGroup::getUpdatedLinkModelsWithGeometryNames ( ) const [inline]

Get the names of the links returned by getUpdatedLinkModels()

Definition at line 271 of file joint_model_group.h.

const std::set<std::string>& moveit::core::JointModelGroup::getUpdatedLinkModelsWithGeometryNamesSet ( ) const [inline]

Get the names of the links returned by getUpdatedLinkModels()

Definition at line 277 of file joint_model_group.h.

const std::set<const LinkModel*>& moveit::core::JointModelGroup::getUpdatedLinkModelsWithGeometrySet ( ) const [inline]

Return the same data as getUpdatedLinkModelsWithGeometry() but as a set.

Definition at line 265 of file joint_model_group.h.

unsigned int moveit::core::JointModelGroup::getVariableCount ( ) const [inline]

Get the number of variables that describe this joint group. This includes variables necessary for mimic joints, so will always be >= the number of items returned by getActiveVariableNames()

Definition at line 409 of file joint_model_group.h.

bool moveit::core::JointModelGroup::getVariableDefaultPositions	(	const std::string &	name,
		std::map< std::string, double > &	values
	)		const

Get the values that correspond to a named state as read from the URDF. Return false on failure.

Definition at line 454 of file joint_model_group.cpp.

void moveit::core::JointModelGroup::getVariableDefaultPositions ( std::map< std::string, double > & values ) const

Compute the default values for the joint group.

Definition at line 471 of file joint_model_group.cpp.

void moveit::core::JointModelGroup::getVariableDefaultPositions ( std::vector< double > & values ) const [inline]

Compute the default values for the joint group.

Definition at line 314 of file joint_model_group.h.

void moveit::core::JointModelGroup::getVariableDefaultPositions ( double * values ) const

Compute the default values for the joint group.

Definition at line 464 of file joint_model_group.cpp.

int moveit::core::JointModelGroup::getVariableGroupIndex ( const std::string & variable ) const

Get the index of a variable within the group. Return -1 on error.

Definition at line 548 of file joint_model_group.cpp.

const std::vector<int>& moveit::core::JointModelGroup::getVariableIndexList ( ) const [inline]

Get the index locations in the complete robot state for all the variables in this group.

Definition at line 291 of file joint_model_group.h.

const std::vector<std::string>& moveit::core::JointModelGroup::getVariableNames ( ) const [inline]

Get the names of the variables that make up the joints included in this group. The number of returned elements is always equal to getVariableCount(). This includes mimic joints.

Definition at line 194 of file joint_model_group.h.

void moveit::core::JointModelGroup::getVariableRandomPositions	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values
	)		const `[inline]`