Public Member Functions | Private Member Functions | Private Attributes | List of all members
exotica::Scene Class Reference

The class of EXOTica Scene. More...

#include <scene.h>

Inheritance diagram for exotica::Scene:
Inheritance graph
[legend]

Public Member Functions

void AddObject (const std::string &name, const KDL::Frame &transform=KDL::Frame(), const std::string &parent="", shapes::ShapeConstPtr shape=shapes::ShapeConstPtr(nullptr), const KDL::RigidBodyInertia &inertia=KDL::RigidBodyInertia::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const bool update_collision_scene=true)
 
void AddObject (const std::string &name, const KDL::Frame &transform=KDL::Frame(), const std::string &parent="", const std::string &shape_resource_path="", const Eigen::Vector3d &scale=Eigen::Vector3d::Ones(), const KDL::RigidBodyInertia &inertia=KDL::RigidBodyInertia::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const bool update_collision_scene=true)
 
void AddObjectToEnvironment (const std::string &name, const KDL::Frame &transform=KDL::Frame(), shapes::ShapeConstPtr shape=nullptr, const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const bool update_collision_scene=true)
 
void AddTrajectory (const std::string &link, const std::string &traj)
 
void AddTrajectory (const std::string &link, std::shared_ptr< Trajectory > traj)
 
void AddTrajectoryFromFile (const std::string &link, const std::string &traj)
 
bool AlwaysUpdatesCollisionScene () const
 Whether the collision scene transforms get updated on every scene update. More...
 
void AttachObject (const std::string &name, const std::string &parent)
 Attaches existing object to a new parent. E.g. attaching a grasping target to the end-effector. The relative transformation will be computed from current object and new parent transformations in the world frame. More...
 
void AttachObjectLocal (const std::string &name, const std::string &parent, const KDL::Frame &pose)
 Attaches existing object to a new parent specifying an offset in the new parent local frame. More...
 
void AttachObjectLocal (const std::string &name, const std::string &parent, const Eigen::VectorXd &pose)
 
void CleanScene ()
 
void DetachObject (const std::string &name)
 Detaches an object and leaves it a at its current world location. This effectively attaches the object to the world frame. More...
 
bool get_has_quaternion_floating_base () const
 
int get_num_controls () const
 
int get_num_positions () const
 
int get_num_state () const
 
int get_num_state_derivative () const
 
int get_num_velocities () const
 
const std::set< std::string > & get_world_links_to_exclude_from_collision_scene () const
 Returns world links that are to be excluded from collision checking. More...
 
const CollisionScenePtrGetCollisionScene () const
 Returns a pointer to the CollisionScene. More...
 
std::vector< std::string > GetControlledJointNames ()
 
const std::map< std::string, std::vector< std::string > > & GetControlledJointToCollisionLinkMap () const
 Returns a map between controlled robot joint names and associated collision link names. Here we consider all fixed links between controlled links as belonging to the previous controlled joint (as if the collision links had been fused). More...
 
std::vector< std::string > GetControlledLinkNames ()
 
Eigen::VectorXd GetControlledState ()
 
std::shared_ptr< DynamicsSolverGetDynamicsSolver () const
 Returns a pointer to the CollisionScene. More...
 
exotica::KinematicTreeGetKinematicTree ()
 
std::vector< std::string > GetModelJointNames ()
 
std::vector< std::string > GetModelLinkNames ()
 
const std::map< std::string, std::vector< std::shared_ptr< KinematicElement > > > & GetModelLinkToCollisionElementMap () const
 Returns a map between a model link name and the KinematicElement of associated collision links. More...
 
const std::map< std::string, std::vector< std::string > > & GetModelLinkToCollisionLinkMap () const
 Returns a map between a model link name and the names of associated collision links. More...
 
