class to parse urdf and srdf with moveit classes and to give information about the model parsed More...

#include <ParserMoveIt.h>

Public Types
typedef std::shared_ptr< const ParserMoveIt >	ConstPtr

typedef std::shared_ptr< ParserMoveIt >	Ptr

Public Member Functions
bool	checkIfContinuosJoint (const std::string jointName) const
	check if the passed joint is continuos (i.e. a revolute one with sum of bounds greater than 2*PI) More...

bool	checkIfContinuosJoint (const moveit::core::JointModel *joint) const
	check if the passed joint is continuos (i.e. a revolute one with sum of bounds greater than 2*PI) More...

std::vector< const moveit::core::JointModel * >	getActiveJointModels () const
	getter for all active (actuated) joints. The analogous moveit function returns also the "passive" ones (defined in srdf), this one exclude the passive More...

std::vector< std::string >	getActiveJointNames () const
	getter for all active (actuated) joints' names. The analogous moveit function returns also the "passive" ones (defined in srdf) More...

std::vector< double >	getBiggerBoundFromZero (std::string jointName) const
	For each DOF of a joint, find the limit which is farther from 0 position. More...

std::vector< double >	getBiggerBoundFromZero (const moveit::core::JointModel *joint) const
	For each DOF of a joint, find the limit which is farther from 0 position. More...

robot_model::RobotModelPtr	getCopyModel () const
	This function reload another model, same as the one loaded in init but this one can be modified externally, because it will not affect the internal structures of this class. More...

std::map< std::string, std::vector< const moveit::core::JointModel *> >	getDescendantJointsOfJoint () const
	getter for descendandsJointsOfJoint. "Descendants" is intended in a slightly different way respect to moveit (see lookForDescendants doc) More...

std::map< std::string, std::vector< const moveit::core::LinkModel *> >	getDescendantLinksOfJoint () const
	getter for descendandsLinksOfJoint. "Descendants" is intended in a slightly different way respect to moveit (see lookForDescendants doc) More...

std::string	getFingerOfFingertip (std::string tipName) const
	This function returns the name of the finger which the passed `tipName` belongs to. More...

std::map< std::string, std::string >	getFingerOfFingertipMap () const

std::vector< std::string >	getFingertipNames () const

std::string	getFingertipOfFinger (std::string fingerName) const
	This function returns the name of the fingertip that belongs to the passed `fingerName`. More...

std::map< std::string, std::string >	getFingertipOfFingerMap () const

std::map< std::string, std::vector< std::string > >	getFingertipsOfJointMap () const

std::string	getFirstActuatedJointInFinger (std::string linkName) const
	Given the linkName, this function returns the actuated joint that is a parent of this link and it is the first joint of the chain which the link belongs to. E.G. given a fingertip, it returns the first actuated joint of the finger (e.g. the joint that moves the firsts phalanges, if present) From the linkName given, this function explores the parent links until we found a link with more than 1 child joint. This means that we have found the "base" of the kinematic chain, so we can go forward to find the first actuated joint. More...

std::string	getFirstActuatedParentJoint (std::string linkName, bool includeContinuos) const
	starting from the given link, we explore the parents joint, until we found the first actuated. This ones will be the interesting joint More...

std::vector< std::string >	getGroupOfLink (std::string linkName)
	This function explores all groups of srdf and says to which ones the linkName belongs to. Returns a vector because a link can be part of more group. More...

std::string	getHandName () const

std::map< std::string, std::vector< std::string > >	getJointsOfFingertipMap () const

std::pair< std::string, std::string >	getMimicNLFatherOfJoint (std::string mimicNLJointName) const
	gets for the maps of non linear mimic joints More...

std::map< std::string, std::pair< std::string, std::string > >	getMimicNLFatherOfJointMap () const

std::string	getMimicNLJointOfFather (std::string mimicNLFatherName, std::string mimicNLJointName) const

std::map< std::string, std::string >	getMimicNLJointsOfFather (std::string mimicNLFatherName) const

std::map< std::string, std::map< std::string, std::string > >	getMimicNLJointsOfFatherMap () const

unsigned int	getNExclusiveJointsOfTip (std::string tipName, bool continuosIncluded) const
	Given a fingertip link, this function return the number of the joint that affect only the position of this fingertip and not any other fingertips (obviously the joints can affect different other links that are not fingertips (e.g. middles phalanges) ) More...

