Classes | Typedefs | Functions
moveit::core Namespace Reference

Core components of MoveIt! More...

Classes

class  AABB
 Represents an axis-aligned bounding box. More...
class  AttachedBody
 Object defining bodies that can be attached to robot links. This is useful when handling objects picked up by the robot. More...
class  FixedJointModel
 A fixed joint. More...
class  FloatingJointModel
 A floating joint. More...
class  JointModel
 A joint from the robot. Models the transform that this joint applies in the kinematic chain. A joint consists of multiple variables. In the simplest case, when the joint is a single DOF, there is only one variable and its name is the same as the joint's name. For multi-DOF joints, each variable has a local name (e.g., x, y) but the full variable name as seen from the outside of this class is a concatenation of the "joint name"/"local name" (e.g., a joint named 'base' with local variables 'x' and 'y' will store its full variable names as 'base/x' and 'base/y'). Local names are never used to reference variables directly. More...
class  JointModelGroup
class  LinkModel
 A link from the robot. Contains the constant transform applied to the link and its geometry. More...
class  PlanarJointModel
 A planar joint. More...
class  PrismaticJointModel
 A prismatic joint. More...
class  RevoluteJointModel
 A revolute joint. More...
class  RobotModel
 Definition of a kinematic model. This class is not thread safe, however multiple instances can be created. More...
class  RobotState
 Representation of a robot's state. This includes position, velocity, acceleration and effort. More...
class  Transforms
 Provides an implementation of a snapshot of a transform tree that can be easily queried for transforming different quantities. Transforms are maintained as a list of transforms to a particular frame. All stored transforms are considered fixed. More...
struct  VariableBounds

Typedefs

typedef boost::function< void(AttachedBody
*body, bool attached) 
AttachedBodyCallback )
typedef std::map< std::string,
Eigen::Affine3d, std::less
< std::string >
, Eigen::aligned_allocator
< std::pair< const std::string,
Eigen::Affine3d > > > 
FixedTransformsMap
 Map frame names to the transformation matrix that can transform objects from the frame name to the planning frame.
typedef boost::function< bool(RobotState
*robot_state, const
JointModelGroup *joint_group,
const double
*joint_group_variable_values) 
GroupStateValidityCallbackFn )
 Signature for functions that can verify that if the group joint_group in robot_state is set to joint_group_variable_values the state is valid or not. Returns true if the state is valid. This call is allowed to modify robot_state (e.g., set joint_group_variable_values)
typedef std::vector< const
JointModel::Bounds * > 
JointBoundsVector
typedef std::map< std::string,
JointModelGroup * > 
JointModelGroupMap
 Map of names to instances for JointModelGroup.
typedef std::map< std::string,
const JointModelGroup * > 
JointModelGroupMapConst
 Map of names to const instances for JointModelGroup.
typedef std::map< std::string,
JointModel * > 
JointModelMap
 Map of names to instances for JointModel.
typedef std::map< std::string,
const JointModel * > 
JointModelMapConst
 Map of names to const instances for JointModel.
typedef std::map< std::string,
LinkModel * > 
LinkModelMap
 Map of names to instances for LinkModel.
typedef std::map< std::string,
const LinkModel * > 
LinkModelMapConst
 Map of names to const instances for LinkModel.
typedef std::map< const
LinkModel *, Eigen::Affine3d,
std::less< const LinkModel * >
, Eigen::aligned_allocator
< std::pair< const LinkModel
*, Eigen::Affine3d > > > 
LinkTransformMap
 Map from link model instances to Eigen transforms.
typedef boost::function
< kinematics::KinematicsBasePtr(const
JointModelGroup *) 
SolverAllocatorFn )
 Function type that allocates a kinematics solver for a particular group.
typedef std::map< const
JointModelGroup
*, SolverAllocatorFn
SolverAllocatorMapFn
 Map from group instances to allocator functions & bijections.
typedef std::map< std::string,
VariableBounds
VariableBoundsMap
 Data type for holding mappings from variable names to their bounds.
typedef std::map< std::string,
int > 
VariableIndexMap
 Data type for holding mappings from variable names to their position in a state vector.

