Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
moveit::core::RobotModel Class Reference

Definition of a kinematic model. This class is not thread safe, however multiple instances can be created. More...

#include <robot_model.h>

Public Member Functions

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 JointBoundsVectorgetActiveJointModelsBounds () const
 Get the bounds for all the active joints. More...
 
const JointModelgetCommonRoot (const JointModel *a, const JointModel *b) const
 Get the deepest joint in the kinematic tree that is a common parent of both joints passed as argument. More...
 
double getMaximumExtent () const
 
double getMaximumExtent (const JointBoundsVector &active_joint_bounds) const
 
void getMissingVariableNames (const std::vector< std::string > &variables, std::vector< std::string > &missing_variables) const
 
const std::string & getModelFrame () const
 Get the frame in which the transforms for this model are computed (when using a RobotState). This frame depends on the root joint. As such, the frame is either extracted from SRDF, or it is assumed to be the name of the root link. More...
 
const std::string & getName () const
 Get the model name. More...
 
const srdf::ModelConstSharedPtrgetSRDF () const
 Get the parsed SRDF model. More...
 
const urdf::ModelInterfaceSharedPtr & getURDF () const
 Get the parsed URDF model. More...
 
const VariableBoundsgetVariableBounds (const std::string &variable) const
 Get the bounds for a specific variable. Throw an exception of variable is not found. More...
 
std::size_t getVariableCount () const
 Get the number of variables that describe this model. More...
 
void getVariableDefaultPositions (double *values) const
 Compute the default values for a RobotState. More...
 
void getVariableDefaultPositions (std::vector< double > &values) const
 Compute the default values for a RobotState. More...
 
void getVariableDefaultPositions (std::map< std::string, double > &values) const
 Compute the default values for a RobotState. More...
 
int getVariableIndex (const std::string &variable) const
 Get the index of a variable in the robot state. More...
 
const std::vector< std::string > & getVariableNames () const
 Get the names of the variables that make up the joints that form this state. Fixed joints have no DOF, so they are not here, but the variables for mimic joints are included. The number of returned elements is always equal to getVariableCount() More...
 
void getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values) const
 Compute the random values for a RobotState. More...
 
void getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values) const
 Compute the random values for a RobotState. More...
 
void getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, std::map< std::string, double > &values) const
 Compute the random values for a RobotState. More...
 
void interpolate (const double *from, const double *to, double t, double *state) const
 
bool isEmpty () const
 Return true if the model is empty (has no root link, no joints) More...
 
void printModelInfo (std::ostream &out) const
 Print information about the constructed model. More...
 
 RobotModel (const urdf::ModelInterfaceSharedPtr &urdf_model, const srdf::ModelConstSharedPtr &srdf_model)
 Construct a kinematic model from a parsed description and a list of planning groups. More...
 
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 setKinematicsAllocators (const std::map< std::string, SolverAllocatorFn > &allocators)
 A map of known kinematics solvers (associated to their group name) More...
 
 ~RobotModel ()
 Destructor. Clear all memory. More...
 
Access to joint models
const JointModelgetRootJoint () const
 Get the root joint. There will be one root joint unless the model is empty. This is either extracted from the SRDF, or a fixed joint is assumed, if no specification is given. More...
 
const std::string & getRootJointName () const
 Return the name of the root joint. Throws an exception if there is no root joint. More...
 
bool hasJointModel (const std::string &name) const
 Check if a joint exists. Return true if it does. More...
 
const JointModelgetJointModel (const std::string &joint) const
 Get a joint by its name. Output error and return NULL when the joint is missing. More...
 
const JointModelgetJointModel (int index) const
 Get a joint by its index. Output error and return NULL when the link is missing. More...
 
JointModelgetJointModel (const std::string &joint)
 Get a joint by its name. Output error and return NULL when the joint is missing. More...
 
const std::vector< const JointModel * > & getJointModels () const
 Get the array of joints, in the order they appear in the robot state. More...
 
const std::vector< JointModel * > & getJointModels ()
 Get the array of joints, in the order they appear in the robot state. This includes all types of joints (including mimic & fixed), as opposed to JointModelGroup::getJointModels(). More...
 
const std::vector< std::string > & getJointModelNames () const
 Get the array of joint names, in the order they appear in the robot state. More...
 
const std::vector< const JointModel * > & getActiveJointModels () const
 Get the array of joints that are active (not fixed, not mimic) in this model. More...
 
const std::vector< JointModel * > & getActiveJointModels ()
 Get the array of joints that are active (not fixed, not mimic) in this model. More...
 
const std::vector< const JointModel * > & getSingleDOFJointModels () const
 This is a list of all single-dof joints (including mimic joints) More...
 
