Classes | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
moveit::core::JointModelGroup Class Reference

#include <joint_model_group.h>

Classes

struct  GroupMimicUpdate
 
struct  KinematicsSolver
 

Public Types

typedef std::map< const JointModelGroup *, KinematicsSolverKinematicsSolverMap
 Map from group instances to allocator functions & bijections. More...
 

Public Member Functions

void addDefaultState (const std::string &name, const std::map< std::string, double > &default_state)
 
void attachEndEffector (const std::string &eef_name)
 Notify this group that there is an end-effector attached to it. More...
 
bool canSetStateFromIK (const std::string &tip) const
 
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 std::vector< std::string > & getActiveJointModelNames () const
 Get the names of the active joints in this group. These are the names of the joints returned by getJointModels(). More...
 
const std::vector< const JointModel * > & getActiveJointModels () const
 Get the active joints in this group (that have controllable DOF). This does not include mimic joints. More...
 
const JointBoundsVectorgetActiveJointModelsBounds () const
 Get the bounds for all the active joints. More...
 
const std::vector< std::string > & getAttachedEndEffectorNames () const
 Get the names of the end effectors attached to this group. More...
 
const JointModelgetCommonRoot () const
 Get the common root of all joint roots; not necessarily part of this group. More...
 
const srdf::Model::GroupgetConfig () const
 get the SRDF configuration this group is based on More...
 
const std::vector< const JointModel * > & getContinuousJointModels () const
 Get the array of continuous joints used in this group (may include mimic joints). More...
 
double getDefaultIKTimeout () const
 Get the default IK timeout. More...
 
const std::vector< std::string > & getDefaultStateNames () const
 Get the names of the known default states (as specified in the SRDF) More...
 
const std::string & getEndEffectorName () const
 Return the name of the end effector, if this group is an end-effector. More...
 
const std::pair< std::string, std::string > & getEndEffectorParentGroup () const
 Get the name of the group this end-effector attaches to (first) and the name of the link in that group (second) More...
 
bool getEndEffectorTips (std::vector< const LinkModel *> &tips) const
 Get the unique set of end effector tips included in a particular joint model group as defined by the SRDF end effector elements e.g. for a humanoid robot this would return 4 tips for the hands and feet. More...
 
bool getEndEffectorTips (std::vector< std::string > &tips) const
 Get the unique set of end effector tips included in a particular joint model group as defined by the SRDF end effector elements e.g. for a humanoid robot this would return 4 tips for the hands and feet. More...
 
const std::vector< const JointModel * > & getFixedJointModels () const
 Get the fixed joints that are part of this group. More...
 
const std::pair< KinematicsSolver, KinematicsSolverMap > & getGroupKinematics () const
 
const JointModelgetJointModel (const std::string &joint) const
 Get a joint by its name. Throw an exception if the joint is not part of this group. More...
 
const std::vector< std::string > & getJointModelNames () const
 Get the names of the joints in this group. These are the names of the joints returned by getJointModels(). More...
 
const std::vector< const JointModel * > & getJointModels () const
 Get all the joints in this group (including fixed and mimic joints). More...
 
const std::vector< const JointModel * > & getJointRoots () const
 Unlike a complete kinematic model, a group may contain disconnected parts of the kinematic tree – a set of smaller trees. This function gives the roots of those smaller trees. Furthermore, it is ensured that the roots are on different branches in the kinematic tree. This means that in following any root in the given list, none of the other returned roots will be encountered. More...
 
const std::vector< unsigned int > & getKinematicsSolverJointBijection () const
 Return the mapping between the order of the joints in this group and the order of the joints in the kinematics solver. An element bijection[i] at index i in this array, maps the variable at index bijection[i] in this group to the variable at index i in the kinematic solver. More...
 
const LinkModelgetLinkModel (const std::string &link) const
 Get a joint by its name. Throw an exception if the joint is not part of this group. More...
 
const std::vector< std::string > & getLinkModelNames () const
 Get the names of the links that are part of this joint group. More...
 
const std::vector< std::string > & getLinkModelNamesWithCollisionGeometry () const
 Get the names of the links that are part of this joint group and also have geometry associated with them. More...
 
const std::vector< const LinkModel * > & getLinkModels () const
 Get the links that are part of this joint group. More...
 
double getMaximumExtent () const
 
double getMaximumExtent (const JointBoundsVector &active_joint_bounds) const
 
const std::vector< const JointModel * > & getMimicJointModels () const
 Get the mimic joints that are part of this group. More...
 
const std::string & getName () const
 Get the name of the joint group. More...
 
const moveit::core::LinkModelgetOnlyOneEndEffectorTip () const
 Get one end effector tip, throwing an error if there ends up being more in the joint model group This is a useful helper function because most planning groups (almost all) only have one tip. More...
 
const RobotModelgetParentModel () const
 Get the kinematic model this group is part of. More...
 
const kinematics::KinematicsBaseConstPtr getSolverInstance () const
 
const kinematics::KinematicsBasePtr & getSolverInstance ()
 
const std::vector< std::string > & getSubgroupNames () const
 Get the names of the groups that are subsets of this one (in terms of joints set) More...
 
void getSubgroups (std::vector< const JointModelGroup *> &sub_groups) const
 Get the groups that are subsets of this one (in terms of joints set) More...
 
const std::vector< std::string > & getUpdatedLinkModelNames () const
 Get the names of the links returned by getUpdatedLinkModels() More...
 
const std::vector< const LinkModel * > & getUpdatedLinkModels () const
 Get the names of the links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated. The order is the correct order for updating the corresponding states. More...
 
const std::set< const LinkModel * > & getUpdatedLinkModelsSet () const
 Return the same data as getUpdatedLinkModels() but as a set. More...
 
