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 |
| struct | JumpThreshold |
| Struct for containing jump_threshold. More... | |
| class | LinkModel |
| A link from the robot. Contains the constant transform applied to the link and its geometry. More... | |
| struct | MaxEEFStep |
| Struct for containing max_step for computeCartesianPath. 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 *const, 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 *, SolverAllocatorFn > | SolverAllocatorMapFn |
| Map from group instances to allocator functions & bijections. More... | |
| typedef std::map< std::string, VariableBounds > | VariableBoundsMap |
| 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... | |
| double | toDouble (const std::string &s) |
| Converts a std::string to double using the classic C locale. More... | |
| float | toFloat (const std::string &s) |
| Converts a std::string to float using the classic C locale. More... | |
| template<class OutType > | |
| OutType | toRealImpl (const std::string &s) |
| std::string | toString (double d) |
| Convert a double to std::string using the classic C locale. More... | |
| std::string | toString (float f) |
| Convert a float to std::string using the classic C locale. More... | |
| template<class InType > | |
| std::string | toStringImpl (InType t) |
Variables | |
| const std::string | LOGNAME = "robot_model" |
| static const std::size_t | MIN_STEPS_FOR_JUMP_THRESH = 10 |
| It is recommended that there are at least 10 steps per trajectory for testing jump thresholds with computeCartesianPath. With less than 10 steps it is difficult to choose a jump_threshold parameter that effectively separates valid paths from paths with large joint space jumps. More... | |
Core components of MoveIt!
| 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 64 of file robot_state.h.
| typedef std::vector<const JointModel::Bounds*> moveit::core::JointBoundsVector |
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* const, 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.
| typedef std::map<const JointModelGroup*, SolverAllocatorFn> moveit::core::SolverAllocatorMapFn |
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.
| void moveit::core::attachedBodiesToAttachedCollisionObjectMsgs | ( | const std::vector< const AttachedBody * > & | attached_bodies, |
| std::vector< moveit_msgs::AttachedCollisionObject > & | attached_collision_objs | ||
| ) |
Convert AttachedBodies to AttachedCollisionObjects.
| attached_bodies | The input MoveIt! attached body objects |
| attached_collision_objs | The resultant AttachedCollisionObject messages |
Definition at line 405 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.
| joint_state | The input joint state to be converted |
| state | The resultant MoveIt! robot state |
Definition at line 369 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.
| joint_trajectory | The input msg |
| point_id | The index of the trajectory point in the joint trajectory. |
| state | The resultant MoveIt! robot state |
Definition at line 434 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 216 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 2308 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.
| tf | An instance of a transforms object |
| robot_state | The input robot state msg |
| state | The resultant MoveIt! robot state |
| copy_attached_bodies | Flag to include attached objects in robot state copy |
Definition at line 383 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.
| robot_state | The input robot state msg |
| state | The resultant MoveIt! robot state |
| copy_attached_bodies | Flag to include attached objects in robot state copy |
Definition at line 376 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.
| state | The input MoveIt! robot state object |
| robot_state | The resultant JointState message |
Definition at line 414 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.
| state | The input MoveIt! robot state object |
| robot_state | The resultant RobotState *message |
| copy_attached_bodies | Flag to include attached objects in robot state copy |
Definition at line 391 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.
| 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 459 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.
| 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 487 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.
| 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 |
Definition at line 524 of file conversions.cpp.
| double moveit::core::toDouble | ( | const std::string & | s | ) |
Converts a std::string to double using the classic C locale.
| std::runtime_exception | if not a valid number |
Definition at line 81 of file lexical_casts.cpp.
| float moveit::core::toFloat | ( | const std::string & | s | ) |
Converts a std::string to float using the classic C locale.
| std::runtime_exception | if not a valid number |
Definition at line 86 of file lexical_casts.cpp.
| OutType moveit::core::toRealImpl | ( | const std::string & | s | ) |
Definition at line 67 of file lexical_casts.cpp.
| std::string moveit::core::toString | ( | double | d | ) |
Convert a double to std::string using the classic C locale.
Definition at line 56 of file lexical_casts.cpp.
| std::string moveit::core::toString | ( | float | f | ) |
Convert a float to std::string using the classic C locale.
Definition at line 61 of file lexical_casts.cpp.
| std::string moveit::core::toStringImpl | ( | InType | t | ) |
Definition at line 47 of file lexical_casts.cpp.
| const std::string moveit::core::LOGNAME = "robot_model" |
Definition at line 53 of file robot_model.cpp.
|
static |
It is recommended that there are at least 10 steps per trajectory for testing jump thresholds with computeCartesianPath. With less than 10 steps it is difficult to choose a jump_threshold parameter that effectively separates valid paths from paths with large joint space jumps.
Definition at line 55 of file robot_state.cpp.