const std::vector< const JointModel * > & getMultiDOFJointModels () const
 This is a list of all multi-dof joints. More...
 
const std::vector< const JointModel * > & getContinuousJointModels () const
 Get the array of continuous joints, in the order they appear in the robot state. More...
 
const std::vector< const JointModel * > & getMimicJointModels () const
 Get the array of mimic joints, in the order they appear in the robot state. More...
 
const JointModelgetJointOfVariable (int variable_index) const
 
const JointModelgetJointOfVariable (const std::string &variable) const
 
std::size_t getJointModelCount () const
 
Access to link models
const LinkModelgetRootLink () const
 Get the physical root link of the robot. More...
 
const std::string & getRootLinkName () const
 Get the name of the root link of the robot. More...
 
bool hasLinkModel (const std::string &name) const
 Check if a link exists. Return true if it does. More...
 
const LinkModelgetLinkModel (const std::string &link) const
 Get a link by its name. Output error and return NULL when the link is missing. More...
 
const LinkModelgetLinkModel (int index) const
 Get a link by its index. Output error and return NULL when the link is missing. More...
 
LinkModelgetLinkModel (const std::string &link)
 Get a link by its name. Output error and return NULL when the link is missing. More...
 
const std::vector< const LinkModel * > & getLinkModels () const
 Get the array of links. More...
 
const std::vector< LinkModel * > & getLinkModels ()
 Get the array of links. More...
 
const std::vector< std::string > & getLinkModelNames () const
 Get the link names (of all links) More...
 
const std::vector< const LinkModel * > & getLinkModelsWithCollisionGeometry () const
 Get the link models that have some collision geometry associated to themselves. More...
 
const std::vector< std::string > & getLinkModelNamesWithCollisionGeometry () const
 Get the names of the link models that have some collision geometry associated to themselves. More...
 
std::size_t getLinkModelCount () const
 
std::size_t getLinkGeometryCount () const
 
Access to joint groups
bool hasJointModelGroup (const std::string &group) const
 Check if the JointModelGroup group exists. More...
 
const JointModelGroupgetJointModelGroup (const std::string &name) const
 Get a joint group from this model (by name) More...
 
JointModelGroupgetJointModelGroup (const std::string &name)
 Get a joint group from this model (by name) More...
 
const std::vector< const JointModelGroup * > & getJointModelGroups () const
 Get the available joint groups. More...
 
const std::vector< JointModelGroup * > & getJointModelGroups ()
 Get the available joint groups. More...
 
const std::vector< std::string > & getJointModelGroupNames () const
 Get the names of all groups that are defined for this model. More...
 
bool hasEndEffector (const std::string &eef) const
 Check if an end effector exists. More...
 
const JointModelGroupgetEndEffector (const std::string &name) const
 Get the joint group that corresponds to a given end-effector name. More...
 
JointModelGroupgetEndEffector (const std::string &name)
 Get the joint group that corresponds to a given end-effector name. More...
 
const std::vector< const JointModelGroup * > & getEndEffectors () const
 Get the map between end effector names and the groups they correspond to. More...
 

Protected Member Functions

bool addJointModelGroup (const srdf::Model::Group &group)
 Construct a JointModelGroup given a SRDF description group. More...
 
void buildGroups (const srdf::Model &srdf_model)
 Given a SRDF model describing the groups, build up the groups in this kinematic model. More...
 
void buildGroupsInfo_EndEffectors (const srdf::Model &srdf_model)
 Compute helpful information about groups (that can be queried later) More...
 
void buildGroupsInfo_Subgroups (const srdf::Model &srdf_model)
 Compute helpful information about groups (that can be queried later) More...
 
void buildGroupStates (const srdf::Model &srdf_model)
 Given a SRDF model describing the groups, build the default states defined in the SRDF. More...
 
void buildJointInfo ()
 Compute helpful information about joints. More...
 
void buildMimic (const urdf::ModelInterface &urdf_model)
 Given the URDF model, build up the mimic joints (mutually constrained joints) More...
 
void buildModel (const urdf::ModelInterface &urdf_model, const srdf::Model &srdf_model)
 Given an URDF model and a SRDF model, build a full kinematic model. More...
 
JointModelbuildRecursive (LinkModel *parent, const urdf::Link *link, const srdf::Model &srdf_model)
 (This function is mostly intended for internal use). Given a parent link, build up (recursively), the kinematic model by walking down the tree More...
 
const JointModelcomputeCommonRoot (const JointModel *a, const JointModel *b) const
 Given two joints, find their common root. More...
 
void computeCommonRoots ()
 For every pair of joints, pre-compute the common roots of the joints. More...
 
void computeDescendants ()
 For every joint, pre-compute the list of descendant joints & links. More...
 
void computeFixedTransforms (const LinkModel *link, const Eigen::Affine3d &transform, LinkTransformMap &associated_transforms)
 
JointModelconstructJointModel (const urdf::Joint *urdf_joint_model, const urdf::Link *child_link, const srdf::Model &srdf_model)
 Given a urdf joint model, a child link and a set of virtual joints, build up the corresponding JointModel object. More...
 