const std::vector< const LinkModel * > & getUpdatedLinkModelsWithGeometry () const
 Get the names of the links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated. More...
 
const std::vector< std::string > & getUpdatedLinkModelsWithGeometryNames () const
 Get the names of the links returned by getUpdatedLinkModels() More...
 
const std::set< std::string > & getUpdatedLinkModelsWithGeometryNamesSet () const
 Get the names of the links returned by getUpdatedLinkModels() More...
 
const std::set< const LinkModel * > & getUpdatedLinkModelsWithGeometrySet () const
 Return the same data as getUpdatedLinkModelsWithGeometry() but as a set. More...
 
unsigned int getVariableCount () const
 Get the number of variables that describe this joint group. This includes variables necessary for mimic joints, so will always be >= the number of items returned by getActiveVariableNames() More...
 
bool getVariableDefaultPositions (const std::string &name, std::map< std::string, double > &values) const
 Get the values that correspond to a named state as read from the URDF. Return false on failure. More...
 
void getVariableDefaultPositions (std::map< std::string, double > &values) const
 Compute the default values for the joint group. More...
 
void getVariableDefaultPositions (std::vector< double > &values) const
 Compute the default values for the joint group. More...
 
void getVariableDefaultPositions (double *values) const
 Compute the default values for the joint group. More...
 
int getVariableGroupIndex (const std::string &variable) const
 Get the index of a variable within the group. Return -1 on error. More...
 
const std::vector< int > & getVariableIndexList () const
 Get the index locations in the complete robot state for all the variables in this group. More...
 
const std::vector< std::string > & getVariableNames () const
 Get the names of the variables that make up the joints included in this group. The number of returned elements is always equal to getVariableCount(). This includes mimic joints. More...
 
void getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values) const
 Compute random values for the state of the joint group. More...
 
void getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values) const
 Compute random values for the state of the joint group. More...
 
void getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values, const JointBoundsVector &active_joint_bounds) const
 
void getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double *values, const double *near, const double distance) const
 Compute random values for the state of the joint group. More...
 
void getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const std::vector< double > &near, double distance) const
 Compute random values for the state of the joint group. More...
 
void getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const std::vector< double > &near, const std::map< JointModel::JointType, double > &distance_map) const
 Compute random values for the state of the joint group. More...
 
void getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double *values, const double *near, const std::vector< double > &distances) const
 Compute random values for the state of the joint group. More...
 
void getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const std::vector< double > &near, const std::vector< double > &distances) const
 Compute random values for the state of the joint group. More...
 
void getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double *values, const JointBoundsVector &active_joint_bounds, const double *near, const double distance) const
 Compute random values for the state of the joint group. More...
 
void getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double *values, const JointBoundsVector &active_joint_bounds, const double *near, const std::map< JointModel::JointType, double > &distance_map) const
 Compute random values for the state of the joint group. More...
 
void getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double *values, const JointBoundsVector &active_joint_bounds, const double *near, const std::vector< double > &distances) const
 Compute random values for the state of the joint group. More...
 
bool hasJointModel (const std::string &joint) const
 Check if a joint is part of this group. More...
 
bool hasLinkModel (const std::string &link) const
 Check if a link is part of this group. More...
 
void interpolate (const double *from, const double *to, double t, double *state) const
 
bool isChain () const
 Check if this group is a linear chain. More...
 
bool isContiguousWithinState () const
 
bool isEndEffector () const
 Check if this group was designated as an end-effector in the SRDF. More...
 
bool isLinkUpdated (const std::string &name) const
 True if this name is in the set of links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated. More...
 
bool isSingleDOFJoints () const
 Return true if the group consists only of joints that are single DOF. More...
 
bool isSubgroup (const std::string &group) const
 Check if the joints of group group are a subset of the joints in this group. More...
 
 JointModelGroup (const std::string &name, const srdf::Model::Group &config, const std::vector< const JointModel *> &joint_vector, const RobotModel *parent_model)
 
void printGroupInfo (std::ostream &out=std::cout) const
 Print information about the constructed model. 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 setDefaultIKTimeout (double ik_timeout)
 Set the default IK timeout. More...
 
void setEndEffectorName (const std::string &name)
 Set the name of the end-effector, and remember this group is indeed an end-effector. More...
 
void setEndEffectorParent (const std::string &group, const std::string &link)
 If this group is an end-effector, specify the parent group (e.g., the arm holding the eef) and the link the end effector connects to. More...
 
bool setRedundantJoints (const std::vector< std::string > &joints)
 
void setSolverAllocators (const SolverAllocatorFn &solver, const SolverAllocatorMapFn &solver_map=SolverAllocatorMapFn())
 
void setSolverAllocators (const std::pair< SolverAllocatorFn, SolverAllocatorMapFn > &solvers)
 
void setSubgroupNames (const std::vector< std::string > &subgroups)
 Set the names of the subgroups for this group. More...
 
 ~JointModelGroup ()
 

Protected Member Functions

bool computeIKIndexBijection (const std::vector< std::string > &ik_jnames, std::vector< unsigned int > &joint_bijection) const
 
void updateMimicJoints (double *values) const
 Update the variable values for the state of a group with respect to the mimic joints. This only updates mimic joints that have the parent in this group. If there is a joint mimicking one that is outside the group, there are no values to be read (values is only the group state) More...
 

Protected Attributes

std::vector< std::string > active_joint_model_name_vector_
 Names of active joints in the order they appear in the group state. More...
 
std::vector< int > active_joint_model_start_index_
 For each active joint model in this group, hold the index at which the corresponding joint state starts in the group state. More...
 
std::vector< const JointModel * > active_joint_model_vector_
 Active joint instances in the order they appear in the group state. More...
 