unsigned int	getNFingers () const

std::vector< std::string >	getPassiveJointNames () const
	getter for all the passive joints (defined in this way in the srdf file) Not all the not-actuated joint are passive (a mimic joint can also be not defined as passive in srdf) More...

const robot_model::RobotModelPtr	getRobotModel () const
	the robot model can't be modified, if you want it to modify, use getCopyModel to get a copy. More...

std::vector< double >	getSmallerBoundFromZero (std::string jointName) const
	For each DOF of a joint, find the limit which is nearer from 0 position. More...

std::vector< double >	getSmallerBoundFromZero (const moveit::core::JointModel *joint) const
	For each DOF of a joint, find the limit which is nearer from 0 position. More...

bool	groupIsChain (const std::string groupName) const
	check if a group (defined in srdf file) is a chain. See groupIsChain ( moveit::core::JointModelGroup* group ) More...

bool	groupIsChain (const moveit::core::JointModelGroup *group) const
	check if a group (defined in srdf file) is a chain. This is done simply exploring all the links of the group: if no links have more than 1 children, the group is a chain. Moveit has a function isChain() but I don't understand how it works, in fact also if there is a link with more children joint sometimes the group is considered a chain anyway. I can't find where the moveit _is_chain member is set. More...

bool	init (std::string robot_description, bool verbose=true)
	Init the parser, fill the structures. More...

void	parseNonLinearMimicRelations (std::string xml)

	ParserMoveIt ()

	~ParserMoveIt ()

Private Member Functions
void	getRealDescendantLinkModelsRecursive (const moveit::core::LinkModel link, std::vector< const moveit::core::LinkModel > &linksVect, const moveit::core::JointModel joint, std::vector< const moveit::core::JointModel > &jointsVect) const
	Recursive function, support for lookForDescendants, to explore the urdf tree. More...

void	lookForActiveJoints ()
	This function look for all active joints in the model (i.e. not mimic, not fixed, not passive) There exist a moveit function getActiveJointModels() which return all not mimic and not fixed, but it can return also passive joints (a info that is stored in srdf file). So this function also check if the joint is not passive It stores both the joint names and pointer to joint models in two private vector (activeJointNames and activeJointModels) More...

void	lookForDescendants ()
	Function to explore the kinematic tree from each actuated joint. It stores each descendants links and joints in two maps (descendantLinksOfJoint and descendantJointsOfJoint) where the key is the name of the joint and the value a vector of descendandts. The tree is explored recursively thanks to getRealDescendantLinkModelsRecursive support function. More...

void	lookForFingertips (bool verbose=true)
	This function explore the robot_model (which was built from urdf and srdf files), and fills the fingerTipNames vector. In particular, the function explores only the groups specified in the srdf, and prints infos about each link it finds (eg. not a fingertin, not a chain group, and so on). A fingertip is a link with the following conditions: More...

void	lookForPassiveJoints ()
	This function looks for all passive joints, defined so in the srdf file. More...

void	lookJointsTipsCorrelation ()
	Here, we find for each tip, which are all the joints (active) that can modifies its position It is easier to start from each joint and see which tips has as its descendands, because there is the getDescendantLinkModels() function in moveit that gives ALL the child links. There is not a function like getNonFixedParentJointModels from the tip, there is only the one to take the FIRST parent joint (getParentJointModel()) Meanwhile, we find also, for each joint, all the tips that are influenced by the joint movement: fingertipsOfJointMap. More...

Private Attributes
std::vector< const moveit::core::JointModel * >	activeJointModels

std::vector< std::string >	activeJointNames

std::map< std::string, std::vector< const moveit::core::JointModel *> >	descendantJointsOfJoint
	Map containing info about descendants joints of a joint see lookForDescendants function for more info. More...

std::map< std::string, std::vector< const moveit::core::LinkModel *> >	descendantLinksOfJoint
	Map containing info about descendants links of a joint see lookForDescendants function for more info. More...

std::map< std::string, std::string >	fingerOfFingertipMap
	The map with as key the name of the finger (defined in srdf file) and as value the fingertip (the last (not virtual) link of the joint) More...

