This hold the kinematics information used to create the SRDF and is the data container for the manipulator manager. More...

#include <kinematics_information.h>

Public Member Functions
void	addChainGroup (const std::string &group_name, const ChainGroup &chain_group)
	Add chain group. More...

void	addGroupJointState (const std::string &group_name, const std::string &state_name, const GroupsJointState &joint_state)
	Add group joint state. More...

void	addGroupTCP (const std::string &group_name, const std::string &tcp_name, const Eigen::Isometry3d &tcp)
	Add group tool center point. More...

void	addJointGroup (const std::string &group_name, const JointGroup &joint_group)
	Add joint group. More...

void	addLinkGroup (const std::string &group_name, const LinkGroup &link_group)
	Add link group. More...

void	clear ()
	Clear the kinematics information. More...

bool	hasChainGroup (const std::string &group_name) const
	Check if chain group exists. More...

bool	hasGroup (const std::string &group_name) const
	Check if group exists. More...

bool	hasGroupJointState (const std::string &group_name, const std::string &state_name) const
	Check if group joint state exists. More...

bool	hasGroupTCP (const std::string &group_name, const std::string &tcp_name) const
	Check if group tool center point exists. More...

bool	hasJointGroup (const std::string &group_name) const
	Check if joint group exists. More...

bool	hasLinkGroup (const std::string &group_name) const
	Check if link group exists. More...

void	insert (const KinematicsInformation &other)
	Insert the content of an other KinematicsInformation. More...

bool	operator!= (const KinematicsInformation &rhs) const

bool	operator== (const KinematicsInformation &rhs) const

void	removeChainGroup (const std::string &group_name)
	Remove chain group. More...

void	removeGroupJointState (const std::string &group_name, const std::string &state_name)
	Remove group joint state. More...

void	removeGroupTCP (const std::string &group_name, const std::string &tcp_name)
	Remove group tool center point. More...

void	removeJointGroup (const std::string &group_name)
	Remove joint group. More...

void	removeLinkGroup (const std::string &group_name)
	Remove link group. More...

Public Attributes
ChainGroups	chain_groups
	A map of chains groups. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW GroupNames	group_names
	A set of group names. More...

GroupJointStates	group_states
	A map of group states. More...

GroupTCPs	group_tcps
	A map of group tool center points. More...

JointGroups	joint_groups
	A map of joint groups. More...

tesseract_common::KinematicsPluginInfo	kinematics_plugin_info
	The kinematics plugin information. More...

LinkGroups	link_groups
	A map of link groups. More...

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Friends
class	boost::serialization::access

struct	tesseract_common::Serialization

Detailed Description

This hold the kinematics information used to create the SRDF and is the data container for the manipulator manager.

Definition at line 66 of file kinematics_information.h.

Member Function Documentation

◆ addChainGroup()

void tesseract_srdf::KinematicsInformation::addChainGroup	(	const std::string &	group_name,
		const ChainGroup &	chain_group
	)

Add chain group.

Definition at line 88 of file kinematics_information.cpp.

◆ addGroupJointState()

void tesseract_srdf::KinematicsInformation::addGroupJointState	(	const std::string &	group_name,
		const std::string &	state_name,
		const GroupsJointState &	joint_state
	)

Add group joint state.

Definition at line 139 of file kinematics_information.cpp.

◆ addGroupTCP()

void tesseract_srdf::KinematicsInformation::addGroupTCP	(	const std::string &	group_name,
		const std::string &	tcp_name,
		const Eigen::Isometry3d &	tcp
	)

Add group tool center point.

Definition at line 163 of file kinematics_information.cpp.

◆ addJointGroup()

void tesseract_srdf::KinematicsInformation::addJointGroup	(	const std::string &	group_name,
		const JointGroup &	joint_group
	)

Add joint group.

Definition at line 105 of file kinematics_information.cpp.

◆ addLinkGroup()

void tesseract_srdf::KinematicsInformation::addLinkGroup	(	const std::string &	group_name,
		const LinkGroup &	link_group
	)

Add link group.

Definition at line 122 of file kinematics_information.cpp.

◆ clear()

void tesseract_srdf::KinematicsInformation::clear ( )

Clear the kinematics information.

Definition at line 44 of file kinematics_information.cpp.

◆ hasChainGroup()

bool tesseract_srdf::KinematicsInformation::hasChainGroup ( const std::string & group_name ) const

Check if chain group exists.