JointBoundsVector active_joint_models_bounds_
 The bounds for all the active joint models. More...
 
std::vector< std::string > attached_end_effector_names_
 If an end-effector is attached to this group, the name of that end-effector is stored in this variable. More...
 
const JointModelcommon_root_
 The joint that is a common root for all joints in this group (not necessarily part of this group) More...
 
srdf::Model::Group config_
 
std::vector< const JointModel * > continuous_joint_model_vector_
 The set of continuous joints this group contains. More...
 
std::map< std::string, std::map< std::string, double > > default_states_
 The set of default states specified for this group in the SRDF. More...
 
std::vector< std::string > default_states_names_
 The names of the default states specified for this group in the SRDF. More...
 
std::string end_effector_name_
 The name of the end effector, if this group is an end-effector. More...
 
std::pair< std::string, std::string > end_effector_parent_
 First: name of the group that is parent to this end-effector group; Second: the link this in the parent group that this group attaches to. More...
 
std::vector< const JointModel * > fixed_joints_
 The joints that have no DOF (fixed) More...
 
std::pair< KinematicsSolver, KinematicsSolverMapgroup_kinematics_
 
std::vector< GroupMimicUpdategroup_mimic_update_
 
bool is_chain_
 
bool is_contiguous_index_list_
 True if the state of this group is contiguous within the full robot state; this also means that the index values in variable_index_list_ are consecutive integers. More...
 
bool is_single_dof_
 
JointModelMapConst joint_model_map_
 A map from joint names to their instances. This includes all joints in the group. More...
 
std::vector< std::string > joint_model_name_vector_
 Names of joints in the order they appear in the group state. More...
 
std::vector< const JointModel * > joint_model_vector_
 Joint instances in the order they appear in the group state. More...
 
std::vector< const JointModel * > joint_roots_
 The list of active joint models that are roots in this group. More...
 
VariableIndexMap joint_variables_index_map_
 The group includes all the joint variables that make up the joints the group 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...
 
LinkModelMapConst link_model_map_
 A map from link names to their instances. More...
 
std::vector< std::string > link_model_name_vector_
 The names of the links in this group. More...
 
std::vector< const LinkModel * > link_model_vector_
 The links that are on the direct lineage between joints and joint_roots_, as well as the children of the joint leafs. May not be in any particular order. More...
 
std::vector< std::string > link_model_with_geometry_name_vector_
 The names of the links in this group that also have geometry. More...
 
std::vector< const LinkModel * > link_model_with_geometry_vector_
 
std::vector< const JointModel * > mimic_joints_
 Joints that mimic other joints. More...
 
std::string name_
 Name of group. More...
 
const RobotModelparent_model_
 Owner model. More...
 
std::vector< std::string > subgroup_names_
 The set of labelled subgroups that are included in this group. More...
 
std::set< std::string > subgroup_names_set_
 The set of labelled subgroups that are included in this group. More...
 
std::set< std::string > updated_link_model_name_set_
 The list of downstream link names in the order they should be updated (may include links that are not in this group) More...
 
std::vector< std::string > updated_link_model_name_vector_
 The list of downstream link names in the order they should be updated (may include links that are not in this group) More...
 
std::set< const LinkModel * > updated_link_model_set_
 The list of downstream link models in the order they should be updated (may include links that are not in this group) More...
 
std::vector< const LinkModel * > updated_link_model_vector_
 The list of downstream link models in the order they should be updated (may include links that are not in this group) More...
 
std::set< std::string > updated_link_model_with_geometry_name_set_
 The list of downstream link names in the order they should be updated (may include links that are not in this group) More...
 
std::vector< std::string > updated_link_model_with_geometry_name_vector_
 The list of downstream link names in the order they should be updated (may include links that are not in this group) More...
 
std::set< const LinkModel * > updated_link_model_with_geometry_set_
 The list of downstream link models in the order they should be updated (may include links that are not in this group) More...
 
std::vector< const LinkModel * > updated_link_model_with_geometry_vector_
 The list of downstream link models in the order they should be updated (may include links that are not in this group) More...
 
unsigned int variable_count_
 The number of variables necessary to describe this group of joints. More...
 
std::vector< int > variable_index_list_
 The list of index values this group includes, with respect to a full robot state; this includes mimic joints. More...
 
std::vector< std::string > variable_names_
 The names of the DOF that make up this group (this is just a sequence of joint variable names; not necessarily joint names!) More...
 
std::set< std::string > variable_names_set_
 The names of the DOF that make up this group (this is just a sequence of joint variable names; not necessarily joint names!) More...
 

Detailed Description

Definition at line 69 of file joint_model_group.h.

Member Typedef Documentation

◆ KinematicsSolverMap

Map from group instances to allocator functions & bijections.

Definition at line 106 of file joint_model_group.h.

Constructor & Destructor Documentation

◆ JointModelGroup()

moveit::core::JointModelGroup::JointModelGroup ( const std::string &  name,
const srdf::Model::Group config,
const std::vector< const JointModel *> &  joint_vector,
const RobotModel parent_model 
)

Definition at line 99 of file joint_model_group.cpp.

◆ ~JointModelGroup()

moveit::core::JointModelGroup::~JointModelGroup ( )
default

Member Function Documentation

◆ addDefaultState()

void moveit::core::JointModelGroup::addDefaultState ( const std::string &  name,
const std::map< std::string, double > &  default_state 
)

Definition at line 437 of file joint_model_group.cpp.

◆ attachEndEffector()

void moveit::core::JointModelGroup::attachEndEffector ( const std::string &  eef_name)

Notify this group that there is an end-effector attached to it.

Definition at line 478 of file joint_model_group.cpp.