std::vector< std::string >	fingertipNames

std::map< std::string, std::string >	fingertipOfFingerMap
	The map with as key the name of the fingertip (the last (not virtual) link of a finger) and as value the finger name (defined in the srdf) More...

std::map< std::string, std::vector< std::string > >	fingertipsOfJointMap
	The map with as key the name of the actuated joint and as value all the fingertips which pose can be modified by the joint. More...

std::string	handName

std::map< std::string, std::vector< std::string > >	jointsOfFingertipMap
	The map with as key the name of the fingertip and as value all the joints (actuated) that can modify its pose. More...

std::map< std::string, std::pair< std::string, std::string > >	mimicNLFatherOfJointMap
	This map contain as key the name of the mimic joint which position follows a non linear relationship with a father joint. As value there is a pair: first element is the name of the father joint, second element is the non linear equation. More...

std::map< std::string, std::map< std::string, std::string > >	mimicNLJointsOfFatherMap
	inverse map of previous, even if the function is replicated, this is anyway useful, at the cost of having 2 copy of a string type. the key is the name of the father, the value is a map because more than one child can mimic the father (In the other map, there is a pair) More...

unsigned int	nFingers

std::vector< std::string >	passiveJointNames

std::string	robot_description

robot_model::RobotModelPtr	robot_model

Detailed Description

class to parse urdf and srdf with moveit classes and to give information about the model parsed

Todo:: merge this with Parser class?

Definition at line 36 of file ParserMoveIt.h.

Member Typedef Documentation

◆ ConstPtr

typedef std::shared_ptr<const ParserMoveIt> ROSEE::ParserMoveIt::ConstPtr

Definition at line 41 of file ParserMoveIt.h.

◆ Ptr

typedef std::shared_ptr<ParserMoveIt> ROSEE::ParserMoveIt::Ptr

Definition at line 40 of file ParserMoveIt.h.

Constructor & Destructor Documentation

◆ ParserMoveIt()

ROSEE::ParserMoveIt::ParserMoveIt ( )

Definition at line 19 of file ParserMoveIt.cpp.

◆ ~ParserMoveIt()

ROSEE::ParserMoveIt::~ParserMoveIt ( )

Definition at line 23 of file ParserMoveIt.cpp.

Member Function Documentation

◆ checkIfContinuosJoint() [1/2]

bool ROSEE::ParserMoveIt::checkIfContinuosJoint ( const std::string jointName ) const

check if the passed joint is continuos (i.e. a revolute one with sum of bounds greater than 2*PI)

Parameters

jointName the name of the joint

Returns: bool true if joint is continuos

Definition at line 244 of file ParserMoveIt.cpp.

◆ checkIfContinuosJoint() [2/2]

bool ROSEE::ParserMoveIt::checkIfContinuosJoint ( const moveit::core::JointModel * joint ) const

check if the passed joint is continuos (i.e. a revolute one with sum of bounds greater than 2*PI)

Parameters

joint pointer to the joint model

Returns: bool true if joint is continuos

Definition at line 253 of file ParserMoveIt.cpp.

◆ getActiveJointModels()

std::vector< const moveit::core::JointModel * > ROSEE::ParserMoveIt::getActiveJointModels ( ) const

getter for all active (actuated) joints. The analogous moveit function returns also the "passive" ones (defined in srdf), this one exclude the passive

Returns: vector of pointer of all joints that are actuated

Definition at line 73 of file ParserMoveIt.cpp.

◆ getActiveJointNames()

std::vector< std::string > ROSEE::ParserMoveIt::getActiveJointNames ( ) const

getter for all active (actuated) joints' names. The analogous moveit function returns also the "passive" ones (defined in srdf)

Returns: vector of name of all joints that are actuated

Definition at line 69 of file ParserMoveIt.cpp.

◆ getBiggerBoundFromZero() [1/2]

std::vector< double > ROSEE::ParserMoveIt::getBiggerBoundFromZero ( std::string jointName ) const

For each DOF of a joint, find the limit which is farther from 0 position.

Parameters

jointName the name of the joint

Returns: std::vector<double> a vector (because joint can have more dofs) containing the values of the limits that are farther from 0

Definition at line 274 of file ParserMoveIt.cpp.