LinkModelconstructLinkModel (const urdf::Link *urdf_link)
 Given a urdf link, build the corresponding LinkModel object. More...
 
shapes::ShapePtr constructShape (const urdf::Geometry *geom)
 Given a geometry spec from the URDF and a filename (for a mesh), construct the corresponding shape object. More...
 
void updateMimicJoints (double *values) const
 Update the variable values for the state of a group with respect to the mimic joints. More...
 

Protected Attributes

std::vector< int > active_joint_model_start_index_
 
std::vector< JointModel * > active_joint_model_vector_
 The vector of joints in the model, in the order they appear in the state vector. More...
 
std::vector< const JointModel * > active_joint_model_vector_const_
 The vector of joints in the model, in the order they appear in the state vector. More...
 
JointBoundsVector active_joint_models_bounds_
 The bounds for all the active joint models. More...
 
std::vector< int > common_joint_roots_
 For every two joints, the index of the common root for thw joints is stored. More...
 
std::vector< const JointModel * > continuous_joint_model_vector_
 The set of continuous joints this model contains. More...
 
std::vector< const JointModelGroup * > end_effectors_
 The array of end-effectors, in alphabetical order. More...
 
JointModelGroupMap end_effectors_map_
 The known end effectors. More...
 
JointModelGroupMap joint_model_group_map_
 A map from group names to joint groups. More...
 
std::vector< std::string > joint_model_group_names_
 A vector of all group names, in alphabetical order. More...
 
std::vector< JointModelGroup * > joint_model_groups_
 The array of joint model groups, in alphabetical order. More...
 
std::vector< const JointModelGroup * > joint_model_groups_const_
 The array of joint model groups, in alphabetical order. More...
 
JointModelMap joint_model_map_
 A map from joint names to their instances. More...
 
std::vector< std::string > joint_model_names_vector_
 The vector of joint names that corresponds to joint_model_vector_. More...
 
std::vector< JointModel * > joint_model_vector_
 The vector of joints in the model, in the order they appear in the state vector. More...
 
std::vector< const JointModel * > joint_model_vector_const_
 The vector of joints in the model, in the order they appear in the state vector. More...
 
VariableIndexMap joint_variables_index_map_
 The state includes all the joint variables that make up the joints the state 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. More...
 
std::vector< const JointModel * > joints_of_variable_
 The joints that correspond to each variable index. More...
 
std::size_t link_geometry_count_
 Total number of geometric shapes in this model. More...
 
LinkModelMap link_model_map_
 A map from link names to their instances. More...
 
std::vector< std::string > link_model_names_vector_
 The vector of link names that corresponds to link_model_vector_. More...
 
std::vector< std::string > link_model_names_with_collision_geometry_vector_
 The vector of link names that corresponds to link_models_with_collision_geometry_vector_. More...
 
std::vector< LinkModel * > link_model_vector_
 The vector of links that are updated when computeTransforms() is called, in the order they are updated. More...
 
std::vector< const LinkModel * > link_model_vector_const_
 The vector of links that are updated when computeTransforms() is called, in the order they are updated. More...
 
std::vector< const LinkModel * > link_models_with_collision_geometry_vector_
 Only links that have collision geometry specified. More...
 
std::vector< const JointModel * > mimic_joints_
 The set of mimic joints this model contains. More...
 
std::string model_frame_
 The reference frame for this model. More...
 
std::string model_name_
 The name of the model. More...
 
std::vector< const JointModel * > multi_dof_joints_
 
const JointModelroot_joint_
 The root joint. More...
 
const LinkModelroot_link_
 The first physical link for the robot. More...
 
std::vector< const JointModel * > single_dof_joints_
 
srdf::ModelConstSharedPtr srdf_
 
urdf::ModelInterfaceSharedPtr urdf_
 
std::size_t variable_count_
 Get the number of variables necessary to describe this model. More...
 
std::vector< std::string > variable_names_
 The names of the DOF that make up this state (this is just a sequence of joint variable names; not necessarily joint names!) More...
 

Detailed Description

Definition of a kinematic model. This class is not thread safe, however multiple instances can be created.

Definition at line 68 of file robot_model.h.

