Classes | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
moveit::core::JointModelGroup Class Reference

#include <joint_model_group.h>

List of all members.

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 JointBoundsVectorgetActiveJointModelsBounds () 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 JointModelgetCommonRoot () const
 Get the common root of all joint roots; not necessarily part of this group.
const srdf::Model::GroupgetConfig () 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 JointModelgetJointModel (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 LinkModelgetLinkModel (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::LinkModelgetOnlyOneEndEffectorTip () 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 RobotModelgetParentModel () 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 JointModelcommon_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< GroupMimicUpdategroup_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 RobotModelparent_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

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.

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.

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.

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

Definition at line 212 of file joint_model_group.h.

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.

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.

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.

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.

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.

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.

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.

Get the names of the links returned by getUpdatedLinkModels()

Definition at line 277 of file joint_model_group.h.

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.

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.

Compute random values for the state of the joint group.

Definition at line 324 of file joint_model_group.h.

void moveit::core::JointModelGroup::getVariableRandomPositions ( random_numbers::RandomNumberGenerator rng,
std::vector< double > &  values 
) const [inline]

Compute random values for the state of the joint group.

Definition at line 330 of file joint_model_group.h.

void moveit::core::JointModelGroup::getVariableRandomPositions ( random_numbers::RandomNumberGenerator rng,
double *  values,
const JointBoundsVector active_joint_bounds 
) const

Definition at line 317 of file joint_model_group.cpp.

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
double *  values,
const double *  near,
const double  distance 
) const [inline]

Compute random values for the state of the joint group.

Definition at line 337 of file joint_model_group.h.

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
std::vector< double > &  values,
const std::vector< double > &  near,
double  distance 
) const [inline]

Compute random values for the state of the joint group.

Definition at line 343 of file joint_model_group.h.

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
std::vector< double > &  values,
const std::vector< double > &  near,
const std::map< JointModel::JointType, double > &  distance_map 
) const [inline]

Compute random values for the state of the joint group.

Definition at line 351 of file joint_model_group.h.

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
std::vector< double > &  values,
const std::vector< double > &  near,
const std::vector< double > &  distances 
) const [inline]

Compute random values for the state of the joint group.

Definition at line 360 of file joint_model_group.h.

void moveit::core::JointModelGroup::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.

Definition at line 329 of file joint_model_group.cpp.

void moveit::core::JointModelGroup::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.

Definition at line 342 of file joint_model_group.cpp.

void moveit::core::JointModelGroup::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.

Definition at line 363 of file joint_model_group.cpp.

bool moveit::core::JointModelGroup::hasJointModel ( const std::string &  joint) const

Check if a joint is part of this group.

Definition at line 285 of file joint_model_group.cpp.

bool moveit::core::JointModelGroup::hasLinkModel ( const std::string &  link) const

Check if a link is part of this group.

Definition at line 290 of file joint_model_group.cpp.

void moveit::core::JointModelGroup::interpolate ( const double *  from,
const double *  to,
double  t,
double *  state 
) const

Definition at line 427 of file joint_model_group.cpp.

bool moveit::core::JointModelGroup::isChain ( ) const [inline]

Check if this group is a linear chain.

Definition at line 433 of file joint_model_group.h.

Definition at line 450 of file joint_model_group.h.

Check if this group was designated as an end-effector in the SRDF.

Definition at line 445 of file joint_model_group.h.

bool moveit::core::JointModelGroup::isLinkUpdated ( const std::string &  name) const [inline]

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.

Definition at line 285 of file joint_model_group.h.

Return true if the group consists only of joints that are single DOF.

Definition at line 439 of file joint_model_group.h.

bool moveit::core::JointModelGroup::isSubgroup ( const std::string &  group) const [inline]

Check if the joints of group group are a subset of the joints in this group.

Definition at line 427 of file joint_model_group.h.

void moveit::core::JointModelGroup::printGroupInfo ( std::ostream &  out = std::cout) const

Print information about the constructed model.

Definition at line 680 of file joint_model_group.cpp.

bool moveit::core::JointModelGroup::satisfiesPositionBounds ( const double *  state,
double  margin = 0.0 
) const [inline]

Definition at line 391 of file joint_model_group.h.

bool moveit::core::JointModelGroup::satisfiesPositionBounds ( const double *  state,
const JointBoundsVector active_joint_bounds,
double  margin = 0.0 
) const

Definition at line 382 of file joint_model_group.cpp.

void moveit::core::JointModelGroup::setDefaultIKAttempts ( unsigned int  ik_attempts)

Set the default IK attempts.

Definition at line 568 of file joint_model_group.cpp.

Set the default IK timeout.

Definition at line 559 of file joint_model_group.cpp.

void moveit::core::JointModelGroup::setEndEffectorName ( const std::string &  name)

Set the name of the end-effector, and remember this group is indeed an end-effector.

Definition at line 479 of file joint_model_group.cpp.

void moveit::core::JointModelGroup::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.

Definition at line 484 of file joint_model_group.cpp.

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

Definition at line 541 of file joint_model_group.h.

Definition at line 521 of file joint_model_group.h.