◆ getBiggerBoundFromZero() [2/2]

std::vector< double > ROSEE::ParserMoveIt::getBiggerBoundFromZero ( const moveit::core::JointModel * joint ) const

For each DOF of a joint, find the limit which is farther from 0 position.

Parameters

joint pointer to the joint model

Returns: std::vector<double> a vector (because joint can have more dofs) containing the values of the limits that are farther from 0

Definition at line 284 of file ParserMoveIt.cpp.

◆ getCopyModel()

robot_model::RobotModelPtr ROSEE::ParserMoveIt::getCopyModel ( ) const

This function reload another model, same as the one loaded in init but this one can be modified externally, because it will not affect the internal structures of this class.

Returns: robot_model::RobotModelPtr a pointer to a new robot model created

Definition at line 187 of file ParserMoveIt.cpp.

◆ getDescendantJointsOfJoint()

std::map< std::string, std::vector< const moveit::core::JointModel *> > ROSEE::ParserMoveIt::getDescendantJointsOfJoint ( ) const

getter for descendandsJointsOfJoint. "Descendants" is intended in a slightly different way respect to moveit (see lookForDescendants doc)

Returns: map with keys the joint name and values a vector of pointer of all descendants joints

Definition at line 85 of file ParserMoveIt.cpp.

◆ getDescendantLinksOfJoint()

std::map< std::string, std::vector< const moveit::core::LinkModel *> > ROSEE::ParserMoveIt::getDescendantLinksOfJoint ( ) const

getter for descendandsLinksOfJoint. "Descendants" is intended in a slightly different way respect to moveit (see lookForDescendants doc)

Returns: map with keys the joint name and values a vector of pointer of all descendants links

Definition at line 81 of file ParserMoveIt.cpp.

◆ getFingerOfFingertip()

std::string ROSEE::ParserMoveIt::getFingerOfFingertip ( std::string tipName ) const

This function returns the name of the finger which the passed tipName belongs to.

Parameters

tipName the name of the tip

Returns: the name of the finger which the tip belongs to, empty string if the tipName is not in the map

Note: use getFingerOfFingertipMap to get the full map

Definition at line 109 of file ParserMoveIt.cpp.

◆ getFingerOfFingertipMap()

std::map< std::string, std::string > ROSEE::ParserMoveIt::getFingerOfFingertipMap ( ) const

Definition at line 105 of file ParserMoveIt.cpp.

◆ getFingertipNames()

std::vector< std::string > ROSEE::ParserMoveIt::getFingertipNames ( ) const

Definition at line 65 of file ParserMoveIt.cpp.

◆ getFingertipOfFinger()

std::string ROSEE::ParserMoveIt::getFingertipOfFinger ( std::string fingerName ) const

This function returns the name of the fingertip that belongs to the passed fingerName.

Parameters

fingerName the name of the tip

Returns: the name of the fingertip that belongs to the finger, empty string if the fingerName is not in the map

Note: use getFingertipOfFingerMap to get the full map

Definition at line 125 of file ParserMoveIt.cpp.

◆ getFingertipOfFingerMap()

std::map< std::string, std::string > ROSEE::ParserMoveIt::getFingertipOfFingerMap ( ) const

Definition at line 121 of file ParserMoveIt.cpp.

◆ getFingertipsOfJointMap()

std::map< std::string, std::vector< std::string > > ROSEE::ParserMoveIt::getFingertipsOfJointMap ( ) const

Definition at line 97 of file ParserMoveIt.cpp.

◆ getFirstActuatedJointInFinger()

std::string ROSEE::ParserMoveIt::getFirstActuatedJointInFinger ( std::string linkName ) const

Given the linkName, this function returns the actuated joint that is a parent of this link and it is the first joint of the chain which the link belongs to. E.G. given a fingertip, it returns the first actuated joint of the finger (e.g. the joint that moves the firsts phalanges, if present) From the linkName given, this function explores the parent links until we found a link with more than 1 child joint. This means that we have found the "base" of the kinematic chain, so we can go forward to find the first actuated joint.

Parameters

linkName the name of the link which is part of the chain where we have to look in

Returns: std::string the name of the wanted joint

Definition at line 409 of file ParserMoveIt.cpp.