Definition at line 100 of file kinematics_information.cpp.

◆ hasGroup()

bool tesseract_srdf::KinematicsInformation::hasGroup ( const std::string & group_name ) const

Check if group exists.

Definition at line 83 of file kinematics_information.cpp.

◆ hasGroupJointState()

bool tesseract_srdf::KinematicsInformation::hasGroupJointState	(	const std::string &	group_name,
		const std::string &	state_name
	)		const

Check if group joint state exists.

Definition at line 154 of file kinematics_information.cpp.

◆ hasGroupTCP()

bool tesseract_srdf::KinematicsInformation::hasGroupTCP	(	const std::string &	group_name,
		const std::string &	tcp_name
	)		const

Check if group tool center point exists.

Definition at line 178 of file kinematics_information.cpp.

◆ hasJointGroup()

bool tesseract_srdf::KinematicsInformation::hasJointGroup ( const std::string & group_name ) const

Check if joint group exists.

Definition at line 117 of file kinematics_information.cpp.

◆ hasLinkGroup()

bool tesseract_srdf::KinematicsInformation::hasLinkGroup ( const std::string & group_name ) const

Check if link group exists.

Definition at line 134 of file kinematics_information.cpp.

◆ insert()

void tesseract_srdf::KinematicsInformation::insert ( const KinematicsInformation & other )

Insert the content of an other KinematicsInformation.

Definition at line 55 of file kinematics_information.cpp.

◆ operator!=()

bool tesseract_srdf::KinematicsInformation::operator!= ( const KinematicsInformation & rhs ) const

Definition at line 248 of file kinematics_information.cpp.

◆ operator==()

bool tesseract_srdf::KinematicsInformation::operator== ( const KinematicsInformation & rhs ) const

Definition at line 187 of file kinematics_information.cpp.

◆ removeChainGroup()

void tesseract_srdf::KinematicsInformation::removeChainGroup ( const std::string & group_name )

Remove chain group.

Definition at line 94 of file kinematics_information.cpp.

◆ removeGroupJointState()

void tesseract_srdf::KinematicsInformation::removeGroupJointState	(	const std::string &	group_name,
		const std::string &	state_name
	)

Remove group joint state.

Definition at line 146 of file kinematics_information.cpp.

◆ removeGroupTCP()

void tesseract_srdf::KinematicsInformation::removeGroupTCP	(	const std::string &	group_name,
		const std::string &	tcp_name
	)

Remove group tool center point.

Definition at line 170 of file kinematics_information.cpp.

◆ removeJointGroup()

void tesseract_srdf::KinematicsInformation::removeJointGroup ( const std::string & group_name )

Remove joint group.

Definition at line 111 of file kinematics_information.cpp.

◆ removeLinkGroup()

void tesseract_srdf::KinematicsInformation::removeLinkGroup ( const std::string & group_name )

Remove link group.

Definition at line 128 of file kinematics_information.cpp.

◆ serialize()

template<class Archive >

void tesseract_srdf::KinematicsInformation::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

Definition at line 251 of file kinematics_information.cpp.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 153 of file kinematics_information.h.

◆ tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 154 of file kinematics_information.h.

Member Data Documentation

◆ chain_groups

ChainGroups tesseract_srdf::KinematicsInformation::chain_groups

A map of chains groups.

Definition at line 76 of file kinematics_information.h.

◆ group_names

EIGEN_MAKE_ALIGNED_OPERATOR_NEW GroupNames tesseract_srdf::KinematicsInformation::group_names

A set of group names.

Definition at line 73 of file kinematics_information.h.

◆ group_states

GroupJointStates tesseract_srdf::KinematicsInformation::group_states

A map of group states.

Definition at line 85 of file kinematics_information.h.

◆ group_tcps

GroupTCPs tesseract_srdf::KinematicsInformation::group_tcps

A map of group tool center points.

Definition at line 88 of file kinematics_information.h.

◆ joint_groups

JointGroups tesseract_srdf::KinematicsInformation::joint_groups

A map of joint groups.

Definition at line 79 of file kinematics_information.h.

◆ kinematics_plugin_info

tesseract_common::KinematicsPluginInfo tesseract_srdf::KinematicsInformation::kinematics_plugin_info

The kinematics plugin information.

Definition at line 91 of file kinematics_information.h.

◆ link_groups

LinkGroups tesseract_srdf::KinematicsInformation::link_groups

A map of link groups.

Definition at line 82 of file kinematics_information.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Friends