Constructor & Destructor Documentation

moveit::core::RobotModel::RobotModel ( const urdf::ModelInterfaceSharedPtr &  urdf_model,
const srdf::ModelConstSharedPtr srdf_model 
)

Construct a kinematic model from a parsed description and a list of planning groups.

Definition at line 51 of file robot_model.cpp.

moveit::core::RobotModel::~RobotModel ( )

Destructor. Clear all memory.

Definition at line 60 of file robot_model.cpp.

Member Function Documentation

bool moveit::core::RobotModel::addJointModelGroup ( const srdf::Model::Group group)
protected

Construct a JointModelGroup given a SRDF description group.

Definition at line 644 of file robot_model.cpp.

void moveit::core::RobotModel::buildGroups ( const srdf::Model srdf_model)
protected

Given a SRDF model describing the groups, build up the groups in this kinematic model.

Definition at line 481 of file robot_model.cpp.

void moveit::core::RobotModel::buildGroupsInfo_EndEffectors ( const srdf::Model srdf_model)
protected

Compute helpful information about groups (that can be queried later)

Definition at line 561 of file robot_model.cpp.

void moveit::core::RobotModel::buildGroupsInfo_Subgroups ( const srdf::Model srdf_model)
protected

Compute helpful information about groups (that can be queried later)

Definition at line 532 of file robot_model.cpp.

void moveit::core::RobotModel::buildGroupStates ( const srdf::Model srdf_model)
protected

Given a SRDF model describing the groups, build the default states defined in the SRDF.

Definition at line 322 of file robot_model.cpp.

void moveit::core::RobotModel::buildJointInfo ( )
protected

Compute helpful information about joints.

Definition at line 252 of file robot_model.cpp.

void moveit::core::RobotModel::buildMimic ( const urdf::ModelInterface &  urdf_model)
protected

Given the URDF model, build up the mimic joints (mutually constrained joints)

Definition at line 361 of file robot_model.cpp.

void moveit::core::RobotModel::buildModel ( const urdf::ModelInterface &  urdf_model,
const srdf::Model srdf_model 
)
protected

Given an URDF model and a SRDF model, build a full kinematic model.

Definition at line 80 of file robot_model.cpp.

moveit::core::JointModel * moveit::core::RobotModel::buildRecursive ( LinkModel parent,
const urdf::Link *  link,
const srdf::Model srdf_model 
)
protected

(This function is mostly intended for internal use). Given a parent link, build up (recursively), the kinematic model by walking down the tree

Definition at line 759 of file robot_model.cpp.

const JointModel* moveit::core::RobotModel::computeCommonRoot ( const JointModel a,
const JointModel b 
) const
protected

Given two joints, find their common root.

void moveit::core::RobotModel::computeCommonRoots ( )
protected

For every pair of joints, pre-compute the common roots of the joints.

Definition at line 200 of file robot_model.cpp.

void moveit::core::RobotModel::computeDescendants ( )
protected

For every joint, pre-compute the list of descendant joints & links.

Definition at line 233 of file robot_model.cpp.

void moveit::core::RobotModel::computeFixedTransforms ( const LinkModel link,
const Eigen::Affine3d &  transform,
LinkTransformMap associated_transforms 
)
protected

Definition at line 1378 of file robot_model.cpp.

moveit::core::JointModel * moveit::core::RobotModel::constructJointModel ( const urdf::Joint *  urdf_joint_model,
const urdf::Link *  child_link,
const srdf::Model srdf_model 
)
protected

Given a urdf joint model, a child link and a set of virtual joints, build up the corresponding JointModel object.

Definition at line 845 of file robot_model.cpp.

moveit::core::LinkModel * moveit::core::RobotModel::constructLinkModel ( const urdf::Link *  urdf_link)
protected

Given a urdf link, build the corresponding LinkModel object.

Definition at line 965 of file robot_model.cpp.

shapes::ShapePtr moveit::core::RobotModel::constructShape ( const urdf::Geometry *  geom)
protected

Given a geometry spec from the URDF and a filename (for a mesh), construct the corresponding shape object.

Definition at line 1033 of file robot_model.cpp.

double moveit::core::RobotModel::distance ( const double *  state1,
const double *  state2 
) const

Definition at line 1237 of file robot_model.cpp.

bool moveit::core::RobotModel::enforcePositionBounds ( double *  state) const
inline

Definition at line 311 of file robot_model.h.

bool moveit::core::RobotModel::enforcePositionBounds ( double *  state,
const JointBoundsVector active_joint_bounds 
) const

Definition at line 1224 of file robot_model.cpp.

const std::vector<const JointModel*>& moveit::core::RobotModel::getActiveJointModels ( ) const
inline

Get the array of joints that are active (not fixed, not mimic) in this model.