◆ getFirstActuatedParentJoint()

std::string ROSEE::ParserMoveIt::getFirstActuatedParentJoint	(	std::string	linkName,
		bool	includeContinuos
	)		const

starting from the given link, we explore the parents joint, until we found the first actuated. This ones will be the interesting joint

Parameters

linkName	the name of the link for which look for the parent joint
includeContinuos	a bool set to true if we want to include continuos joint in the search

Returns: std::string the name of the first actuated parent joint

Definition at line 379 of file ParserMoveIt.cpp.

◆ getGroupOfLink()

std::vector< std::string > ROSEE::ParserMoveIt::getGroupOfLink ( std::string linkName )

This function explores all groups of srdf and says to which ones the linkName belongs to. Returns a vector because a link can be part of more group.

Parameters

linkName the name on the link for which look the group

Returns: std::vector < std::string > a vector containing the name of all the groups which contain the linkName

Definition at line 192 of file ParserMoveIt.cpp.

◆ getHandName()

std::string ROSEE::ParserMoveIt::getHandName ( ) const

Definition at line 61 of file ParserMoveIt.cpp.

◆ getJointsOfFingertipMap()

std::map< std::string, std::vector< std::string > > ROSEE::ParserMoveIt::getJointsOfFingertipMap ( ) const

Definition at line 101 of file ParserMoveIt.cpp.

◆ getMimicNLFatherOfJoint()

std::pair< std::string, std::string > ROSEE::ParserMoveIt::getMimicNLFatherOfJoint ( std::string mimicNLJointName ) const

gets for the maps of non linear mimic joints

Definition at line 137 of file ParserMoveIt.cpp.

◆ getMimicNLFatherOfJointMap()

std::map< std::string, std::pair< std::string, std::string > > ROSEE::ParserMoveIt::getMimicNLFatherOfJointMap ( ) const

Definition at line 149 of file ParserMoveIt.cpp.

◆ getMimicNLJointOfFather()

std::string ROSEE::ParserMoveIt::getMimicNLJointOfFather	(	std::string	mimicNLFatherName,
		std::string	mimicNLJointName
	)		const

Definition at line 155 of file ParserMoveIt.cpp.

◆ getMimicNLJointsOfFather()

std::map< std::string, std::string > ROSEE::ParserMoveIt::getMimicNLJointsOfFather ( std::string mimicNLFatherName ) const

Definition at line 168 of file ParserMoveIt.cpp.

◆ getMimicNLJointsOfFatherMap()

std::map< std::string, std::map< std::string, std::string > > ROSEE::ParserMoveIt::getMimicNLJointsOfFatherMap ( ) const

Definition at line 180 of file ParserMoveIt.cpp.

◆ getNExclusiveJointsOfTip()

unsigned int ROSEE::ParserMoveIt::getNExclusiveJointsOfTip	(	std::string	tipName,
		bool	continuosIncluded
	)		const

Given a fingertip link, this function return the number of the joint that affect only the position of this fingertip and not any other fingertips (obviously the joints can affect different other links that are not fingertips (e.g. middles phalanges) )

Parameters

tipName	the name of the fingertip link
continuosIncluded	a bool set to true if we want to count also the possible present continuos joints

Returns: unsigned int the number of the exclusive joints

Definition at line 334 of file ParserMoveIt.cpp.

◆ getNFingers()

unsigned int ROSEE::ParserMoveIt::getNFingers ( ) const

Definition at line 89 of file ParserMoveIt.cpp.

◆ getPassiveJointNames()

std::vector< std::string > ROSEE::ParserMoveIt::getPassiveJointNames ( ) const

getter for all the passive joints (defined in this way in the srdf file) Not all the not-actuated joint are passive (a mimic joint can also be not defined as passive in srdf)

Returns: std::vector <std::string> string with names of all passive joints

Definition at line 77 of file ParserMoveIt.cpp.

◆ getRealDescendantLinkModelsRecursive()

void ROSEE::ParserMoveIt::getRealDescendantLinkModelsRecursive	(	const moveit::core::LinkModel *	link,
		std::vector< const moveit::core::LinkModel * > &	linksVect,
		const moveit::core::JointModel *	joint,
		std::vector< const moveit::core::JointModel * > &	jointsVect
	)		const

private

Recursive function, support for lookForDescendants, to explore the urdf tree.