Eigen::VectorXd GetModelState ()
 
std::map< std::string, double > GetModelStateMap ()
 
const std::string & GetName () const
 
moveit_msgs::PlanningScene GetPlanningSceneMsg ()
 Returns the current robot configuration and collision environment as a moveit_msgs::PlanningScene. More...
 
std::string GetRootFrameName ()
 
std::string GetRootJointName ()
 
std::string GetScene ()
 
std::shared_ptr< TrajectoryGetTrajectory (const std::string &link)
 
std::map< std::string, std::weak_ptr< KinematicElement > > GetTreeMap ()
 
bool HasAttachedObject (const std::string &name)
 
virtual void Instantiate (const SceneInitializer &init)
 
void LoadScene (const std::string &scene, const Eigen::Isometry3d &offset=Eigen::Isometry3d::Identity(), bool update_collision_scene=true)
 
void LoadScene (const std::string &scene, const KDL::Frame &offset=KDL::Frame(), bool update_collision_scene=true)
 
void LoadSceneFile (const std::string &file_name, const Eigen::Isometry3d &offset=Eigen::Isometry3d::Identity(), bool update_collision_scene=true)
 
void LoadSceneFile (const std::string &file_name, const KDL::Frame &offset=KDL::Frame(), bool update_collision_scene=true)
 
visualization_msgs::Marker ProxyToMarker (const std::vector< CollisionProxy > &proxies, const std::string &frame)
 
void PublishProxies (const std::vector< CollisionProxy > &proxies)
 
void PublishScene ()
 
void RemoveObject (const std::string &name)
 
void RemoveTrajectory (const std::string &link)
 
void RequestKinematics (KinematicsRequest &request, std::function< void(std::shared_ptr< KinematicResponse >)> callback)
 
 Scene (const std::string &name)
 
 Scene ()
 
void SetModelState (Eigen::VectorXdRefConst x, double t=0, bool update_traj=true)
 
void SetModelState (const std::map< std::string, double > &x, double t=0, bool update_traj=true)
 
void Update (Eigen::VectorXdRefConst x, double t=0)
 
void UpdateCollisionObjects ()
 
void UpdatePlanningScene (const moveit_msgs::PlanningScene &scene)
 Update the collision scene from a moveit_msgs::PlanningScene. More...
 
void UpdatePlanningSceneWorld (const moveit_msgs::PlanningSceneWorldConstPtr &world)
 Update the collision scene from a moveit_msgs::PlanningSceneWorld. More...
 
void UpdateSceneFrames ()
 Updates exotica scene object frames from the MoveIt scene. More...
 
void UpdateTrajectoryGenerators (double t=0)
 
virtual ~Scene ()
 
- Public Member Functions inherited from exotica::Object
std::string GetObjectName ()
 
void InstantiateObject (const Initializer &init)
 
 Object ()
 
virtual std::string Print (const std::string &prepend) const
 
virtual std::string type () const
 Type Information wrapper: must be virtual so that it is polymorphic... More...
 
virtual ~Object ()
 
- Public Member Functions inherited from exotica::Instantiable< SceneInitializer >
std::vector< InitializerGetAllTemplates () const override
 
Initializer GetInitializerTemplate () override
 
const SceneInitializer & GetParameters () const
 
void InstantiateInternal (const Initializer &init) override
 
- Public Member Functions inherited from exotica::InstantiableBase
 InstantiableBase ()=default
 
virtual void InstantiateBase (const Initializer &init)
 
virtual ~InstantiableBase ()=default
 

Private Member Functions

void LoadSceneFromStringStream (std::istream &in, const Eigen::Isometry3d &offset, bool update_collision_scene)
 
void UpdateInternalFrames (bool update_request=true)
 
void UpdateMoveItPlanningScene ()
 Updates the internal state of the MoveIt PlanningScene from Kinematica. More...
 
- Private Member Functions inherited from exotica::Uncopyable
 Uncopyable ()=default
 
 ~Uncopyable ()=default
 

Private Attributes

std::map< std::string, AttachedObjectattached_objects_
 List of attached objects These objects will be reattached if the scene gets reloaded. More...
 
CollisionScenePtr collision_scene_
 The collision scene. More...
 
std::map< std::string, std::vector< std::string > > controlled_joint_to_collision_link_map_
 Mapping between controlled joint name and collision links. More...
 
std::vector< std::shared_ptr< KinematicElement > > custom_links_
 List of frames/links added on top of robot links and scene objects defined in the MoveIt scene. More...
 
std::shared_ptr< DynamicsSolverdynamics_solver_ = std::shared_ptr<DynamicsSolver>(nullptr)
 The dynamics solver. More...
 
bool force_collision_
 
bool has_quaternion_floating_base_ = false
 Whether the state includes a SE(3) floating base. More...
 
