#include <joint_model_group.h>
Classes | |
struct | GroupMimicUpdate |
struct | KinematicsSolver |
Public Types | |
typedef std::map< const JointModelGroup *, KinematicsSolver > | KinematicsSolverMap |
Map from group instances to allocator functions & bijections. | |
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. | |
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(). | |
const std::vector< const JointModel * > & | getActiveJointModels () const |
Get the active joints in this group (that have controllable DOF). This does not include mimic joints. | |
const JointBoundsVector & | getActiveJointModelsBounds () const |
Get the bounds for all the active joints. | |
const std::vector< std::string > & | getAttachedEndEffectorNames () const |
Get the names of the end effectors attached to this group. | |
const JointModel * | getCommonRoot () const |
Get the common root of all joint roots; not necessarily part of this group. | |
const srdf::Model::Group & | getConfig () const |
get the SRDF configuration this group is based on | |
const std::vector< const JointModel * > & | getContinuousJointModels () const |
Get the array of continuous joints used in this group (may include mimic joints). | |
unsigned int | getDefaultIKAttempts () const |
Get the default IK attempts. | |
double | getDefaultIKTimeout () const |
Get the default IK timeout. | |
const std::vector< std::string > & | getDefaultStateNames () const |
Get the names of the known default states (as specified in the SRDF) | |
const std::string & | getEndEffectorName () const |
Return the name of the end effector, if this group is an end-effector. | |
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) | |
bool | getEndEffectorTips (std::vector< const LinkModel * > &tips) const |
Get a vector of end effector tips included in a particular joint model group as defined by the SRDF end effector semantic e.g. for a humanoid robot this would return 4 tips for the hands and feet. | |
bool | getEndEffectorTips (std::vector< std::string > &tips) const |
Get a vector of end effector tips included in a particular joint model group as defined by the SRDF end effector semantic e.g. for a humanoid robot this would return 4 tips for the hands and feet. | |
const std::vector< const JointModel * > & | getFixedJointModels () const |
Get the fixed joints that are part of this group. | |
const std::pair < KinematicsSolver, KinematicsSolverMap > & | getGroupKinematics () const |
const JointModel * | getJointModel (const std::string &joint) const |
Get a joint by its name. Throw an exception if the joint is not part of this group. | |
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(). | |
const std::vector< const JointModel * > & | getJointModels () const |
Get all the joints in this group (including fixed and mimic joints). | |
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. | |
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. | |
const LinkModel * | getLinkModel (const std::string &link) const |
Get a joint by its name. Throw an exception if the joint is not part of this group. | |
const std::vector< std::string > & | getLinkModelNames () const |
Get the names of the links that are part of this joint group. | |
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. | |
const std::vector< const LinkModel * > & | getLinkModels () const |
Get the links that are part of this joint group. | |
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. | |
const std::string & | getName () const |
Get the name of the joint group. | |
const RobotModel & | getParentModel () const |
Get the kinematic model this group is part of. | |
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) | |
void | getSubgroups (std::vector< const JointModelGroup * > &sub_groups) const |
Get the groups that are subsets of this one (in terms of joints set) | |
const std::vector< std::string > & | getUpdatedLinkModelNames () const |
Get the names of the links returned by getUpdatedLinkModels() | |
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. | |
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. | |
const std::vector< std::string > & | getUpdatedLinkModelsWithGeometryNames () const |
Get the names of the links returned by getUpdatedLinkModels() | |
const std::set< std::string > & | getUpdatedLinkModelsWithGeometryNamesSet () const |
Get the names of the links returned by getUpdatedLinkModels() | |
const std::set< const LinkModel * > & | getUpdatedLinkModelsWithGeometrySet () const |
Return the same data as getUpdatedLinkModelsWithGeometry() but as a set. | |
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() | |
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. | |
void | getVariableDefaultPositions (std::map< std::string, double > &values) const |
Compute the default values for the joint group. | |
void | getVariableDefaultPositions (std::vector< double > &values) const |
Compute the default values for the joint group. | |
void | getVariableDefaultPositions (double *values) const |
Compute the default values for the joint group. | |
int | getVariableGroupIndex (const std::string &variable) const |
Get the index of a variable within the group. Return -1 on error. | |
const std::vector< int > & | getVariableIndexList () const |
Get the index locations in the complete robot state for all the variables in this group. | |
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. | |
void | getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values) const |