◆ canSetStateFromIK()

bool moveit::core::JointModelGroup::canSetStateFromIK ( const std::string &  tip) const

Definition at line 613 of file joint_model_group.cpp.

◆ computeIKIndexBijection()

bool moveit::core::JointModelGroup::computeIKIndexBijection ( const std::vector< std::string > &  ik_jnames,
std::vector< unsigned int > &  joint_bijection 
) const
protected

Definition at line 558 of file joint_model_group.cpp.

◆ distance()

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

Definition at line 407 of file joint_model_group.cpp.

◆ enforcePositionBounds() [1/2]

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

Definition at line 386 of file joint_model_group.h.

◆ enforcePositionBounds() [2/2]

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

Definition at line 385 of file joint_model_group.cpp.

◆ getActiveJointModelNames()

const std::vector<std::string>& moveit::core::JointModelGroup::getActiveJointModelNames ( ) const
inline

Get the names of the active joints in this group. These are the names of the joints returned by getJointModels().

Definition at line 164 of file joint_model_group.h.

◆ getActiveJointModels()

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

Get the active joints in this group (that have controllable DOF). This does not include mimic joints.

Definition at line 157 of file joint_model_group.h.

◆ getActiveJointModelsBounds()

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

Get the bounds for all the active joints.

Definition at line 512 of file joint_model_group.h.

◆ getAttachedEndEffectorNames()

const std::vector<std::string>& moveit::core::JointModelGroup::getAttachedEndEffectorNames ( ) const
inline

Get the names of the end effectors attached to this group.

Definition at line 481 of file joint_model_group.h.

◆ getCommonRoot()

const JointModel* moveit::core::JointModelGroup::getCommonRoot ( ) const
inline

Get the common root of all joint roots; not necessarily part of this group.

Definition at line 207 of file joint_model_group.h.

◆ getConfig()

const srdf::Model::Group& moveit::core::JointModelGroup::getConfig ( ) const
inline

get the SRDF configuration this group is based on

Definition at line 126 of file joint_model_group.h.

◆ getContinuousJointModels()

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

Get the array of continuous joints used in this group (may include mimic joints).

Definition at line 182 of file joint_model_group.h.

◆ getDefaultIKTimeout()

double moveit::core::JointModelGroup::getDefaultIKTimeout ( ) const
inline

Get the default IK timeout.

Definition at line 550 of file joint_model_group.h.

◆ getDefaultStateNames()

const std::vector<std::string>& moveit::core::JointModelGroup::getDefaultStateNames ( ) const
inline

Get the names of the known default states (as specified in the SRDF)

Definition at line 295 of file joint_model_group.h.

◆ getEndEffectorName()

const std::string& moveit::core::JointModelGroup::getEndEffectorName ( ) const
inline

Return the name of the end effector, if this group is an end-effector.

Definition at line 457 of file joint_model_group.h.

◆ getEndEffectorParentGroup()

const std::pair<std::string, std::string>& moveit::core::JointModelGroup::getEndEffectorParentGroup ( ) const
inline

Get the name of the group this end-effector attaches to (first) and the name of the link in that group (second)

Definition at line 475 of file joint_model_group.h.

◆ getEndEffectorTips() [1/2]

bool moveit::core::JointModelGroup::getEndEffectorTips ( std::vector< const LinkModel *> &  tips) const

Get the unique set of end effector tips included in a particular joint model group as defined by the SRDF end effector elements e.g. for a humanoid robot this would return 4 tips for the hands and feet.

Parameters
tips- the output vector of link models of the tips
Returns
true on success

Definition at line 497 of file joint_model_group.cpp.

◆ getEndEffectorTips() [2/2]

bool moveit::core::JointModelGroup::getEndEffectorTips ( std::vector< std::string > &  tips) const

Get the unique set of end effector tips included in a particular joint model group as defined by the SRDF end effector elements e.g. for a humanoid robot this would return 4 tips for the hands and feet.

Parameters
tips- the output vector of link names of the tips
Returns
true on success

Definition at line 483 of file joint_model_group.cpp.

◆ getFixedJointModels()

const std::vector<const JointModel*>& moveit::core::JointModelGroup::getFixedJointModels ( ) const
inline

Get the fixed joints that are part of this group.

Definition at line 170 of file joint_model_group.h.

◆ getGroupKinematics()

const std::pair<KinematicsSolver, KinematicsSolverMap>& moveit::core::JointModelGroup::getGroupKinematics ( ) const
inline

Definition at line 517 of file joint_model_group.h.

◆ getJointModel()

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

Get a joint by its name. Throw an exception if the joint is not part of this group.

Definition at line 301 of file joint_model_group.cpp.

◆ getJointModelNames()

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

Get the names of the joints in this group. These are the names of the joints returned by getJointModels().

Definition at line 151 of file joint_model_group.h.

◆ getJointModels()

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

Get all the joints in this group (including fixed and mimic joints).

Definition at line 144 of file joint_model_group.h.

◆ getJointRoots()

const std::vector<const JointModel*>& moveit::core::JointModelGroup::getJointRoots ( ) const
inline

Unlike a complete kinematic model, a group may contain disconnected parts of the kinematic tree – a set of smaller trees. This function gives the roots of those smaller trees. Furthermore, it is ensured that the roots are on different branches in the kinematic tree. This means that in following any root in the given list, none of the other returned roots will be encountered.

Definition at line 201 of file joint_model_group.h.

◆ getKinematicsSolverJointBijection()

const std::vector<unsigned int>& moveit::core::JointModelGroup::getKinematicsSolverJointBijection ( ) const
inline

Return the mapping between the order of the joints in this group and the order of the joints in the kinematics solver. An element bijection[i] at index i in this array, maps the variable at index bijection[i] in this group to the variable at index i in the kinematic solver.