KinematicsRequest kinematic_request_
 
std::function< void(std::shared_ptr< KinematicResponse >)> kinematic_request_callback_
 
std::shared_ptr< KinematicResponsekinematic_solution_
 
exotica::KinematicTree kinematica_
 The kinematica tree. More...
 
std::map< std::string, std::vector< std::shared_ptr< KinematicElement > > > model_link_to_collision_element_map_
 
std::map< std::string, std::vector< std::string > > model_link_to_collision_link_map_
 Mapping between model link names and collision links. More...
 
int num_controls_ = 0
 "nu" More...
 
int num_positions_ = 0
 "nq" More...
 
int num_state_ = 0
 "nx" More...
 
int num_state_derivative_ = 0
 "ndx" More...
 
int num_velocities_ = 0
 "nv" More...
 
ros::Publisher proxy_pub_
 
planning_scene::PlanningScenePtr ps_
 Internal MoveIt planning scene. More...
 
ros::Publisher ps_pub_
 Visual debug. More...
 
bool request_needs_updating_
 
std::set< std::string > robot_links_to_exclude_from_collision_scene_
 List of robot links to be excluded from the collision scene. More...
 
std::map< std::string, std::pair< std::weak_ptr< KinematicElement >, std::shared_ptr< Trajectory > > > trajectory_generators_
 
std::set< std::string > world_links_to_exclude_from_collision_scene_
 List of world links to be excluded from the collision scene. More...
 

Additional Inherited Members

- Public Attributes inherited from exotica::Object
bool debug_
 
std::string ns_
 
std::string object_name_
 
- Protected Attributes inherited from exotica::Instantiable< SceneInitializer >
SceneInitializer parameters_
 

Detailed Description

The class of EXOTica Scene.

Definition at line 69 of file scene.h.

Constructor & Destructor Documentation

exotica::Scene::Scene ( const std::string &  name)

Definition at line 57 of file scene.cpp.

exotica::Scene::Scene ( )
default
exotica::Scene::~Scene ( )
virtualdefault

Member Function Documentation

void exotica::Scene::AddObject ( const std::string &  name,
const KDL::Frame transform = KDL::Frame(),
const std::string &  parent = "",
shapes::ShapeConstPtr  shape = shapes::ShapeConstPtr(nullptr),
const KDL::RigidBodyInertia inertia = KDL::RigidBodyInertia::Zero(),
const Eigen::Vector4d &  color = Eigen::Vector4d(0.5, 0.5, 0.5, 1.0),
const bool  update_collision_scene = true 
)

Definition at line 803 of file scene.cpp.

void exotica::Scene::AddObject ( const std::string &  name,
const KDL::Frame transform = KDL::Frame(),
const std::string &  parent = "",
const std::string &  shape_resource_path = "",
const Eigen::Vector3d &  scale = Eigen::Vector3d::Ones(),
const KDL::RigidBodyInertia inertia = KDL::RigidBodyInertia::Zero(),
const Eigen::Vector4d &  color = Eigen::Vector4d(0.5, 0.5, 0.5, 1.0),
const bool  update_collision_scene = true 
)

Definition at line 814 of file scene.cpp.

void exotica::Scene::AddObjectToEnvironment ( const std::string &  name,
const KDL::Frame transform = KDL::Frame(),
shapes::ShapeConstPtr  shape = nullptr,
const Eigen::Vector4d &  color = Eigen::Vector4d(0.5, 0.5, 0.5, 1.0),
const bool  update_collision_scene = true 
)

Definition at line 827 of file scene.cpp.

void exotica::Scene::AddTrajectory ( const std::string &  link,
const std::string &  traj 
)

Definition at line 896 of file scene.cpp.

void exotica::Scene::AddTrajectory ( const std::string &  link,
std::shared_ptr< Trajectory traj 
)

Definition at line 901 of file scene.cpp.

void exotica::Scene::AddTrajectoryFromFile ( const std::string &  link,
const std::string &  traj 
)

Definition at line 891 of file scene.cpp.

bool exotica::Scene::AlwaysUpdatesCollisionScene ( ) const
inline

Whether the collision scene transforms get updated on every scene update.

Returns
Whether collision scene transforms are force updated on every scene update.

Definition at line 165 of file scene.h.

void exotica::Scene::AttachObject ( const std::string &  name,
const std::string &  parent 
)

Attaches existing object to a new parent. E.g. attaching a grasping target to the end-effector. The relative transformation will be computed from current object and new parent transformations in the world frame.