Definition at line 163 of file robot_model.h.

const std::vector<JointModel*>& moveit::core::RobotModel::getActiveJointModels ( )
inline

Get the array of joints that are active (not fixed, not mimic) in this model.

Definition at line 169 of file robot_model.h.

const JointBoundsVector& moveit::core::RobotModel::getActiveJointModelsBounds ( ) const
inline

Get the bounds for all the active joints.

Definition at line 401 of file robot_model.h.

const JointModel* moveit::core::RobotModel::getCommonRoot ( const JointModel a,
const JointModel b 
) const
inline

Get the deepest joint in the kinematic tree that is a common parent of both joints passed as argument.

Definition at line 413 of file robot_model.h.

const std::vector<const JointModel*>& moveit::core::RobotModel::getContinuousJointModels ( ) const
inline

Get the array of continuous joints, in the order they appear in the robot state.

Definition at line 188 of file robot_model.h.

const moveit::core::JointModelGroup * moveit::core::RobotModel::getEndEffector ( const std::string &  name) const

Get the joint group that corresponds to a given end-effector name.

Definition at line 426 of file robot_model.cpp.

moveit::core::JointModelGroup * moveit::core::RobotModel::getEndEffector ( const std::string &  name)

Get the joint group that corresponds to a given end-effector name.

Definition at line 440 of file robot_model.cpp.

const std::vector<const JointModelGroup*>& moveit::core::RobotModel::getEndEffectors ( ) const
inline

Get the map between end effector names and the groups they correspond to.

Definition at line 372 of file robot_model.h.

const moveit::core::JointModel * moveit::core::RobotModel::getJointModel ( const std::string &  joint) const

Get a joint by its name. Output error and return NULL when the joint is missing.

Definition at line 1082 of file robot_model.cpp.

const moveit::core::JointModel * moveit::core::RobotModel::getJointModel ( int  index) const

Get a joint by its index. Output error and return NULL when the link is missing.

Definition at line 1091 of file robot_model.cpp.

moveit::core::JointModel * moveit::core::RobotModel::getJointModel ( const std::string &  joint)

Get a joint by its name. Output error and return NULL when the joint is missing.

Definition at line 1102 of file robot_model.cpp.

std::size_t moveit::core::RobotModel::getJointModelCount ( ) const
inline

Definition at line 210 of file robot_model.h.

const moveit::core::JointModelGroup * moveit::core::RobotModel::getJointModelGroup ( const std::string &  name) const

Get a joint group from this model (by name)

Definition at line 459 of file robot_model.cpp.

moveit::core::JointModelGroup * moveit::core::RobotModel::getJointModelGroup ( const std::string &  name)

Get a joint group from this model (by name)

Definition at line 470 of file robot_model.cpp.

const std::vector<std::string>& moveit::core::RobotModel::getJointModelGroupNames ( ) const
inline

Get the names of all groups that are defined for this model.

Definition at line 357 of file robot_model.h.

const std::vector<const JointModelGroup*>& moveit::core::RobotModel::getJointModelGroups ( ) const
inline

Get the available joint groups.

Definition at line 345 of file robot_model.h.

const std::vector<JointModelGroup*>& moveit::core::RobotModel::getJointModelGroups ( )
inline

Get the available joint groups.

Definition at line 351 of file robot_model.h.

const std::vector<std::string>& moveit::core::RobotModel::getJointModelNames ( ) const
inline

Get the array of joint names, in the order they appear in the robot state.

Definition at line 157 of file robot_model.h.

const std::vector<const JointModel*>& moveit::core::RobotModel::getJointModels ( ) const
inline

Get the array of joints, in the order they appear in the robot state.

Definition at line 143 of file robot_model.h.

const std::vector<JointModel*>& moveit::core::RobotModel::getJointModels ( )
inline

Get the array of joints, in the order they appear in the robot state. This includes all types of joints (including mimic & fixed), as opposed to JointModelGroup::getJointModels().

Definition at line 151 of file robot_model.h.

const JointModel* moveit::core::RobotModel::getJointOfVariable ( int  variable_index) const
inline

Definition at line 200 of file robot_model.h.

const JointModel* moveit::core::RobotModel::getJointOfVariable ( const std::string &  variable) const
inline

Definition at line 205 of file robot_model.h.

std::size_t moveit::core::RobotModel::getLinkGeometryCount ( ) const
inline

Definition at line 277 of file robot_model.h.

const moveit::core::LinkModel * moveit::core::RobotModel::getLinkModel ( const std::string &  link) const

Get a link by its name. Output error and return NULL when the link is missing.

Definition at line 1111 of file robot_model.cpp.

const moveit::core::LinkModel * moveit::core::RobotModel::getLinkModel ( int  index) const

Get a link by its index. Output error and return NULL when the link is missing.

