Classes
struct	adjacency_detector

struct	children_detector

class	Collision

struct	cycle_detector

class	Inertial

class	Joint

class	JointCalibration

class	JointDynamics

class	JointLimits

class	JointMimic

class	JointSafety
	Parameters for Joint Safety Controllers. More...

struct	kdl_sub_tree_builder
	Every time a vertex is visited for the first time add a new segment to the KDL Tree;. More...

struct	kdl_tree_builder
	Every time a vertex is visited for the first time add a new segment to the KDL Tree;. More...

struct	KDLTreeData
	The KDLTreeData populated when parsing scene graph. More...

class	Link

class	Material

class	SceneGraph

struct	SceneState
	This holds a state of the scene. More...

struct	ShortestPath
	Holds the shortest path information. More...

struct	tree_detector

struct	ugraph_vertex_copier

class	Visual

Typedefs
using	EdgeProperty = boost::property< boost::edge_joint_t, std::shared_ptr< Joint >, boost::property< boost::edge_weight_t, double > >
	EdgeProperty. More...

using	Graph = boost::adjacency_list< boost::listS, boost::listS, boost::bidirectionalS, VertexProperty, EdgeProperty, GraphProperty >

using	GraphProperty = boost::property< boost::graph_name_t, std::string, boost::property< boost::graph_root_t, std::string > >
	Defines the boost graph property. More...

using	UGraph = boost::adjacency_list< boost::listS, boost::listS, boost::undirectedS, VertexProperty, EdgeProperty, GraphProperty >

using	VertexProperty = boost::property< boost::vertex_link_t, std::shared_ptr< Link >, boost::property< boost::vertex_link_visible_t, bool, boost::property< boost::vertex_link_collision_enabled_t, bool > >>
	Defines the boost graph vertex property. More...

Enumerations
enum	JointType : std::uint8_t { JointType::UNKNOWN, JointType::REVOLUTE, JointType::CONTINUOUS, JointType::PRISMATIC, JointType::FLOATING, JointType::PLANAR, JointType::FIXED }

Functions
KDL::Frame	convert (const Eigen::Isometry3d &transform)
	Convert Eigen::Isometry3d to KDL::Frame. More...

KDL::Jacobian	convert (const Eigen::MatrixXd &jacobian)
	Convert Eigen::Matrix to KDL::Jacobian. More...

KDL::Vector	convert (const Eigen::Vector3d &vector)
	Convert Eigen::Vector3d to KDL::Vector. More...

Eigen::Isometry3d	convert (const KDL::Frame &frame)
	Convert KDL::Frame to Eigen::Isometry3d. More...

Eigen::MatrixXd	convert (const KDL::Jacobian &jacobian)
	Convert KDL::Jacobian to Eigen::Matrix. More...

Eigen::MatrixXd	convert (const KDL::Jacobian &jacobian, const std::vector< int > &q_nrs)
	Convert a subset of KDL::Jacobian to Eigen::Matrix. More...

Eigen::Vector3d	convert (const KDL::Vector &vector)
	Convert KDL::Vector to Eigen::Vector3d. More...

KDL::RigidBodyInertia	convert (const std::shared_ptr< const Inertial > &inertial)
	Convert Tesseract Inertail to KDL Inertial. More...

KDL::Joint	convert (const std::shared_ptr< const Joint > &joint)
	Convert Tesseract Joint to KDL Joint. More...

std::ostream &	operator<< (std::ostream &os, const JointCalibration &calibration)

std::ostream &	operator<< (std::ostream &os, const JointDynamics &dynamics)

std::ostream &	operator<< (std::ostream &os, const JointLimits &limits)

std::ostream &	operator<< (std::ostream &os, const JointMimic &mimic)

std::ostream &	operator<< (std::ostream &os, const JointSafety &safety)

std::ostream &	operator<< (std::ostream &os, const JointType &type)

std::ostream &	operator<< (std::ostream &os, const ShortestPath &path)

KDLTreeData	parseSceneGraph (const SceneGraph &scene_graph)
	Convert a Tesseract SceneGraph into a KDL Tree. More...

KDLTreeData	parseSceneGraph (const SceneGraph &scene_graph, const std::vector< std::string > &joint_names, const std::unordered_map< std::string, double > &joint_values, const tesseract_common::TransformMap &floating_joint_values={})
	Convert a portion of a Tesseract SceneGraph into a KDL Tree. More...