Definition at line 598 of file joint_model_group.cpp.

void moveit::core::JointModelGroup::setSubgroupNames ( const std::vector< std::string > &  subgroups)

Set the names of the subgroups for this group.

Definition at line 270 of file joint_model_group.cpp.

void moveit::core::JointModelGroup::updateMimicJoints ( double *  values) const [protected]

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)

Definition at line 439 of file joint_model_group.cpp.


Member Data Documentation

Names of active joints in the order they appear in the group state.

Definition at line 603 of file joint_model_group.h.

For each active joint model in this group, hold the index at which the corresponding joint state starts in the group state.

Definition at line 645 of file joint_model_group.h.

Active joint instances in the order they appear in the group state.

Definition at line 600 of file joint_model_group.h.

The bounds for all the active joint models.

Definition at line 637 of file joint_model_group.h.

If an end-effector is attached to this group, the name of that end-effector is stored in this variable.

Definition at line 709 of file joint_model_group.h.

The joint that is a common root for all joints in this group (not necessarily part of this group)

Definition at line 629 of file joint_model_group.h.

Definition at line 738 of file joint_model_group.h.

The set of continuous joints this group contains.

Definition at line 612 of file joint_model_group.h.

std::map<std::string, std::map<std::string, double> > moveit::core::JointModelGroup::default_states_ [protected]

The set of default states specified for this group in the SRDF.

Definition at line 741 of file joint_model_group.h.

std::vector<std::string> moveit::core::JointModelGroup::default_states_names_ [protected]

The names of the default states specified for this group in the SRDF.

Definition at line 744 of file joint_model_group.h.

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

Definition at line 717 of file joint_model_group.h.

std::pair<std::string, std::string> moveit::core::JointModelGroup::end_effector_parent_ [protected]

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.

Definition at line 714 of file joint_model_group.h.

The joints that have no DOF (fixed)

Definition at line 606 of file joint_model_group.h.

Definition at line 736 of file joint_model_group.h.

Definition at line 734 of file joint_model_group.h.

Definition at line 719 of file joint_model_group.h.

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.

Definition at line 700 of file joint_model_group.h.

Definition at line 721 of file joint_model_group.h.

A map from joint names to their instances. This includes all joints in the group.

Definition at line 623 of file joint_model_group.h.

std::vector<std::string> moveit::core::JointModelGroup::joint_model_name_vector_ [protected]

Names of joints in the order they appear in the group state.

Definition at line 597 of file joint_model_group.h.

Joint instances in the order they appear in the group state.

Definition at line 594 of file joint_model_group.h.

The list of active joint models that are roots in this group.

Definition at line 626 of file joint_model_group.h.

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.

Definition at line 634 of file joint_model_group.h.

A map from link names to their instances.

Definition at line 653 of file joint_model_group.h.

std::vector<std::string> moveit::core::JointModelGroup::link_model_name_vector_ [protected]

The names of the links in this group.

Definition at line 656 of file joint_model_group.h.

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.

Definition at line 650 of file joint_model_group.h.

The names of the links in this group that also have geometry.

Definition at line 661 of file joint_model_group.h.

Definition at line 658 of file joint_model_group.h.

Joints that mimic other joints.

Definition at line 609 of file joint_model_group.h.

std::string moveit::core::JointModelGroup::name_ [protected]

Name of group.

Definition at line 591 of file joint_model_group.h.

Owner model.

Definition at line 588 of file joint_model_group.h.

std::vector<std::string> moveit::core::JointModelGroup::subgroup_names_ [protected]

The set of labelled subgroups that are included in this group.

Definition at line 703 of file joint_model_group.h.

The set of labelled subgroups that are included in this group.

Definition at line 706 of file joint_model_group.h.

The list of downstream link names in the order they should be updated (may include links that are not in this group)

Definition at line 677 of file joint_model_group.h.

The list of downstream link names in the order they should be updated (may include links that are not in this group)

Definition at line 673 of file joint_model_group.h.

The list of downstream link models in the order they should be updated (may include links that are not in this group)

Definition at line 669 of file joint_model_group.h.

The list of downstream link models in the order they should be updated (may include links that are not in this group)

Definition at line 665 of file joint_model_group.h.

The list of downstream link names in the order they should be updated (may include links that are not in this group)

Definition at line 693 of file joint_model_group.h.

The list of downstream link names in the order they should be updated (may include links that are not in this group)

Definition at line 689 of file joint_model_group.h.

The list of downstream link models in the order they should be updated (may include links that are not in this group)

Definition at line 685 of file joint_model_group.h.

The list of downstream link models in the order they should be updated (may include links that are not in this group)

Definition at line 681 of file joint_model_group.h.

The number of variables necessary to describe this group of joints.

Definition at line 696 of file joint_model_group.h.

The list of index values this group includes, with respect to a full robot state; this includes mimic joints.

Definition at line 641 of file joint_model_group.h.

std::vector<std::string> moveit::core::JointModelGroup::variable_names_ [protected]

The names of the DOF that make up this group (this is just a sequence of joint variable names; not necessarily joint names!)

Definition at line 616 of file joint_model_group.h.

The names of the DOF that make up this group (this is just a sequence of joint variable names; not necessarily joint names!)

Definition at line 620 of file joint_model_group.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Apr 20 2018 03:31:11