Definition at line 1120 of file robot_model.cpp.

moveit::core::LinkModel * moveit::core::RobotModel::getLinkModel ( const std::string &  link)

Get a link by its name. Output error and return NULL when the link is missing.

Definition at line 1131 of file robot_model.cpp.

std::size_t moveit::core::RobotModel::getLinkModelCount ( ) const
inline

Definition at line 272 of file robot_model.h.

const std::vector<std::string>& moveit::core::RobotModel::getLinkModelNames ( ) const
inline

Get the link names (of all links)

Definition at line 255 of file robot_model.h.

const std::vector<std::string>& moveit::core::RobotModel::getLinkModelNamesWithCollisionGeometry ( ) const
inline

Get the names of the link models that have some collision geometry associated to themselves.

Definition at line 267 of file robot_model.h.

const std::vector<const LinkModel*>& moveit::core::RobotModel::getLinkModels ( ) const
inline

Get the array of links.

Definition at line 243 of file robot_model.h.

const std::vector<LinkModel*>& moveit::core::RobotModel::getLinkModels ( )
inline

Get the array of links.

Definition at line 249 of file robot_model.h.

const std::vector<const LinkModel*>& moveit::core::RobotModel::getLinkModelsWithCollisionGeometry ( ) const
inline

Get the link models that have some collision geometry associated to themselves.

Definition at line 261 of file robot_model.h.

double moveit::core::RobotModel::getMaximumExtent ( ) const
inline

Definition at line 322 of file robot_model.h.

double moveit::core::RobotModel::getMaximumExtent ( const JointBoundsVector active_joint_bounds) const

Definition at line 1203 of file robot_model.cpp.

const std::vector<const JointModel*>& moveit::core::RobotModel::getMimicJointModels ( ) const
inline

Get the array of mimic joints, in the order they appear in the robot state.

Definition at line 195 of file robot_model.h.

void moveit::core::RobotModel::getMissingVariableNames ( const std::vector< std::string > &  variables,
std::vector< std::string > &  missing_variables 
) const

Definition at line 1184 of file robot_model.cpp.

const std::string& moveit::core::RobotModel::getModelFrame ( ) const
inline

Get the frame in which the transforms for this model are computed (when using a RobotState). This frame depends on the root joint. As such, the frame is either extracted from SRDF, or it is assumed to be the name of the root link.

Definition at line 87 of file robot_model.h.

const std::vector<const JointModel*>& moveit::core::RobotModel::getMultiDOFJointModels ( ) const
inline

This is a list of all multi-dof joints.

Definition at line 181 of file robot_model.h.

const std::string& moveit::core::RobotModel::getName ( ) const
inline

Get the model name.

Definition at line 78 of file robot_model.h.

const moveit::core::JointModel * moveit::core::RobotModel::getRootJoint ( ) const

Get the root joint. There will be one root joint unless the model is empty. This is either extracted from the SRDF, or a fixed joint is assumed, if no specification is given.

Definition at line 70 of file robot_model.cpp.

const std::string& moveit::core::RobotModel::getRootJointName ( ) const
inline

Return the name of the root joint. Throws an exception if there is no root joint.

Definition at line 124 of file robot_model.h.

const moveit::core::LinkModel * moveit::core::RobotModel::getRootLink ( ) const

Get the physical root link of the robot.

Definition at line 75 of file robot_model.cpp.

const std::string& moveit::core::RobotModel::getRootLinkName ( ) const
inline

Get the name of the root link of the robot.

Definition at line 225 of file robot_model.h.

const std::vector<const JointModel*>& moveit::core::RobotModel::getSingleDOFJointModels ( ) const
inline

This is a list of all single-dof joints (including mimic joints)

Definition at line 175 of file robot_model.h.

const srdf::ModelConstSharedPtr& moveit::core::RobotModel::getSRDF ( ) const
inline

Get the parsed SRDF model.

Definition at line 105 of file robot_model.h.

const urdf::ModelInterfaceSharedPtr& moveit::core::RobotModel::getURDF ( ) const
inline

Get the parsed URDF model.

Definition at line 99 of file robot_model.h.

const VariableBounds& moveit::core::RobotModel::getVariableBounds ( const std::string &  variable) const
inline

Get the bounds for a specific variable. Throw an exception of variable is not found.

Definition at line 395 of file robot_model.h.

std::size_t moveit::core::RobotModel::getVariableCount ( ) const
inline

Get the number of variables that describe this model.

Definition at line 380 of file robot_model.h.

void moveit::core::RobotModel::getVariableDefaultPositions ( double *  values) const

Compute the default values for a RobotState.