Definition at line 562 of file joint_model_group.h.

◆ getLinkModel()

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

Get a joint by its name. Throw an exception if the joint is not part of this group.

Definition at line 290 of file joint_model_group.cpp.

◆ getLinkModelNames()

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

Get the names of the links that are part of this joint group.

Definition at line 219 of file joint_model_group.h.

◆ getLinkModelNamesWithCollisionGeometry()

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

Get the names of the links that are part of this joint group and also have geometry associated with them.

Definition at line 225 of file joint_model_group.h.

◆ getLinkModels()

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

Get the links that are part of this joint group.

Definition at line 213 of file joint_model_group.h.

◆ getMaximumExtent() [1/2]

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

Definition at line 399 of file joint_model_group.h.

◆ getMaximumExtent() [2/2]

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

Definition at line 398 of file joint_model_group.cpp.

◆ getMimicJointModels()

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

Get the mimic joints that are part of this group.

Definition at line 176 of file joint_model_group.h.

◆ getName()

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

Get the name of the joint group.

Definition at line 120 of file joint_model_group.h.

◆ getOnlyOneEndEffectorTip()

const LinkModel * moveit::core::JointModelGroup::getOnlyOneEndEffectorTip ( ) const

Get one end effector tip, throwing an error if there ends up being more in the joint model group This is a useful helper function because most planning groups (almost all) only have one tip.

Returns
pointer to LinkModel, or NULL on failure

Definition at line 524 of file joint_model_group.cpp.

◆ getParentModel()

const RobotModel& moveit::core::JointModelGroup::getParentModel ( ) const
inline

Get the kinematic model this group is part of.

Definition at line 114 of file joint_model_group.h.

◆ getSolverInstance() [1/2]

const kinematics::KinematicsBaseConstPtr moveit::core::JointModelGroup::getSolverInstance ( ) const
inline

Definition at line 530 of file joint_model_group.h.

◆ getSolverInstance() [2/2]

const kinematics::KinematicsBasePtr& moveit::core::JointModelGroup::getSolverInstance ( )
inline

Definition at line 535 of file joint_model_group.h.

◆ getSubgroupNames()

const std::vector<std::string>& moveit::core::JointModelGroup::getSubgroupNames ( ) const
inline

Get the names of the groups that are subsets of this one (in terms of joints set)

Definition at line 419 of file joint_model_group.h.

◆ getSubgroups()

void moveit::core::JointModelGroup::getSubgroups ( std::vector< const JointModelGroup *> &  sub_groups) const

Get the groups that are subsets of this one (in terms of joints set)

Definition at line 273 of file joint_model_group.cpp.

◆ getUpdatedLinkModelNames()

const std::vector<std::string>& moveit::core::JointModelGroup::getUpdatedLinkModelNames ( ) const
inline

Get the names of the links returned by getUpdatedLinkModels()

Definition at line 246 of file joint_model_group.h.

◆ getUpdatedLinkModels()

const std::vector<const LinkModel*>& moveit::core::JointModelGroup::getUpdatedLinkModels ( ) const
inline

Get the names of the links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated. The order is the correct order for updating the corresponding states.

Definition at line 234 of file joint_model_group.h.

◆ getUpdatedLinkModelsSet()

const std::set<const LinkModel*>& moveit::core::JointModelGroup::getUpdatedLinkModelsSet ( ) const
inline

Return the same data as getUpdatedLinkModels() but as a set.

Definition at line 240 of file joint_model_group.h.

◆ getUpdatedLinkModelsWithGeometry()

const std::vector<const LinkModel*>& moveit::core::JointModelGroup::getUpdatedLinkModelsWithGeometry ( ) const
inline

Get the names of the links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated.

Definition at line 254 of file joint_model_group.h.

◆ getUpdatedLinkModelsWithGeometryNames()

const std::vector<std::string>& moveit::core::JointModelGroup::getUpdatedLinkModelsWithGeometryNames ( ) const
inline

Get the names of the links returned by getUpdatedLinkModels()

Definition at line 266 of file joint_model_group.h.

◆ getUpdatedLinkModelsWithGeometryNamesSet()

const std::set<std::string>& moveit::core::JointModelGroup::getUpdatedLinkModelsWithGeometryNamesSet ( ) const
inline

Get the names of the links returned by getUpdatedLinkModels()

Definition at line 272 of file joint_model_group.h.

◆ getUpdatedLinkModelsWithGeometrySet()

const std::set<const LinkModel*>& moveit::core::JointModelGroup::getUpdatedLinkModelsWithGeometrySet ( ) const
inline

Return the same data as getUpdatedLinkModelsWithGeometry() but as a set.

Definition at line 260 of file joint_model_group.h.

◆ getVariableCount()

unsigned int moveit::core::JointModelGroup::getVariableCount ( ) const
inline

Get the number of variables that describe this joint group. This includes variables necessary for mimic joints, so will always be >= the number of items returned by getActiveVariableNames()

Definition at line 410 of file joint_model_group.h.

◆ getVariableDefaultPositions() [1/4]

bool moveit::core::JointModelGroup::getVariableDefaultPositions ( const std::string &  name,
std::map< std::string, double > &  values 
) const

Get the values that correspond to a named state as read from the URDF. Return false on failure.

Definition at line 443 of file joint_model_group.cpp.

◆ getVariableDefaultPositions() [2/4]

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

Compute the default values for the joint group.

Definition at line 459 of file joint_model_group.cpp.

◆ getVariableDefaultPositions() [3/4]

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

Compute the default values for the joint group.

Definition at line 309 of file joint_model_group.h.

◆ getVariableDefaultPositions() [4/4]

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

Compute the default values for the joint group.