Compute random values for the state of the joint group. | |
void | getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values) const |
Compute random values for the state of the joint group. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
bool | hasJointModel (const std::string &joint) const |
Check if a joint is part of this group. | |
bool | hasLinkModel (const std::string &link) const |
Check if a link is part of this group. | |
void | interpolate (const double *from, const double *to, double t, double *state) const |
bool | isChain () const |
Check if this group is a linear chain. | |
bool | isContiguousWithinState () const |
bool | isEndEffector () const |
Check if this group was designated as an end-effector in the SRDF. | |
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. | |
bool | isSingleDOFJoints () const |
Return true if the group consists only of joints that are single DOF. | |
bool | isSubgroup (const std::string &group) const |
Check if the joints of group group are a subset of the joints in this group. | |
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. | |
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 | setDefaultIKAttempts (unsigned int ik_attempts) |
Set the default IK attempts. | |
void | setDefaultIKTimeout (double ik_timeout) |
Set the default IK timeout. | |
void | setEndEffectorName (const std::string &name) |
Set the name of the end-effector, and remember this group is indeed an end-effector. | |
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. | |
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. | |
~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) | |
Protected Attributes | |
std::vector< std::string > | active_joint_model_name_vector_ |
Names of active joints in the order they appear in the group state. | |
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. | |
std::vector< const JointModel * > | active_joint_model_vector_ |
Active joint instances in the order they appear in the group state. | |
JointBoundsVector | active_joint_models_bounds_ |
The bounds for all the active joint models. | |
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. | |
const JointModel * | common_root_ |
The joint that is a common root for all joints in this group (not necessarily part of this group) | |
srdf::Model::Group | config_ |
std::vector< const JointModel * > | continuous_joint_model_vector_ |
The set of continuous joints this group contains. | |
std::map< std::string, std::map< std::string, double > > | default_states_ |
The set of default states specified for this group in the SRDF. | |
std::vector< std::string > | default_states_names_ |
The names of the default states specified for this group in the SRDF. | |
std::string | end_effector_name_ |
The name of the end effector, if this group is an end-effector. | |
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. | |
std::vector< const JointModel * > | fixed_joints_ |
The joints that have no DOF (fixed) | |
std::pair< KinematicsSolver, KinematicsSolverMap > | group_kinematics_ |
std::vector< GroupMimicUpdate > | group_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. | |
bool | is_single_dof_ |
JointModelMapConst | joint_model_map_ |
A map from joint names to their instances. This includes all joints in the group. | |
std::vector< std::string > | joint_model_name_vector_ |
Names of joints in the order they appear in the group state. | |
std::vector< const JointModel * > | joint_model_vector_ |
Joint instances in the order they appear in the group state. | |
std::vector< const JointModel * > | joint_roots_ |
The list of active joint models that are roots in this group. | |
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. | |
LinkModelMapConst | link_model_map_ |
A map from link names to their instances. | |
std::vector< std::string > | link_model_name_vector_ |
The names of the links in this group. | |
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. | |
std::vector< std::string > | link_model_with_geometry_name_vector_ |
The names of the links in this group that also have geometry. | |
std::vector< const LinkModel * > | link_model_with_geometry_vector_ |
std::vector< const JointModel * > | mimic_joints_ |
Joints that mimic other joints. | |
std::string | name_ |
Name of group. | |
const RobotModel * | parent_model_ |
Owner model. | |
std::vector< std::string > | subgroup_names_ |
The set of labelled subgroups that are included in this group. | |
std::set< std::string > | subgroup_names_set_ |
The set of labelled subgroups that are included in this group. | |
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) | |
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) | |
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) | |
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) | |
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) | |
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) | |
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) | |
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) | |
unsigned int | variable_count_ |
The number of variables necessary to describe this group of joints. | |
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. | |
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!) | |
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!) |
Definition at line 72 of file joint_model_group.h.
typedef std::map<const JointModelGroup*, KinematicsSolver> moveit::core::JointModelGroup::KinematicsSolverMap |
Map from group instances to allocator functions & bijections.