Typedef Documentation

◆ EdgeProperty

using tesseract_scene_graph::EdgeProperty = typedef boost::property<boost::edge_joint_t, std::shared_ptr<Joint>, boost::property<boost::edge_weight_t, double> >

EdgeProperty.

The edge_weight represents the distance between the two links

Definition at line 105 of file graph.h.

◆ Graph

using tesseract_scene_graph::Graph = typedef boost:: adjacency_list<boost::listS, boost::listS, boost::bidirectionalS, VertexProperty, EdgeProperty, GraphProperty>

Definition at line 108 of file graph.h.

◆ GraphProperty

using tesseract_scene_graph::GraphProperty = typedef boost::property<boost::graph_name_t, std::string, boost::property<boost::graph_root_t, std::string> >

Defines the boost graph property.

Definition at line 91 of file graph.h.

◆ UGraph

using tesseract_scene_graph::UGraph = typedef boost::adjacency_list<boost::listS, boost::listS, boost::undirectedS, VertexProperty, EdgeProperty, GraphProperty>

Definition at line 171 of file graph.cpp.

◆ VertexProperty

using tesseract_scene_graph::VertexProperty = typedef boost::property< boost::vertex_link_t, std::shared_ptr<Link>, boost::property<boost::vertex_link_visible_t, bool, boost::property<boost::vertex_link_collision_enabled_t, bool> >>

Defines the boost graph vertex property.

Definition at line 97 of file graph.h.

Enumeration Type Documentation

◆ JointType

enum tesseract_scene_graph::JointType : std::uint8_t

strong

Enumerator
UNKNOWN
REVOLUTE
CONTINUOUS
PRISMATIC
FLOATING
PLANAR
FIXED

Definition at line 261 of file joint.h.

Function Documentation

◆ convert() [1/9]

KDL::Frame tesseract_scene_graph::convert ( const Eigen::Isometry3d & transform )

Convert Eigen::Isometry3d to KDL::Frame.

Parameters

transform Input Eigen transform (Isometry3d)

Returns: frame Output KDL Frame

Definition at line 83 of file kdl_parser.cpp.

◆ convert() [2/9]

KDL::Jacobian tesseract_scene_graph::convert ( const Eigen::MatrixXd & jacobian )

Convert Eigen::Matrix to KDL::Jacobian.

Parameters

jacobian Input Eigen MatrixXd

Returns: KDL Jacobian

Definition at line 141 of file kdl_parser.cpp.

◆ convert() [3/9]

KDL::Vector tesseract_scene_graph::convert ( const Eigen::Vector3d & vector )

Convert Eigen::Vector3d to KDL::Vector.

Parameters

vector Input Eigen Vector3d

Returns: vector Output KDL Vector

Definition at line 135 of file kdl_parser.cpp.

◆ convert() [4/9]

Eigen::Isometry3d tesseract_scene_graph::convert ( const KDL::Frame & frame )

Convert KDL::Frame to Eigen::Isometry3d.

Parameters

frame Input KDL Frame

Returns: Eigen transform (Isometry3d)

Definition at line 106 of file kdl_parser.cpp.

◆ convert() [5/9]

Eigen::MatrixXd tesseract_scene_graph::convert ( const KDL::Jacobian & jacobian )

Convert KDL::Jacobian to Eigen::Matrix.

Parameters

jacobian Input KDL Jacobian

Returns: Eigen MatrixXd

Definition at line 139 of file kdl_parser.cpp.

◆ convert() [6/9]

Eigen::MatrixXd tesseract_scene_graph::convert	(	const KDL::Jacobian &	jacobian,
		const std::vector< int > &	q_nrs
	)

Convert a subset of KDL::Jacobian to Eigen::Matrix.

Parameters

jacobian	Input KDL Jacobian
q_nrs	Input the columns to use

Returns: Eigen MatrixXd

Definition at line 152 of file kdl_parser.cpp.

◆ convert() [7/9]

Eigen::Vector3d tesseract_scene_graph::convert ( const KDL::Vector & vector )

Convert KDL::Vector to Eigen::Vector3d.