Parameters
nameName of the object to attach.
parentName of the new parent frame.

Definition at line 861 of file scene.cpp.

void exotica::Scene::AttachObjectLocal ( const std::string &  name,
const std::string &  parent,
const KDL::Frame pose 
)

Attaches existing object to a new parent specifying an offset in the new parent local frame.

Parameters
nameName of the object to attach.
parentName of the new parent frame.
poseRelative pose of the attached object in the new parent's local frame.

Definition at line 867 of file scene.cpp.

void exotica::Scene::AttachObjectLocal ( const std::string &  name,
const std::string &  parent,
const Eigen::VectorXd &  pose 
)

Definition at line 873 of file scene.cpp.

void exotica::Scene::CleanScene ( )

Definition at line 631 of file scene.cpp.

void exotica::Scene::DetachObject ( const std::string &  name)

Detaches an object and leaves it a at its current world location. This effectively attaches the object to the world frame.

Parameters
nameName of the object to detach.

Definition at line 878 of file scene.cpp.

bool exotica::Scene::get_has_quaternion_floating_base ( ) const

Definition at line 951 of file scene.cpp.

int exotica::Scene::get_num_controls ( ) const

Definition at line 936 of file scene.cpp.

int exotica::Scene::get_num_positions ( ) const

Definition at line 926 of file scene.cpp.

int exotica::Scene::get_num_state ( ) const

Definition at line 941 of file scene.cpp.

int exotica::Scene::get_num_state_derivative ( ) const

Definition at line 946 of file scene.cpp.

int exotica::Scene::get_num_velocities ( ) const

Definition at line 931 of file scene.cpp.

const std::set<std::string>& exotica::Scene::get_world_links_to_exclude_from_collision_scene ( ) const
inline

Returns world links that are to be excluded from collision checking.

Definition at line 176 of file scene.h.

const CollisionScenePtr & exotica::Scene::GetCollisionScene ( ) const

Returns a pointer to the CollisionScene.

Definition at line 426 of file scene.cpp.

std::vector< std::string > exotica::Scene::GetControlledJointNames ( )

Definition at line 514 of file scene.cpp.

const std::map<std::string, std::vector<std::string> >& exotica::Scene::GetControlledJointToCollisionLinkMap ( ) const
inline

Returns a map between controlled robot joint names and associated collision link names. Here we consider all fixed links between controlled links as belonging to the previous controlled joint (as if the collision links had been fused).

Returns
Map between controlled joints and associated collision links.

Definition at line 174 of file scene.h.

std::vector< std::string > exotica::Scene::GetControlledLinkNames ( )

Definition at line 519 of file scene.cpp.

Eigen::VectorXd exotica::Scene::GetControlledState ( )

Definition at line 579 of file scene.cpp.

std::shared_ptr< DynamicsSolver > exotica::Scene::GetDynamicsSolver ( ) const

Returns a pointer to the CollisionScene.

Definition at line 432 of file scene.cpp.

exotica::KinematicTree & exotica::Scene::GetKinematicTree ( )

Definition at line 509 of file scene.cpp.

std::vector< std::string > exotica::Scene::GetModelJointNames ( )

Definition at line 529 of file scene.cpp.

std::vector< std::string > exotica::Scene::GetModelLinkNames ( )

Definition at line 524 of file scene.cpp.

const std::map<std::string, std::vector<std::shared_ptr<KinematicElement> > >& exotica::Scene::GetModelLinkToCollisionElementMap ( ) const
inline

Returns a map between a model link name and the KinematicElement of associated collision links.

Returns
Map between model links and all the KinematicElements of the associated collision links.

Definition at line 171 of file scene.h.

const std::map<std::string, std::vector<std::string> >& exotica::Scene::GetModelLinkToCollisionLinkMap ( ) const
inline

Returns a map between a model link name and the names of associated collision links.

Returns
Map between model links and all associated collision links.

Definition at line 168 of file scene.h.

Eigen::VectorXd exotica::Scene::GetModelState ( )

Definition at line 534 of file scene.cpp.

std::map< std::string, double > exotica::Scene::GetModelStateMap ( )

Definition at line 539 of file scene.cpp.

const std::string & exotica::Scene::GetName ( ) const

Definition at line 64 of file scene.cpp.

moveit_msgs::PlanningScene exotica::Scene::GetPlanningSceneMsg ( )

Returns the current robot configuration and collision environment as a moveit_msgs::PlanningScene.