Definition at line 115 of file joint_model_group.h.
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 106 of file joint_model_group.cpp.
Definition at line 269 of file joint_model_group.cpp.
void moveit::core::JointModelGroup::addDefaultState | ( | const std::string & | name, |
const std::map< std::string, double > & | default_state | ||
) |
Definition at line 431 of file joint_model_group.cpp.
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 472 of file joint_model_group.cpp.
bool moveit::core::JointModelGroup::canSetStateFromIK | ( | const std::string & | tip | ) | const |
Definition at line 599 of file joint_model_group.cpp.
bool moveit::core::JointModelGroup::computeIKIndexBijection | ( | const std::vector< std::string > & | ik_jnames, |
std::vector< unsigned int > & | joint_bijection | ||
) | const [protected] |
Definition at line 544 of file joint_model_group.cpp.
double moveit::core::JointModelGroup::distance | ( | const double * | state1, |
const double * | state2 | ||
) | const |
Definition at line 404 of file joint_model_group.cpp.
bool moveit::core::JointModelGroup::enforcePositionBounds | ( | double * | state | ) | const [inline] |
Definition at line 375 of file joint_model_group.h.
bool moveit::core::JointModelGroup::enforcePositionBounds | ( | double * | state, |
const JointBoundsVector & | active_joint_bounds | ||
) | const |
Definition at line 384 of file joint_model_group.cpp.
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 171 of file joint_model_group.h.
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 165 of file joint_model_group.h.
const JointBoundsVector& moveit::core::JointModelGroup::getActiveJointModelsBounds | ( | ) | const [inline] |
Get the bounds for all the active joints.
Definition at line 488 of file joint_model_group.h.
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 466 of file joint_model_group.h.
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 214 of file joint_model_group.h.
const srdf::Model::Group& moveit::core::JointModelGroup::getConfig | ( | ) | const [inline] |
get the SRDF configuration this group is based on
Definition at line 135 of file joint_model_group.h.
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 189 of file joint_model_group.h.
unsigned int moveit::core::JointModelGroup::getDefaultIKAttempts | ( | ) | const [inline] |
Get the default IK attempts.
Definition at line 534 of file joint_model_group.h.
double moveit::core::JointModelGroup::getDefaultIKTimeout | ( | ) | const [inline] |
Get the default IK timeout.
Definition at line 525 of file joint_model_group.h.
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.
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 445 of file joint_model_group.h.
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 460 of file joint_model_group.h.
bool moveit::core::JointModelGroup::getEndEffectorTips | ( | std::vector< const LinkModel * > & | tips | ) | const |
Get a vector of end effector tips included in a particular joint model group as defined by the SRDF end effector semantic e.g. for a humanoid robot this would return 4 tips for the hands and feet.
tips | - the output vector of link models of the tips |
Definition at line 493 of file joint_model_group.cpp.
bool moveit::core::JointModelGroup::getEndEffectorTips | ( | std::vector< std::string > & | tips | ) | const |
Get a vector of end effector tips included in a particular joint model group as defined by the SRDF end effector semantic e.g. for a humanoid robot this would return 4 tips for the hands and feet.
tips | - the output vector of link names of the tips |
Definition at line 477 of file joint_model_group.cpp.
const std::vector<const JointModel*>& moveit::core::JointModelGroup::getFixedJointModels | ( | ) | const [inline] |
Get the fixed joints that are part of this group.