Functions

bool jointStateToRobotState (const sensor_msgs::JointState &joint_state, RobotState &state)
 Convert a joint state to a MoveIt! robot state.
bool jointTrajPointToRobotState (const trajectory_msgs::JointTrajectory &trajectory, std::size_t point_id, RobotState &state)
 Convert a joint trajectory point to a MoveIt! robot state.
 MOVEIT_CLASS_FORWARD (Transforms)
 MOVEIT_CLASS_FORWARD (RobotState)
 MOVEIT_CLASS_FORWARD (RobotModel)
std::ostream & operator<< (std::ostream &out, const VariableBounds &b)
 Operator overload for printing variable bounds to a stream.
std::ostream & operator<< (std::ostream &out, const RobotState &s)
 Operator overload for printing variable bounds to a stream.
bool robotStateMsgToRobotState (const Transforms &tf, const moveit_msgs::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
 Convert a robot state msg (with accompanying extra transforms) to a MoveIt! robot state.
bool robotStateMsgToRobotState (const moveit_msgs::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
 Convert a robot state msg (with accompanying extra transforms) to a MoveIt! robot state.
void robotStateToJointStateMsg (const RobotState &state, sensor_msgs::JointState &joint_state)
 Convert a MoveIt! robot state to a joint state message.
void robotStateToRobotStateMsg (const RobotState &state, moveit_msgs::RobotState &robot_state, bool copy_attached_bodies=true)
 Convert a MoveIt! robot state to a robot state message.
void robotStateToStream (const RobotState &state, std::ostream &out, bool include_header=true, const std::string &separator=",")
 Convert a MoveIt! robot state to common separated values (CSV) on a single line that is outputted to a stream e.g. for file saving.
void robotStateToStream (const RobotState &state, std::ostream &out, const std::vector< std::string > &joint_groups_ordering, bool include_header=true, const std::string &separator=",")
 Convert a MoveIt! robot state to common separated values (CSV) on a single line that is outputted to a stream e.g. for file saving. This version can order by joint model groups.
void streamToRobotState (RobotState &state, const std::string &line, const std::string &separator=",")
 Convert a string of joint values from a file (CSV) or input source into a RobotState.

Detailed Description

Core components of MoveIt!


Typedef Documentation

typedef boost::function<void(AttachedBody* body, bool attached) moveit::core::AttachedBodyCallback)

Definition at line 50 of file attached_body.h.

typedef std::map<std::string, Eigen::Affine3d, std::less<std::string>, Eigen::aligned_allocator<std::pair<const std::string, Eigen::Affine3d> > > moveit::core::FixedTransformsMap

Map frame names to the transformation matrix that can transform objects from the frame name to the planning frame.

Definition at line 56 of file transforms.h.

typedef boost::function<bool(RobotState* robot_state, const JointModelGroup* joint_group, const double* joint_group_variable_values) moveit::core::GroupStateValidityCallbackFn)

Signature for functions that can verify that if the group joint_group in robot_state is set to joint_group_variable_values the state is valid or not. Returns true if the state is valid. This call is allowed to modify robot_state (e.g., set joint_group_variable_values)

Definition at line 63 of file robot_state.h.

Definition at line 67 of file joint_model_group.h.

typedef std::map<std::string, JointModelGroup*> moveit::core::JointModelGroupMap

Map of names to instances for JointModelGroup.

Definition at line 62 of file joint_model_group.h.

typedef std::map<std::string, const JointModelGroup*> moveit::core::JointModelGroupMapConst

Map of names to const instances for JointModelGroup.

Definition at line 65 of file joint_model_group.h.

typedef std::map<std::string, JointModel*> moveit::core::JointModelMap

Map of names to instances for JointModel.

Definition at line 91 of file joint_model.h.

typedef std::map<std::string, const JointModel*> moveit::core::JointModelMapConst

Map of names to const instances for JointModel.

Definition at line 94 of file joint_model.h.

typedef std::map<std::string, LinkModel*> moveit::core::LinkModelMap

Map of names to instances for LinkModel.

Definition at line 53 of file link_model.h.

typedef std::map<std::string, const LinkModel*> moveit::core::LinkModelMapConst

Map of names to const instances for LinkModel.

Definition at line 59 of file link_model.h.

typedef std::map<const LinkModel*, Eigen::Affine3d, std::less<const LinkModel*>, Eigen::aligned_allocator<std::pair<const LinkModel*, Eigen::Affine3d> > > moveit::core::LinkTransformMap

Map from link model instances to Eigen transforms.

Definition at line 64 of file link_model.h.

typedef boost::function<kinematics::KinematicsBasePtr(const JointModelGroup*) moveit::core::SolverAllocatorFn)

Function type that allocates a kinematics solver for a particular group.

Definition at line 53 of file joint_model_group.h.

Map from group instances to allocator functions & bijections.

Definition at line 59 of file joint_model_group.h.

typedef std::map<std::string, VariableBounds> moveit::core::VariableBoundsMap

Data type for holding mappings from variable names to their bounds.

Definition at line 88 of file joint_model.h.

typedef std::map<std::string, int> moveit::core::VariableIndexMap

Data type for holding mappings from variable names to their position in a state vector.

Definition at line 82 of file joint_model.h.