Parameters

transform Input KDL Vector

Returns: frame Output Eigen Vector3d

Definition at line 137 of file kdl_parser.cpp.

◆ convert() [8/9]

KDL::RigidBodyInertia tesseract_scene_graph::convert ( const std::shared_ptr< const Inertial > & inertial )

Convert Tesseract Inertail to KDL Inertial.

Parameters

inertial

Returns

Definition at line 200 of file kdl_parser.cpp.

◆ convert() [9/9]

KDL::Joint tesseract_scene_graph::convert ( const std::shared_ptr< const Joint > & joint )

Convert Tesseract Joint to KDL Joint.

Parameters

joint Tesseract Joint

Returns: A KDL Joint

Definition at line 165 of file kdl_parser.cpp.

◆ operator<<() [1/7]

std::ostream & tesseract_scene_graph::operator<<	(	std::ostream &	os,
		const JointCalibration &	calibration
	)

Definition at line 207 of file joint.cpp.

◆ operator<<() [2/7]

std::ostream & tesseract_scene_graph::operator<<	(	std::ostream &	os,
		const JointDynamics &	dynamics
	)

Definition at line 67 of file joint.cpp.

◆ operator<<() [3/7]

std::ostream & tesseract_scene_graph::operator<<	(	std::ostream &	os,
		const JointLimits &	limits
	)

Definition at line 117 of file joint.cpp.

◆ operator<<() [4/7]

std::ostream & tesseract_scene_graph::operator<<	(	std::ostream &	os,
		const JointMimic &	mimic
	)

Definition at line 248 of file joint.cpp.

◆ operator<<() [5/7]

std::ostream & tesseract_scene_graph::operator<<	(	std::ostream &	os,
		const JointSafety &	safety
	)

Definition at line 166 of file joint.cpp.

◆ operator<<() [6/7]

std::ostream & tesseract_scene_graph::operator<<	(	std::ostream &	os,
		const JointType &	type
	)

Definition at line 342 of file joint.cpp.

◆ operator<<() [7/7]

std::ostream & tesseract_scene_graph::operator<<	(	std::ostream &	os,
		const ShortestPath &	path
	)

Definition at line 1345 of file graph.cpp.

◆ parseSceneGraph() [1/2]

KDLTreeData tesseract_scene_graph::parseSceneGraph ( const SceneGraph & scene_graph )

Convert a Tesseract SceneGraph into a KDL Tree.

Exceptions

If	graph is not a tree

Parameters

scene_graph The Tesseract Scene Graph

Returns: Returns KDL tree data representation of the scene graph

Definition at line 491 of file kdl_parser.cpp.

◆ parseSceneGraph() [2/2]

KDLTreeData tesseract_scene_graph::parseSceneGraph	(	const SceneGraph &	scene_graph,
		const std::vector< std::string > &	joint_names,
		const std::unordered_map< std::string, double > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)

Convert a portion of a Tesseract SceneGraph into a KDL Tree.

This will create a new tree from multiple sub tree defined by the provided joint names The values are used to convert non fixed joints that are not listed in joint_names to a fixed joint. The first tree found a link is defined attaching world to the base link and all other trees are attached to this link by a fixed joint.

Exceptions

If	graph is not a tree it will return false.

Parameters

scene_graph	The Tesseract Scene Graph
joint_names	The active joint names
joint_values	The active joint values
floating_joint_values	The floating joint values

Returns: Returns KDL tree representation of the sub scene graph

Definition at line 531 of file kdl_parser.cpp.

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ EdgeProperty

◆ Graph

◆ GraphProperty

◆ UGraph

◆ VertexProperty

Enumeration Type Documentation

◆ JointType

Function Documentation

◆ convert() [1/9]

◆ convert() [2/9]

◆ convert() [3/9]

◆ convert() [4/9]

◆ convert() [5/9]

◆ convert() [6/9]

◆ convert() [7/9]

◆ convert() [8/9]

◆ convert() [9/9]

◆ operator<<() [1/7]

◆ operator<<() [2/7]

◆ operator<<() [3/7]

◆ operator<<() [4/7]

◆ operator<<() [5/7]

◆ operator<<() [6/7]

◆ operator<<() [7/7]

◆ parseSceneGraph() [1/2]

◆ parseSceneGraph() [2/2]