Definition at line 177 of file joint_model_group.h.
const std::pair<KinematicsSolver, KinematicsSolverMap>& moveit::core::JointModelGroup::getGroupKinematics | ( | ) | const [inline] |
Definition at line 493 of file joint_model_group.h.
const moveit::core::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 309 of file joint_model_group.cpp.
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 159 of file joint_model_group.h.
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 153 of file joint_model_group.h.
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 208 of file joint_model_group.h.
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 545 of file joint_model_group.h.
const moveit::core::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 298 of file joint_model_group.cpp.
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 226 of file joint_model_group.h.
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 232 of file joint_model_group.h.
const std::vector<const LinkModel*>& moveit::core::JointModelGroup::getLinkModels | ( | ) | const [inline] |
Get the links that are part of this joint group.
Definition at line 220 of file joint_model_group.h.
double moveit::core::JointModelGroup::getMaximumExtent | ( | ) | const [inline] |
Definition at line 387 of file joint_model_group.h.
double moveit::core::JointModelGroup::getMaximumExtent | ( | const JointBoundsVector & | active_joint_bounds | ) | const |
Definition at line 396 of file joint_model_group.cpp.
const std::vector<const JointModel*>& moveit::core::JointModelGroup::getMimicJointModels | ( | ) | const [inline] |
Get the mimic joints that are part of this group.
Definition at line 183 of file joint_model_group.h.
const std::string& moveit::core::JointModelGroup::getName | ( | ) | const [inline] |
Get the name of the joint group.
Definition at line 129 of file joint_model_group.h.
const RobotModel& moveit::core::JointModelGroup::getParentModel | ( | ) | const [inline] |
Get the kinematic model this group is part of.
Definition at line 123 of file joint_model_group.h.
const kinematics::KinematicsBaseConstPtr& moveit::core::JointModelGroup::getSolverInstance | ( | ) | const [inline] |
Definition at line 505 of file joint_model_group.h.
const kinematics::KinematicsBasePtr& moveit::core::JointModelGroup::getSolverInstance | ( | ) | [inline] |
Definition at line 510 of file joint_model_group.h.
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 407 of file joint_model_group.h.
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 281 of file joint_model_group.cpp.
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.
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 240 of file joint_model_group.h.
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.
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.
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.
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.
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 398 of file joint_model_group.h.
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 437 of file joint_model_group.cpp.
void moveit::core::JointModelGroup::getVariableDefaultPositions | ( | std::map< std::string, double > & | values | ) | const |
Compute the default values for the joint group.
Definition at line 453 of file joint_model_group.cpp.
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.
void moveit::core::JointModelGroup::getVariableDefaultPositions | ( | double * | values | ) | const |
Compute the default values for the joint group.
Definition at line 446 of file joint_model_group.cpp.
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 517 of file joint_model_group.cpp.
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.
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 196 of file joint_model_group.h.
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.
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.
void moveit::core::JointModelGroup::getVariableRandomPositions | ( | random_numbers::RandomNumberGenerator & | rng, |
double * | values, | ||
const JointBoundsVector & | active_joint_bounds | ||
) | const |
Definition at line 320 of file joint_model_group.cpp.
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.
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.
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.
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 354 of file joint_model_group.h.
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 330 of file joint_model_group.cpp.
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 341 of file joint_model_group.cpp.
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 360 of file joint_model_group.cpp.
bool moveit::core::JointModelGroup::hasJointModel | ( | const std::string & | joint | ) | const |
Check if a joint is part of this group.
Definition at line 288 of file joint_model_group.cpp.
bool moveit::core::JointModelGroup::hasLinkModel | ( | const std::string & | link | ) | const |
Check if a link is part of this group.
Definition at line 293 of file joint_model_group.cpp.
void moveit::core::JointModelGroup::interpolate | ( | const double * | from, |
const double * | to, | ||
double | t, | ||
double * | state | ||
) | const |
Definition at line 413 of file joint_model_group.cpp.
bool moveit::core::JointModelGroup::isChain | ( | ) | const [inline] |
Check if this group is a linear chain.