Definition at line 447 of file scene.cpp.

std::string exotica::Scene::GetRootFrameName ( )

Definition at line 437 of file scene.cpp.

std::string exotica::Scene::GetRootJointName ( )

Definition at line 442 of file scene.cpp.

std::string exotica::Scene::GetScene ( )

Definition at line 623 of file scene.cpp.

std::shared_ptr< Trajectory > exotica::Scene::GetTrajectory ( const std::string &  link)

Definition at line 911 of file scene.cpp.

std::map< std::string, std::weak_ptr< KinematicElement > > exotica::Scene::GetTreeMap ( )

Definition at line 544 of file scene.cpp.

bool exotica::Scene::HasAttachedObject ( const std::string &  name)

Definition at line 886 of file scene.cpp.

void exotica::Scene::Instantiate ( const SceneInitializer &  init)
virtual

Reimplemented from exotica::Instantiable< SceneInitializer >.

Definition at line 69 of file scene.cpp.

void exotica::Scene::LoadScene ( const std::string &  scene,
const Eigen::Isometry3d &  offset = Eigen::Isometry3d::Identity(),
bool  update_collision_scene = true 
)

Definition at line 591 of file scene.cpp.

void exotica::Scene::LoadScene ( const std::string &  scene,
const KDL::Frame offset = KDL::Frame(),
bool  update_collision_scene = true 
)

Definition at line 584 of file scene.cpp.

void exotica::Scene::LoadSceneFile ( const std::string &  file_name,
const Eigen::Isometry3d &  offset = Eigen::Isometry3d::Identity(),
bool  update_collision_scene = true 
)

Definition at line 604 of file scene.cpp.

void exotica::Scene::LoadSceneFile ( const std::string &  file_name,
const KDL::Frame offset = KDL::Frame(),
bool  update_collision_scene = true 
)

Definition at line 597 of file scene.cpp.

void exotica::Scene::LoadSceneFromStringStream ( std::istream &  in,
const Eigen::Isometry3d &  offset,
bool  update_collision_scene 
)
private

Definition at line 611 of file scene.cpp.

visualization_msgs::Marker exotica::Scene::ProxyToMarker ( const std::vector< CollisionProxy > &  proxies,
const std::string &  frame 
)

Definition at line 371 of file scene.cpp.

void exotica::Scene::PublishProxies ( const std::vector< CollisionProxy > &  proxies)

Definition at line 363 of file scene.cpp.

void exotica::Scene::PublishScene ( )

Definition at line 355 of file scene.cpp.

void exotica::Scene::RemoveObject ( const std::string &  name)

Definition at line 841 of file scene.cpp.

void exotica::Scene::RemoveTrajectory ( const std::string &  link)

Definition at line 918 of file scene.cpp.

void exotica::Scene::RequestKinematics ( KinematicsRequest request,
std::function< void(std::shared_ptr< KinematicResponse >)>  callback 
)

Definition at line 294 of file scene.cpp.

void exotica::Scene::SetModelState ( Eigen::VectorXdRefConst  x,
double  t = 0,
bool  update_traj = true 
)

Definition at line 549 of file scene.cpp.

void exotica::Scene::SetModelState ( const std::map< std::string, double > &  x,
double  t = 0,
bool  update_traj = true 
)

Definition at line 564 of file scene.cpp.

void exotica::Scene::Update ( Eigen::VectorXdRefConst  x,
double  t = 0 
)

Definition at line 311 of file scene.cpp.

void exotica::Scene::UpdateCollisionObjects ( )

Definition at line 421 of file scene.cpp.

void exotica::Scene::UpdateInternalFrames ( bool  update_request = true)
private

Definition at line 638 of file scene.cpp.

void exotica::Scene::UpdateMoveItPlanningScene ( )
private

Updates the internal state of the MoveIt PlanningScene from Kinematica.

Definition at line 324 of file scene.cpp.

void exotica::Scene::UpdatePlanningScene ( const moveit_msgs::PlanningScene &  scene)

Update the collision scene from a moveit_msgs::PlanningScene.

Parameters
[in]scenemoveit_msgs::PlanningScene

Definition at line 407 of file scene.cpp.

void exotica::Scene::UpdatePlanningSceneWorld ( const moveit_msgs::PlanningSceneWorldConstPtr &  world)

Update the collision scene from a moveit_msgs::PlanningSceneWorld.