Definition at line 1168 of file robot_model.cpp.

void moveit::core::RobotModel::getVariableDefaultPositions ( std::vector< double > &  values) const
inline

Compute the default values for a RobotState.

Definition at line 298 of file robot_model.h.

void moveit::core::RobotModel::getVariableDefaultPositions ( std::map< std::string, double > &  values) const

Compute the default values for a RobotState.

Definition at line 1175 of file robot_model.cpp.

int moveit::core::RobotModel::getVariableIndex ( const std::string &  variable) const

Get the index of a variable in the robot state.

Definition at line 1195 of file robot_model.cpp.

const std::vector<std::string>& moveit::core::RobotModel::getVariableNames ( ) const
inline

Get the names of the variables that make up the joints that form this state. Fixed joints have no DOF, so they are not here, but the variables for mimic joints are included. The number of returned elements is always equal to getVariableCount()

Definition at line 389 of file robot_model.h.

void moveit::core::RobotModel::getVariableRandomPositions ( random_numbers::RandomNumberGenerator rng,
double *  values 
) const

Compute the random values for a RobotState.

Definition at line 1150 of file robot_model.cpp.

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

Compute the random values for a RobotState.

Definition at line 291 of file robot_model.h.

void moveit::core::RobotModel::getVariableRandomPositions ( random_numbers::RandomNumberGenerator rng,
std::map< std::string, double > &  values 
) const

Compute the random values for a RobotState.

Definition at line 1158 of file robot_model.cpp.

bool moveit::core::RobotModel::hasEndEffector ( const std::string &  eef) const

Check if an end effector exists.

Definition at line 421 of file robot_model.cpp.

bool moveit::core::RobotModel::hasJointModel ( const std::string &  name) const

Check if a joint exists. Return true if it does.

Definition at line 1072 of file robot_model.cpp.

bool moveit::core::RobotModel::hasJointModelGroup ( const std::string &  group) const

Check if the JointModelGroup group exists.

Definition at line 454 of file robot_model.cpp.

bool moveit::core::RobotModel::hasLinkModel ( const std::string &  name) const

Check if a link exists. Return true if it does.

Definition at line 1077 of file robot_model.cpp.

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

Definition at line 1247 of file robot_model.cpp.

bool moveit::core::RobotModel::isEmpty ( ) const
inline

Return true if the model is empty (has no root link, no joints)

Definition at line 93 of file robot_model.h.

void moveit::core::RobotModel::printModelInfo ( std::ostream &  out) const

Print information about the constructed model.

Definition at line 1327 of file robot_model.cpp.

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

Definition at line 316 of file robot_model.h.

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

Definition at line 1212 of file robot_model.cpp.

void moveit::core::RobotModel::setKinematicsAllocators ( const std::map< std::string, SolverAllocatorFn > &  allocators)

A map of known kinematics solvers (associated to their group name)

Definition at line 1258 of file robot_model.cpp.

void moveit::core::RobotModel::updateMimicJoints ( double *  values) const
protected

Update the variable values for the state of a group with respect to the mimic joints.

Definition at line 1140 of file robot_model.cpp.

Member Data Documentation

std::vector<int> moveit::core::RobotModel::active_joint_model_start_index_
protected

Definition at line 530 of file robot_model.h.

std::vector<JointModel*> moveit::core::RobotModel::active_joint_model_vector_
protected

The vector of joints in the model, in the order they appear in the state vector.

Definition at line 492 of file robot_model.h.

std::vector<const JointModel*> moveit::core::RobotModel::active_joint_model_vector_const_
protected

The vector of joints in the model, in the order they appear in the state vector.

Definition at line 495 of file robot_model.h.

JointBoundsVector moveit::core::RobotModel::active_joint_models_bounds_
protected

The bounds for all the active joint models.

Definition at line 533 of file robot_model.h.

std::vector<int> moveit::core::RobotModel::common_joint_roots_
protected

For every two joints, the index of the common root for thw joints is stored.

for jointA, jointB the index of the common root is located in the array at location jointA->getJointIndex() * nr.joints + jointB->getJointIndex(). The size of this array is nr.joints * nr.joints

Definition at line 514 of file robot_model.h.

std::vector<const JointModel*> moveit::core::RobotModel::continuous_joint_model_vector_
protected

The set of continuous joints this model contains.

Definition at line 498 of file robot_model.h.

std::vector<const JointModelGroup*> moveit::core::RobotModel::end_effectors_
protected

The array of end-effectors, in alphabetical order.

Definition at line 556 of file robot_model.h.

JointModelGroupMap moveit::core::RobotModel::end_effectors_map_
protected

The known end effectors.

Definition at line 544 of file robot_model.h.