Parameters

link	pointer to the actual link that is being explored
linksVect	[out] vector of explored links are stored here at each iteration
joint	pointer to the actual joint thaqt is being explored (father of `link`, each joint has always one and only one (direct) child link)
jointsVect	[out] vector of explored joints are stored here at each iteration

Definition at line 563 of file ParserMoveIt.cpp.

◆ getRobotModel()

const robot_model::RobotModelPtr ROSEE::ParserMoveIt::getRobotModel ( ) const

the robot model can't be modified, if you want it to modify, use getCopyModel to get a copy.

Returns: const robot_model::RobotModelPtr a shared pointer to the robot model

Definition at line 93 of file ParserMoveIt.cpp.

◆ getSmallerBoundFromZero() [1/2]

std::vector< double > ROSEE::ParserMoveIt::getSmallerBoundFromZero ( std::string jointName ) const

For each DOF of a joint, find the limit which is nearer from 0 position.

Parameters

jointName the name of the joint

Returns: std::vector<double> a vector (because joint can have more dofs) containing the values of the limits that are nearer from 0

Definition at line 304 of file ParserMoveIt.cpp.

◆ getSmallerBoundFromZero() [2/2]

std::vector< double > ROSEE::ParserMoveIt::getSmallerBoundFromZero ( const moveit::core::JointModel * joint ) const

For each DOF of a joint, find the limit which is nearer from 0 position.

Parameters

joint pointer to the joint model

Returns: std::vector<double> a vector (because joint can have more dofs) containing the values of the limits that are nearer from 0

Definition at line 314 of file ParserMoveIt.cpp.

◆ groupIsChain() [1/2]

bool ROSEE::ParserMoveIt::groupIsChain ( const std::string groupName ) const

check if a group (defined in srdf file) is a chain. See groupIsChain ( moveit::core::JointModelGroup* group )

Parameters

groupName the name of the group

Returns: bool : true is group is chain, false othwerwise (also false if some errors happened)

Definition at line 212 of file ParserMoveIt.cpp.

◆ groupIsChain() [2/2]

bool ROSEE::ParserMoveIt::groupIsChain ( const moveit::core::JointModelGroup * group ) const

check if a group (defined in srdf file) is a chain. This is done simply exploring all the links of the group: if no links have more than 1 children, the group is a chain. Moveit has a function isChain() but I don't understand how it works, in fact also if there is a link with more children joint sometimes the group is considered a chain anyway. I can't find where the moveit _is_chain member is set.

Parameters

group pointer to moveit::core::JointModelGroup object

Returns: bool : true is group is chain, false othwerwise (also false if some errors happened)

Definition at line 228 of file ParserMoveIt.cpp.

◆ init()

bool ROSEE::ParserMoveIt::init	(	std::string	robot_description,
		bool	verbose = `true`
	)

Init the parser, fill the structures.

Parameters

robot_description	a string containing the name given to the param set in ROS server for the urdf file. The srdf file must have the same param name but with a trailing "_semantic"
verbose	pass false to reduce the quantity of informative prints

Definition at line 27 of file ParserMoveIt.cpp.

◆ lookForActiveJoints()

void ROSEE::ParserMoveIt::lookForActiveJoints ( )

private

This function look for all active joints in the model (i.e. not mimic, not fixed, not passive) There exist a moveit function getActiveJointModels() which return all not mimic and not fixed, but it can return also passive joints (a info that is stored in srdf file). So this function also check if the joint is not passive It stores both the joint names and pointer to joint models in two private vector (activeJointNames and activeJointModels)

Definition at line 493 of file ParserMoveIt.cpp.

◆ lookForDescendants()

void ROSEE::ParserMoveIt::lookForDescendants ( )

private

Function to explore the kinematic tree from each actuated joint. It stores each descendants links and joints in two maps (descendantLinksOfJoint and descendantJointsOfJoint) where the key is the name of the joint and the value a vector of descendandts. The tree is explored recursively thanks to getRealDescendantLinkModelsRecursive support function.

Note: Moveit has its own getDescendantLinkModels and getDescendandtsJoint model but it not suitable for us: those one store also the sons of joints that mimic the sons joint of the initial one (the map's key). So in this way we include also some links that may not move when we move the joint. These "errors" happens with schunk, softhand and robotiq for example; The descendants are found only for the actuated joints (not fixed, not mimic, not passive).