Definition at line 452 of file joint_model_group.cpp.

◆ getVariableGroupIndex()

int moveit::core::JointModelGroup::getVariableGroupIndex ( const std::string &  variable) const

Get the index of a variable within the group. Return -1 on error.

Definition at line 538 of file joint_model_group.cpp.

◆ getVariableIndexList()

const std::vector<int>& moveit::core::JointModelGroup::getVariableIndexList ( ) const
inline

Get the index locations in the complete robot state for all the variables in this group.

Definition at line 286 of file joint_model_group.h.

◆ getVariableNames()

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

Get the names of the variables that make up the joints included in this group. The number of returned elements is always equal to getVariableCount(). This includes mimic joints.

Definition at line 189 of file joint_model_group.h.

◆ getVariableRandomPositions() [1/3]

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

Compute random values for the state of the joint group.

Definition at line 319 of file joint_model_group.h.

◆ getVariableRandomPositions() [2/3]

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

Compute random values for the state of the joint group.

Definition at line 325 of file joint_model_group.h.

◆ getVariableRandomPositions() [3/3]

void moveit::core::JointModelGroup::getVariableRandomPositions ( random_numbers::RandomNumberGenerator rng,
double *  values,
const JointBoundsVector active_joint_bounds 
) const

Definition at line 312 of file joint_model_group.cpp.

◆ getVariableRandomPositionsNearBy() [1/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
double *  values,
const double *  near,
const double  distance 
) const
inline

Compute random values for the state of the joint group.

Definition at line 332 of file joint_model_group.h.

◆ getVariableRandomPositionsNearBy() [2/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
std::vector< double > &  values,
const std::vector< double > &  near,
double  distance 
) const
inline

Compute random values for the state of the joint group.

Definition at line 338 of file joint_model_group.h.

◆ getVariableRandomPositionsNearBy() [3/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
std::vector< double > &  values,
const std::vector< double > &  near,
const std::map< JointModel::JointType, double > &  distance_map 
) const
inline

Compute random values for the state of the joint group.

Definition at line 346 of file joint_model_group.h.

◆ getVariableRandomPositionsNearBy() [4/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
double *  values,
const double *  near,
const std::vector< double > &  distances 
) const
inline

Compute random values for the state of the joint group.

Definition at line 355 of file joint_model_group.h.

◆ getVariableRandomPositionsNearBy() [5/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
std::vector< double > &  values,
const std::vector< double > &  near,
const std::vector< double > &  distances 
) const
inline

Compute random values for the state of the joint group.

Definition at line 361 of file joint_model_group.h.

◆ getVariableRandomPositionsNearBy() [6/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
double *  values,
const JointBoundsVector active_joint_bounds,
const double *  near,
const double  distance 
) const

Compute random values for the state of the joint group.

Definition at line 323 of file joint_model_group.cpp.

◆ getVariableRandomPositionsNearBy() [7/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
double *  values,
const JointBoundsVector active_joint_bounds,
const double *  near,
const std::map< JointModel::JointType, double > &  distance_map 
) const

Compute random values for the state of the joint group.

Definition at line 335 of file joint_model_group.cpp.

◆ getVariableRandomPositionsNearBy() [8/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
double *  values,
const JointBoundsVector active_joint_bounds,
const double *  near,
const std::vector< double > &  distances 
) const

Compute random values for the state of the joint group.

Definition at line 357 of file joint_model_group.cpp.

◆ hasJointModel()

bool moveit::core::JointModelGroup::hasJointModel ( const std::string &  joint) const

Check if a joint is part of this group.

Definition at line 280 of file joint_model_group.cpp.

◆ hasLinkModel()

bool moveit::core::JointModelGroup::hasLinkModel ( const std::string &  link) const

Check if a link is part of this group.

Definition at line 285 of file joint_model_group.cpp.

◆ interpolate()

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

Definition at line 417 of file joint_model_group.cpp.

◆ isChain()

bool moveit::core::JointModelGroup::isChain ( ) const
inline

Check if this group is a linear chain.

Definition at line 434 of file joint_model_group.h.

◆ isContiguousWithinState()

bool moveit::core::JointModelGroup::isContiguousWithinState ( ) const
inline

Definition at line 451 of file joint_model_group.h.

◆ isEndEffector()

bool moveit::core::JointModelGroup::isEndEffector ( ) const
inline

Check if this group was designated as an end-effector in the SRDF.

Definition at line 446 of file joint_model_group.h.

◆ isLinkUpdated()

bool moveit::core::JointModelGroup::isLinkUpdated ( const std::string &  name) const
inline

True if this name is in the set of links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated.

Definition at line 280 of file joint_model_group.h.

◆ isSingleDOFJoints()

bool moveit::core::JointModelGroup::isSingleDOFJoints ( ) const
inline

Return true if the group consists only of joints that are single DOF.

Definition at line 440 of file joint_model_group.h.

◆ isSubgroup()

bool moveit::core::JointModelGroup::isSubgroup ( const std::string &  group) const
inline

Check if the joints of group group are a subset of the joints in this group.

Definition at line 428 of file joint_model_group.h.

◆ printGroupInfo()

void moveit::core::JointModelGroup::printGroupInfo ( std::ostream &  out = std::cout) const

Print information about the constructed model.

Definition at line 660 of file joint_model_group.cpp.

◆ satisfiesPositionBounds() [1/2]

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

Definition at line 392 of file joint_model_group.h.

◆ satisfiesPositionBounds() [2/2]

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

Definition at line 374 of file joint_model_group.cpp.

◆ setDefaultIKTimeout()

void moveit::core::JointModelGroup::setDefaultIKTimeout ( double  ik_timeout)

Set the default IK timeout.