Function Documentation

bool moveit::core::jointStateToRobotState ( const sensor_msgs::JointState &  joint_state,
RobotState &  state 
)

Convert a joint state to a MoveIt! robot state.

Parameters:
joint_stateThe input joint state to be converted
stateThe resultant MoveIt! robot state
Returns:
True if successful, false if failed for any reason

Definition at line 364 of file conversions.cpp.

bool moveit::core::jointTrajPointToRobotState ( const trajectory_msgs::JointTrajectory &  trajectory,
std::size_t  point_id,
RobotState &  state 
)

Convert a joint trajectory point to a MoveIt! robot state.

Parameters:
joint_trajectoryThe input msg
point_idThe index of the trajectory point in the joint trajectory.
stateThe resultant MoveIt! robot state
Returns:
True if successful, false if failed for any reason

Definition at line 423 of file conversions.cpp.

std::ostream & moveit::core::operator<< ( std::ostream &  out,
const VariableBounds &  b 
)

Operator overload for printing variable bounds to a stream.

Definition at line 215 of file joint_model.cpp.

std::ostream & moveit::core::operator<< ( std::ostream &  out,
const RobotState &  s 
)

Operator overload for printing variable bounds to a stream.

Definition at line 2184 of file robot_state.cpp.

bool moveit::core::robotStateMsgToRobotState ( const Transforms &  tf,
const moveit_msgs::RobotState &  robot_state,
RobotState &  state,
bool  copy_attached_bodies = true 
)

Convert a robot state msg (with accompanying extra transforms) to a MoveIt! robot state.

Parameters:
tfAn instance of a transforms object
robot_stateThe input robot state msg
stateThe resultant MoveIt! robot state
copy_attached_bodiesFlag to include attached objects in robot state copy
Returns:
True if successful, false if failed for any reason

Definition at line 379 of file conversions.cpp.

bool moveit::core::robotStateMsgToRobotState ( const moveit_msgs::RobotState &  robot_state,
RobotState &  state,
bool  copy_attached_bodies = true 
)

Convert a robot state msg (with accompanying extra transforms) to a MoveIt! robot state.

Parameters:
robot_stateThe input robot state msg
stateThe resultant MoveIt! robot state
copy_attached_bodiesFlag to include attached objects in robot state copy
Returns:
True if successful, false if failed for any reason

Definition at line 371 of file conversions.cpp.

void moveit::core::robotStateToJointStateMsg ( const RobotState &  state,
sensor_msgs::JointState &  joint_state 
)

Convert a MoveIt! robot state to a joint state message.

Parameters:
stateThe input MoveIt! robot state object
robot_stateThe resultant JointState message

Definition at line 403 of file conversions.cpp.

void moveit::core::robotStateToRobotStateMsg ( const RobotState &  state,
moveit_msgs::RobotState &  robot_state,
bool  copy_attached_bodies = true 
)

Convert a MoveIt! robot state to a robot state message.

Parameters:
stateThe input MoveIt! robot state object
robot_stateThe resultant RobotState *message
copy_attached_bodiesFlag to include attached objects in robot state copy

Definition at line 387 of file conversions.cpp.

void moveit::core::robotStateToStream ( const RobotState &  state,
std::ostream &  out,
bool  include_header = true,
const std::string &  separator = "," 
)

Convert a MoveIt! robot state to common separated values (CSV) on a single line that is outputted to a stream e.g. for file saving.

Parameters:
state- The input MoveIt! robot state object
out- a file stream, or any other stream
include_header- flag to prefix the output with a line of joint names.
separator- allows to override the comma seperator with any symbol, such as a white space

Definition at line 448 of file conversions.cpp.

void moveit::core::robotStateToStream ( const RobotState &  state,
std::ostream &  out,
const std::vector< std::string > &  joint_groups_ordering,
bool  include_header = true,
const std::string &  separator = "," 
)

Convert a MoveIt! robot state to common separated values (CSV) on a single line that is outputted to a stream e.g. for file saving. This version can order by joint model groups.

Parameters:
state- The input MoveIt! robot state object
out- a file stream, or any other stream
joint_group_ordering- output joints based on ordering of joint groups
include_header- flag to prefix the output with a line of joint names.
separator- allows to override the comma seperator with any symbol, such as a white space

Definition at line 477 of file conversions.cpp.

void moveit::core::streamToRobotState ( RobotState &  state,
const std::string &  line,
const std::string &  separator = "," 
)

Convert a string of joint values from a file (CSV) or input source into a RobotState.

Parameters:
state- the output MoveIt! robot state object
line- the input string of joint values
separator- allows to override the comma seperator with any symbol, such as a white space
Returns:
true on success

Definition at line 514 of file conversions.cpp.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jan 17 2018 03:31:36