Definition at line 540 of file ParserMoveIt.cpp.

◆ lookForFingertips()

void ROSEE::ParserMoveIt::lookForFingertips ( bool verbose = true )

private

This function explore the robot_model (which was built from urdf and srdf files), and fills the fingerTipNames vector. In particular, the function explores only the groups specified in the srdf, and prints infos about each link it finds (eg. not a fingertin, not a chain group, and so on). A fingertip is a link with the following conditions:

It is part of a group (defined in the srdf)
The group which the tip is part of is a chain (not a tree)
It is the last link of the group AND has a mesh or some visual geometry (if not, it is probably a virtual link). If the second condition is not valid, it is taken the last link of the group that has a mesh (so it will not be a "leaf")
Parameters

verbose set it to false to not print explored hand info

Warning
Only link belonging to a group are explored (and printed), so other links (if present) are not considered

Definition at line 436 of file ParserMoveIt.cpp.

◆ lookForPassiveJoints()

void ROSEE::ParserMoveIt::lookForPassiveJoints ( )

private

This function looks for all passive joints, defined so in the srdf file.

Definition at line 504 of file ParserMoveIt.cpp.

◆ lookJointsTipsCorrelation()

void ROSEE::ParserMoveIt::lookJointsTipsCorrelation ( )

private

Here, we find for each tip, which are all the joints (active) that can modifies its position It is easier to start from each joint and see which tips has as its descendands, because there is the getDescendantLinkModels() function in moveit that gives ALL the child links. There is not a function like getNonFixedParentJointModels from the tip, there is only the one to take the FIRST parent joint (getParentJointModel()) Meanwhile, we find also, for each joint, all the tips that are influenced by the joint movement: fingertipsOfJointMap.

Definition at line 514 of file ParserMoveIt.cpp.

◆ parseNonLinearMimicRelations()

void ROSEE::ParserMoveIt::parseNonLinearMimicRelations ( std::string xml )

Todo:: make docs as convention, in the equation there must exist only the variable x, that is, the position of the father joint

Definition at line 582 of file ParserMoveIt.cpp.

Member Data Documentation

◆ activeJointModels

std::vector<const moveit::core::JointModel*> ROSEE::ParserMoveIt::activeJointModels

private

Definition at line 256 of file ParserMoveIt.h.

◆ activeJointNames

std::vector<std::string> ROSEE::ParserMoveIt::activeJointNames

private

Definition at line 253 of file ParserMoveIt.h.

◆ descendantJointsOfJoint

std::map<std::string, std::vector < const moveit::core::JointModel* > > ROSEE::ParserMoveIt::descendantJointsOfJoint

private

Map containing info about descendants joints of a joint see lookForDescendants function for more info.

Definition at line 264 of file ParserMoveIt.h.

◆ descendantLinksOfJoint

std::map<std::string, std::vector < const moveit::core::LinkModel* > > ROSEE::ParserMoveIt::descendantLinksOfJoint

private

Map containing info about descendants links of a joint see lookForDescendants function for more info.

Definition at line 261 of file ParserMoveIt.h.

◆ fingerOfFingertipMap

std::map<std::string, std::string> ROSEE::ParserMoveIt::fingerOfFingertipMap

private

The map with as key the name of the finger (defined in srdf file) and as value the fingertip (the last (not virtual) link of the joint)

Definition at line 274 of file ParserMoveIt.h.

◆ fingertipNames

std::vector<std::string> ROSEE::ParserMoveIt::fingertipNames

private

Definition at line 252 of file ParserMoveIt.h.

◆ fingertipOfFingerMap

std::map<std::string, std::string> ROSEE::ParserMoveIt::fingertipOfFingerMap

private

The map with as key the name of the fingertip (the last (not virtual) link of a finger) and as value the finger name (defined in the srdf)

Definition at line 278 of file ParserMoveIt.h.

◆ fingertipsOfJointMap

std::map<std::string, std::vector<std::string> > ROSEE::ParserMoveIt::fingertipsOfJointMap

private

The map with as key the name of the actuated joint and as value all the fingertips which pose can be modified by the joint.

Definition at line 270 of file ParserMoveIt.h.