Definition at line 549 of file joint_model_group.cpp.

◆ setEndEffectorName()

void moveit::core::JointModelGroup::setEndEffectorName ( const std::string &  name)

Set the name of the end-effector, and remember this group is indeed an end-effector.

Definition at line 467 of file joint_model_group.cpp.

◆ setEndEffectorParent()

void moveit::core::JointModelGroup::setEndEffectorParent ( const std::string &  group,
const std::string &  link 
)

If this group is an end-effector, specify the parent group (e.g., the arm holding the eef) and the link the end effector connects to.

Definition at line 472 of file joint_model_group.cpp.

◆ setRedundantJoints()

bool moveit::core::JointModelGroup::setRedundantJoints ( const std::vector< std::string > &  joints)
inline

Definition at line 542 of file joint_model_group.h.

◆ setSolverAllocators() [1/2]

void moveit::core::JointModelGroup::setSolverAllocators ( const SolverAllocatorFn solver,
const SolverAllocatorMapFn solver_map = SolverAllocatorMapFn() 
)
inline

Definition at line 522 of file joint_model_group.h.

◆ setSolverAllocators() [2/2]

void moveit::core::JointModelGroup::setSolverAllocators ( const std::pair< SolverAllocatorFn, SolverAllocatorMapFn > &  solvers)

Definition at line 582 of file joint_model_group.cpp.

◆ setSubgroupNames()

void moveit::core::JointModelGroup::setSubgroupNames ( const std::vector< std::string > &  subgroups)

Set the names of the subgroups for this group.

Definition at line 265 of file joint_model_group.cpp.

◆ updateMimicJoints()

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

Update the variable values for the state of a group with respect to the mimic joints. This only updates mimic joints that have the parent in this group. If there is a joint mimicking one that is outside the group, there are no values to be read (values is only the group state)

Definition at line 429 of file joint_model_group.cpp.

Member Data Documentation

◆ active_joint_model_name_vector_

std::vector<std::string> moveit::core::JointModelGroup::active_joint_model_name_vector_
protected

Names of active joints in the order they appear in the group state.

Definition at line 595 of file joint_model_group.h.

◆ active_joint_model_start_index_

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

For each active joint model in this group, hold the index at which the corresponding joint state starts in the group state.

Definition at line 637 of file joint_model_group.h.

◆ active_joint_model_vector_

std::vector<const JointModel*> moveit::core::JointModelGroup::active_joint_model_vector_
protected

Active joint instances in the order they appear in the group state.

Definition at line 592 of file joint_model_group.h.

◆ active_joint_models_bounds_

JointBoundsVector moveit::core::JointModelGroup::active_joint_models_bounds_
protected

The bounds for all the active joint models.

Definition at line 629 of file joint_model_group.h.

◆ attached_end_effector_names_

std::vector<std::string> moveit::core::JointModelGroup::attached_end_effector_names_
protected

If an end-effector is attached to this group, the name of that end-effector is stored in this variable.

Definition at line 701 of file joint_model_group.h.

◆ common_root_

const JointModel* moveit::core::JointModelGroup::common_root_
protected

The joint that is a common root for all joints in this group (not necessarily part of this group)

Definition at line 621 of file joint_model_group.h.

◆ config_

srdf::Model::Group moveit::core::JointModelGroup::config_
protected

Definition at line 730 of file joint_model_group.h.

◆ continuous_joint_model_vector_

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

The set of continuous joints this group contains.

Definition at line 604 of file joint_model_group.h.

◆ default_states_

std::map<std::string, std::map<std::string, double> > moveit::core::JointModelGroup::default_states_
protected

The set of default states specified for this group in the SRDF.

Definition at line 733 of file joint_model_group.h.

◆ default_states_names_

std::vector<std::string> moveit::core::JointModelGroup::default_states_names_
protected

The names of the default states specified for this group in the SRDF.

Definition at line 736 of file joint_model_group.h.

◆ end_effector_name_

std::string moveit::core::JointModelGroup::end_effector_name_
protected

The name of the end effector, if this group is an end-effector.

Definition at line 709 of file joint_model_group.h.

◆ end_effector_parent_

std::pair<std::string, std::string> moveit::core::JointModelGroup::end_effector_parent_
protected

First: name of the group that is parent to this end-effector group; Second: the link this in the parent group that this group attaches to.

Definition at line 706 of file joint_model_group.h.

◆ fixed_joints_

std::vector<const JointModel*> moveit::core::JointModelGroup::fixed_joints_
protected

The joints that have no DOF (fixed)

Definition at line 598 of file joint_model_group.h.

◆ group_kinematics_

std::pair<KinematicsSolver, KinematicsSolverMap> moveit::core::JointModelGroup::group_kinematics_
protected

Definition at line 728 of file joint_model_group.h.

◆ group_mimic_update_

std::vector<GroupMimicUpdate> moveit::core::JointModelGroup::group_mimic_update_
protected

Definition at line 726 of file joint_model_group.h.

◆ is_chain_

bool moveit::core::JointModelGroup::is_chain_
protected

Definition at line 711 of file joint_model_group.h.

◆ is_contiguous_index_list_

bool moveit::core::JointModelGroup::is_contiguous_index_list_
protected

True if the state of this group is contiguous within the full robot state; this also means that the index values in variable_index_list_ are consecutive integers.

Definition at line 692 of file joint_model_group.h.

◆ is_single_dof_

bool moveit::core::JointModelGroup::is_single_dof_
protected

Definition at line 713 of file joint_model_group.h.

◆ joint_model_map_

JointModelMapConst moveit::core::JointModelGroup::joint_model_map_
protected

A map from joint names to their instances. This includes all joints in the group.

