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. More...
 
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) More...
 
typedef std::vector< const JointModel::Bounds * > JointBoundsVector
 
typedef std::map< std::string, JointModelGroup * > JointModelGroupMap
 Map of names to instances for JointModelGroup. More...
 
typedef std::map< std::string, const JointModelGroup * > JointModelGroupMapConst
 Map of names to const instances for JointModelGroup. More...
 
typedef std::map< std::string, JointModel * > JointModelMap
 Map of names to instances for JointModel. More...
 
typedef std::map< std::string, const JointModel * > JointModelMapConst
 Map of names to const instances for JointModel. More...
 
typedef std::map< std::string, LinkModel * > LinkModelMap
 Map of names to instances for LinkModel. More...
 
typedef std::map< std::string, const LinkModel * > LinkModelMapConst
 Map of names to const instances for LinkModel. More...
 
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. More...
 
typedef boost::function< kinematics::KinematicsBasePtr(const JointModelGroup *)> SolverAllocatorFn
 Function type that allocates a kinematics solver for a particular group. More...
 
typedef std::map< const JointModelGroup *, SolverAllocatorFnSolverAllocatorMapFn
 Map from group instances to allocator functions & bijections. More...
 
typedef std::map< std::string, VariableBoundsVariableBoundsMap
 Data type for holding mappings from variable names to their bounds. More...
 
typedef std::map< std::string, int > VariableIndexMap
 Data type for holding mappings from variable names to their position in a state vector. More...
 

Functions

void attachedBodiesToAttachedCollisionObjectMsgs (const std::vector< const AttachedBody * > &attached_bodies, std::vector< moveit_msgs::AttachedCollisionObject > &attached_collision_objs)
 Convert AttachedBodies to AttachedCollisionObjects. More...
 
bool jointStateToRobotState (const sensor_msgs::JointState &joint_state, RobotState &state)
 Convert a joint state to a MoveIt! robot state. More...
 
bool jointTrajPointToRobotState (const trajectory_msgs::JointTrajectory &trajectory, std::size_t point_id, RobotState &state)
 Convert a joint trajectory point to a MoveIt! robot state. More...
 
 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. More...
 
std::ostream & operator<< (std::ostream &out, const RobotState &s)
 Operator overload for printing variable bounds to a stream. More...
 
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. More...
 
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. More...
 
void robotStateToJointStateMsg (const RobotState &state, sensor_msgs::JointState &joint_state)
 Convert a MoveIt! robot state to a joint state message. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 

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 58 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 64 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 69 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

void moveit::core::attachedBodiesToAttachedCollisionObjectMsgs ( const std::vector< const AttachedBody * > &  attached_bodies,
std::vector< moveit_msgs::AttachedCollisionObject > &  attached_collision_objs 
)

Convert AttachedBodies to AttachedCollisionObjects.

Parameters
attached_bodiesThe input MoveIt! attached body objects
attached_collision_objsThe resultant AttachedCollisionObject messages

Definition at line 402 of file conversions.cpp.

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 365 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 431 of file conversions.cpp.

moveit::core::MOVEIT_CLASS_FORWARD ( Transforms  )
moveit::core::MOVEIT_CLASS_FORWARD ( RobotState  )
moveit::core::MOVEIT_CLASS_FORWARD ( RobotModel  )
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 2222 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 380 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 372 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 411 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 388 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 456 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 485 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 522 of file conversions.cpp.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Jan 15 2018 03:50:45