JointModelGroupMap moveit::core::RobotModel::joint_model_group_map_
protected

A map from group names to joint groups.

Definition at line 541 of file robot_model.h.

std::vector<std::string> moveit::core::RobotModel::joint_model_group_names_
protected

A vector of all group names, in alphabetical order.

Definition at line 553 of file robot_model.h.

std::vector<JointModelGroup*> moveit::core::RobotModel::joint_model_groups_
protected

The array of joint model groups, in alphabetical order.

Definition at line 547 of file robot_model.h.

std::vector<const JointModelGroup*> moveit::core::RobotModel::joint_model_groups_const_
protected

The array of joint model groups, in alphabetical order.

Definition at line 550 of file robot_model.h.

JointModelMap moveit::core::RobotModel::joint_model_map_
protected

A map from joint names to their instances.

Definition at line 480 of file robot_model.h.

std::vector<std::string> moveit::core::RobotModel::joint_model_names_vector_
protected

The vector of joint names that corresponds to joint_model_vector_.

Definition at line 489 of file robot_model.h.

std::vector<JointModel*> moveit::core::RobotModel::joint_model_vector_
protected

The vector of joints in the model, in the order they appear in the state vector.

Definition at line 483 of file robot_model.h.

std::vector<const JointModel*> moveit::core::RobotModel::joint_model_vector_const_
protected

The vector of joints in the model, in the order they appear in the state vector.

Definition at line 486 of file robot_model.h.

VariableIndexMap moveit::core::RobotModel::joint_variables_index_map_
protected

The state includes all the joint variables that make up the joints the state 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 528 of file robot_model.h.

std::vector<const JointModel*> moveit::core::RobotModel::joints_of_variable_
protected

The joints that correspond to each variable index.

Definition at line 536 of file robot_model.h.

std::size_t moveit::core::RobotModel::link_geometry_count_
protected

Total number of geometric shapes in this model.

Definition at line 472 of file robot_model.h.

LinkModelMap moveit::core::RobotModel::link_model_map_
protected

A map from link names to their instances.

Definition at line 454 of file robot_model.h.

std::vector<std::string> moveit::core::RobotModel::link_model_names_vector_
protected

The vector of link names that corresponds to link_model_vector_.

Definition at line 463 of file robot_model.h.

std::vector<std::string> moveit::core::RobotModel::link_model_names_with_collision_geometry_vector_
protected

The vector of link names that corresponds to link_models_with_collision_geometry_vector_.

Definition at line 469 of file robot_model.h.

std::vector<LinkModel*> moveit::core::RobotModel::link_model_vector_
protected

The vector of links that are updated when computeTransforms() is called, in the order they are updated.

Definition at line 457 of file robot_model.h.

std::vector<const LinkModel*> moveit::core::RobotModel::link_model_vector_const_
protected

The vector of links that are updated when computeTransforms() is called, in the order they are updated.

Definition at line 460 of file robot_model.h.

std::vector<const LinkModel*> moveit::core::RobotModel::link_models_with_collision_geometry_vector_
protected

Only links that have collision geometry specified.

Definition at line 466 of file robot_model.h.

std::vector<const JointModel*> moveit::core::RobotModel::mimic_joints_
protected

The set of mimic joints this model contains.

Definition at line 501 of file robot_model.h.

std::string moveit::core::RobotModel::model_frame_
protected

The reference frame for this model.

Definition at line 442 of file robot_model.h.

std::string moveit::core::RobotModel::model_name_
protected

The name of the model.

Definition at line 439 of file robot_model.h.

std::vector<const JointModel*> moveit::core::RobotModel::multi_dof_joints_
protected

Definition at line 505 of file robot_model.h.

const JointModel* moveit::core::RobotModel::root_joint_
protected

The root joint.

Definition at line 477 of file robot_model.h.

const LinkModel* moveit::core::RobotModel::root_link_
protected

The first physical link for the robot.

Definition at line 451 of file robot_model.h.

std::vector<const JointModel*> moveit::core::RobotModel::single_dof_joints_
protected

Definition at line 503 of file robot_model.h.

srdf::ModelConstSharedPtr moveit::core::RobotModel::srdf_
protected

Definition at line 444 of file robot_model.h.

urdf::ModelInterfaceSharedPtr moveit::core::RobotModel::urdf_
protected

Definition at line 446 of file robot_model.h.

std::size_t moveit::core::RobotModel::variable_count_
protected

Get the number of variables necessary to describe this model.

Definition at line 523 of file robot_model.h.

std::vector<std::string> moveit::core::RobotModel::variable_names_
protected

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

Definition at line 520 of file robot_model.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Jan 21 2018 03:54:30