Definition at line 615 of file joint_model_group.h.

◆ joint_model_name_vector_

std::vector<std::string> moveit::core::JointModelGroup::joint_model_name_vector_
protected

Names of joints in the order they appear in the group state.

Definition at line 589 of file joint_model_group.h.

◆ joint_model_vector_

std::vector<const JointModel*> moveit::core::JointModelGroup::joint_model_vector_
protected

Joint instances in the order they appear in the group state.

Definition at line 586 of file joint_model_group.h.

◆ joint_roots_

std::vector<const JointModel*> moveit::core::JointModelGroup::joint_roots_
protected

The list of active joint models that are roots in this group.

Definition at line 618 of file joint_model_group.h.

◆ joint_variables_index_map_

VariableIndexMap moveit::core::JointModelGroup::joint_variables_index_map_
protected

The group includes all the joint variables that make up the joints the group 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 626 of file joint_model_group.h.

◆ link_model_map_

LinkModelMapConst moveit::core::JointModelGroup::link_model_map_
protected

A map from link names to their instances.

Definition at line 645 of file joint_model_group.h.

◆ link_model_name_vector_

std::vector<std::string> moveit::core::JointModelGroup::link_model_name_vector_
protected

The names of the links in this group.

Definition at line 648 of file joint_model_group.h.

◆ link_model_vector_

std::vector<const LinkModel*> moveit::core::JointModelGroup::link_model_vector_
protected

The links that are on the direct lineage between joints and joint_roots_, as well as the children of the joint leafs. May not be in any particular order.

Definition at line 642 of file joint_model_group.h.

◆ link_model_with_geometry_name_vector_

std::vector<std::string> moveit::core::JointModelGroup::link_model_with_geometry_name_vector_
protected

The names of the links in this group that also have geometry.

Definition at line 653 of file joint_model_group.h.

◆ link_model_with_geometry_vector_

std::vector<const LinkModel*> moveit::core::JointModelGroup::link_model_with_geometry_vector_
protected

Definition at line 650 of file joint_model_group.h.

◆ mimic_joints_

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

Joints that mimic other joints.

Definition at line 601 of file joint_model_group.h.

◆ name_

std::string moveit::core::JointModelGroup::name_
protected

Name of group.

Definition at line 583 of file joint_model_group.h.

◆ parent_model_

const RobotModel* moveit::core::JointModelGroup::parent_model_
protected

Owner model.

Definition at line 580 of file joint_model_group.h.

◆ subgroup_names_

std::vector<std::string> moveit::core::JointModelGroup::subgroup_names_
protected

The set of labelled subgroups that are included in this group.

Definition at line 695 of file joint_model_group.h.

◆ subgroup_names_set_

std::set<std::string> moveit::core::JointModelGroup::subgroup_names_set_
protected

The set of labelled subgroups that are included in this group.

Definition at line 698 of file joint_model_group.h.

◆ updated_link_model_name_set_

std::set<std::string> moveit::core::JointModelGroup::updated_link_model_name_set_
protected

The list of downstream link names in the order they should be updated (may include links that are not in this group)

Definition at line 669 of file joint_model_group.h.

◆ updated_link_model_name_vector_

std::vector<std::string> moveit::core::JointModelGroup::updated_link_model_name_vector_
protected

The list of downstream link names in the order they should be updated (may include links that are not in this group)

Definition at line 665 of file joint_model_group.h.

◆ updated_link_model_set_

std::set<const LinkModel*> moveit::core::JointModelGroup::updated_link_model_set_
protected

The list of downstream link models in the order they should be updated (may include links that are not in this group)

Definition at line 661 of file joint_model_group.h.

◆ updated_link_model_vector_

std::vector<const LinkModel*> moveit::core::JointModelGroup::updated_link_model_vector_
protected

The list of downstream link models in the order they should be updated (may include links that are not in this group)

Definition at line 657 of file joint_model_group.h.

◆ updated_link_model_with_geometry_name_set_

std::set<std::string> moveit::core::JointModelGroup::updated_link_model_with_geometry_name_set_
protected

The list of downstream link names in the order they should be updated (may include links that are not in this group)

Definition at line 685 of file joint_model_group.h.

◆ updated_link_model_with_geometry_name_vector_

std::vector<std::string> moveit::core::JointModelGroup::updated_link_model_with_geometry_name_vector_
protected

The list of downstream link names in the order they should be updated (may include links that are not in this group)

Definition at line 681 of file joint_model_group.h.

◆ updated_link_model_with_geometry_set_

std::set<const LinkModel*> moveit::core::JointModelGroup::updated_link_model_with_geometry_set_
protected

The list of downstream link models in the order they should be updated (may include links that are not in this group)

Definition at line 677 of file joint_model_group.h.

◆ updated_link_model_with_geometry_vector_

std::vector<const LinkModel*> moveit::core::JointModelGroup::updated_link_model_with_geometry_vector_
protected

The list of downstream link models in the order they should be updated (may include links that are not in this group)

Definition at line 673 of file joint_model_group.h.

◆ variable_count_

unsigned int moveit::core::JointModelGroup::variable_count_
protected

The number of variables necessary to describe this group of joints.

Definition at line 688 of file joint_model_group.h.

◆ variable_index_list_

std::vector<int> moveit::core::JointModelGroup::variable_index_list_
protected

The list of index values this group includes, with respect to a full robot state; this includes mimic joints.

Definition at line 633 of file joint_model_group.h.

◆ variable_names_

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

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

Definition at line 608 of file joint_model_group.h.

◆ variable_names_set_

std::set<std::string> moveit::core::JointModelGroup::variable_names_set_
protected

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

Definition at line 612 of file joint_model_group.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Mar 11 2019 02:56:08