◆ handName

std::string ROSEE::ParserMoveIt::handName

private

Definition at line 250 of file ParserMoveIt.h.

◆ jointsOfFingertipMap

std::map<std::string, std::vector<std::string> > ROSEE::ParserMoveIt::jointsOfFingertipMap

private

The map with as key the name of the fingertip and as value all the joints (actuated) that can modify its pose.

Definition at line 267 of file ParserMoveIt.h.

◆ mimicNLFatherOfJointMap

std::map<std::string, std::pair<std::string, std::string> > ROSEE::ParserMoveIt::mimicNLFatherOfJointMap

private

This map contain as key the name of the mimic joint which position follows a non linear relationship with a father joint. As value there is a pair: first element is the name of the father joint, second element is the non linear equation.

as convention, in the equation there must exist only the variable x, that is, the position of the father joint

Definition at line 288 of file ParserMoveIt.h.

◆ mimicNLJointsOfFatherMap

std::map<std::string, std::map<std::string, std::string> > ROSEE::ParserMoveIt::mimicNLJointsOfFatherMap

private

inverse map of previous, even if the function is replicated, this is anyway useful, at the cost of having 2 copy of a string type. the key is the name of the father, the value is a map because more than one child can mimic the father (In the other map, there is a pair)

Definition at line 296 of file ParserMoveIt.h.

◆ nFingers

unsigned int ROSEE::ParserMoveIt::nFingers

private

Definition at line 258 of file ParserMoveIt.h.

◆ passiveJointNames

std::vector<std::string> ROSEE::ParserMoveIt::passiveJointNames

private

Definition at line 254 of file ParserMoveIt.h.

◆ robot_description

std::string ROSEE::ParserMoveIt::robot_description

private

Definition at line 257 of file ParserMoveIt.h.

◆ robot_model

robot_model::RobotModelPtr ROSEE::ParserMoveIt::robot_model

private

Definition at line 251 of file ParserMoveIt.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ParserMoveIt()

◆ ~ParserMoveIt()

Member Function Documentation

◆ checkIfContinuosJoint() [1/2]

◆ checkIfContinuosJoint() [2/2]

◆ getActiveJointModels()

◆ getActiveJointNames()

◆ getBiggerBoundFromZero() [1/2]

◆ getBiggerBoundFromZero() [2/2]

◆ getCopyModel()

◆ getDescendantJointsOfJoint()

◆ getDescendantLinksOfJoint()

◆ getFingerOfFingertip()

◆ getFingerOfFingertipMap()

◆ getFingertipNames()

◆ getFingertipOfFinger()

◆ getFingertipOfFingerMap()

◆ getFingertipsOfJointMap()

◆ getFirstActuatedJointInFinger()

◆ getFirstActuatedParentJoint()

◆ getGroupOfLink()

◆ getHandName()

◆ getJointsOfFingertipMap()

◆ getMimicNLFatherOfJoint()

◆ getMimicNLFatherOfJointMap()

◆ getMimicNLJointOfFather()

◆ getMimicNLJointsOfFather()

◆ getMimicNLJointsOfFatherMap()

◆ getNExclusiveJointsOfTip()

◆ getNFingers()

◆ getPassiveJointNames()

◆ getRealDescendantLinkModelsRecursive()

◆ getRobotModel()

◆ getSmallerBoundFromZero() [1/2]

◆ getSmallerBoundFromZero() [2/2]

◆ groupIsChain() [1/2]

◆ groupIsChain() [2/2]

◆ init()

◆ lookForActiveJoints()

◆ lookForDescendants()

◆ lookForFingertips()

◆ lookForPassiveJoints()

◆ lookJointsTipsCorrelation()

◆ parseNonLinearMimicRelations()

Member Data Documentation

◆ activeJointModels

◆ activeJointNames

◆ descendantJointsOfJoint

◆ descendantLinksOfJoint

◆ fingerOfFingertipMap

◆ fingertipNames

◆ fingertipOfFingerMap

◆ fingertipsOfJointMap

◆ handName

◆ jointsOfFingertipMap

◆ mimicNLFatherOfJointMap

◆ mimicNLJointsOfFatherMap

◆ nFingers

◆ passiveJointNames

◆ robot_description

◆ robot_model