Parameters
[in]worldmoveit_msgs::PlanningSceneWorld

Definition at line 414 of file scene.cpp.

void exotica::Scene::UpdateSceneFrames ( )

Updates exotica scene object frames from the MoveIt scene.

Definition at line 676 of file scene.cpp.

void exotica::Scene::UpdateTrajectoryGenerators ( double  t = 0)

Definition at line 303 of file scene.cpp.

Member Data Documentation

std::map<std::string, AttachedObject> exotica::Scene::attached_objects_
private

List of attached objects These objects will be reattached if the scene gets reloaded.

Definition at line 218 of file scene.h.

CollisionScenePtr exotica::Scene::collision_scene_
private

The collision scene.

Definition at line 198 of file scene.h.

std::map<std::string, std::vector<std::string> > exotica::Scene::controlled_joint_to_collision_link_map_
private

Mapping between controlled joint name and collision links.

Definition at line 232 of file scene.h.

std::vector<std::shared_ptr<KinematicElement> > exotica::Scene::custom_links_
private

List of frames/links added on top of robot links and scene objects defined in the MoveIt scene.

Definition at line 221 of file scene.h.

std::shared_ptr<DynamicsSolver> exotica::Scene::dynamics_solver_ = std::shared_ptr<DynamicsSolver>(nullptr)
private

The dynamics solver.

Definition at line 201 of file scene.h.

bool exotica::Scene::force_collision_
private

Definition at line 225 of file scene.h.

bool exotica::Scene::has_quaternion_floating_base_ = false
private

Whether the state includes a SE(3) floating base.

Definition at line 185 of file scene.h.

KinematicsRequest exotica::Scene::kinematic_request_
private

Definition at line 240 of file scene.h.

std::function<void(std::shared_ptr<KinematicResponse>)> exotica::Scene::kinematic_request_callback_
private

Definition at line 242 of file scene.h.

std::shared_ptr<KinematicResponse> exotica::Scene::kinematic_solution_
private

Definition at line 241 of file scene.h.

exotica::KinematicTree exotica::Scene::kinematica_
private

The kinematica tree.

Definition at line 195 of file scene.h.

std::map<std::string, std::vector<std::shared_ptr<KinematicElement> > > exotica::Scene::model_link_to_collision_element_map_
private

Definition at line 229 of file scene.h.

std::map<std::string, std::vector<std::string> > exotica::Scene::model_link_to_collision_link_map_
private

Mapping between model link names and collision links.

Definition at line 228 of file scene.h.

int exotica::Scene::num_controls_ = 0
private

"nu"

Definition at line 205 of file scene.h.

int exotica::Scene::num_positions_ = 0
private

"nq"

Definition at line 203 of file scene.h.

int exotica::Scene::num_state_ = 0
private

"nx"

Definition at line 206 of file scene.h.

int exotica::Scene::num_state_derivative_ = 0
private

"ndx"

Definition at line 207 of file scene.h.

int exotica::Scene::num_velocities_ = 0
private

"nv"

Definition at line 204 of file scene.h.

ros::Publisher exotica::Scene::proxy_pub_
private

Definition at line 214 of file scene.h.

planning_scene::PlanningScenePtr exotica::Scene::ps_
private

Internal MoveIt planning scene.

Definition at line 210 of file scene.h.

ros::Publisher exotica::Scene::ps_pub_
private

Visual debug.

Definition at line 213 of file scene.h.

bool exotica::Scene::request_needs_updating_
private

Definition at line 243 of file scene.h.

std::set<std::string> exotica::Scene::robot_links_to_exclude_from_collision_scene_
private

List of robot links to be excluded from the collision scene.

Definition at line 235 of file scene.h.

std::map<std::string, std::pair<std::weak_ptr<KinematicElement>, std::shared_ptr<Trajectory> > > exotica::Scene::trajectory_generators_
private

Definition at line 223 of file scene.h.

std::set<std::string> exotica::Scene::world_links_to_exclude_from_collision_scene_
private

List of world links to be excluded from the collision scene.

Definition at line 238 of file scene.h.


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


exotica_core
Author(s): Yiming Yang, Michael Camilleri
autogenerated on Sat Apr 10 2021 02:34:50