Definition at line 422 of file joint_model_group.h.
bool moveit::core::JointModelGroup::isContiguousWithinState | ( | ) | const [inline] |
Definition at line 439 of file joint_model_group.h.
bool moveit::core::JointModelGroup::isEndEffector | ( | ) | const [inline] |
Check if this group was designated as an end-effector in the SRDF.
Definition at line 434 of file joint_model_group.h.
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.
bool moveit::core::JointModelGroup::isSingleDOFJoints | ( | ) | const [inline] |
Return true if the group consists only of joints that are single DOF.
Definition at line 428 of file joint_model_group.h.
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 416 of file joint_model_group.h.
void moveit::core::JointModelGroup::printGroupInfo | ( | std::ostream & | out = std::cout | ) | const |
Print information about the constructed model.
Definition at line 645 of file joint_model_group.cpp.
bool moveit::core::JointModelGroup::satisfiesPositionBounds | ( | const double * | state, |
double | margin = 0.0 |
||
) | const [inline] |
Definition at line 381 of file joint_model_group.h.
bool moveit::core::JointModelGroup::satisfiesPositionBounds | ( | const double * | state, |
const JointBoundsVector & | active_joint_bounds, | ||
double | margin = 0.0 |
||
) | const |
Definition at line 375 of file joint_model_group.cpp.
void moveit::core::JointModelGroup::setDefaultIKAttempts | ( | unsigned int | ik_attempts | ) |
Set the default IK attempts.
Definition at line 537 of file joint_model_group.cpp.
void moveit::core::JointModelGroup::setDefaultIKTimeout | ( | double | ik_timeout | ) |
Set the default IK timeout.
Definition at line 528 of file joint_model_group.cpp.
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 461 of file joint_model_group.cpp.
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 466 of file joint_model_group.cpp.
bool moveit::core::JointModelGroup::setRedundantJoints | ( | const std::vector< std::string > & | joints | ) | [inline] |
Definition at line 517 of file joint_model_group.h.
void moveit::core::JointModelGroup::setSolverAllocators | ( | const SolverAllocatorFn & | solver, |
const SolverAllocatorMapFn & | solver_map = SolverAllocatorMapFn() |
||
) | [inline] |
Definition at line 498 of file joint_model_group.h.
void moveit::core::JointModelGroup::setSolverAllocators | ( | const std::pair< SolverAllocatorFn, SolverAllocatorMapFn > & | solvers | ) |
Definition at line 565 of file joint_model_group.cpp.
void moveit::core::JointModelGroup::setSubgroupNames | ( | const std::vector< std::string > & | subgroups | ) |
Set the names of the subgroups for this group.
Definition at line 273 of file joint_model_group.cpp.
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 424 of file joint_model_group.cpp.
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 576 of file joint_model_group.h.
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 614 of file joint_model_group.h.
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 573 of file joint_model_group.h.
The bounds for all the active joint models.
Definition at line 608 of file joint_model_group.h.
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 670 of file joint_model_group.h.
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 600 of file joint_model_group.h.
srdf::Model::Group moveit::core::JointModelGroup::config_ [protected] |
Definition at line 697 of file joint_model_group.h.
std::vector<const JointModel*> moveit::core::JointModelGroup::continuous_joint_model_vector_ [protected] |
The set of continuous joints this group contains.
Definition at line 585 of file joint_model_group.h.
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 700 of file joint_model_group.h.
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 703 of file joint_model_group.h.
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 676 of file joint_model_group.h.
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 673 of file joint_model_group.h.
std::vector<const JointModel*> moveit::core::JointModelGroup::fixed_joints_ [protected] |
The joints that have no DOF (fixed)
Definition at line 579 of file joint_model_group.h.
std::pair<KinematicsSolver, KinematicsSolverMap> moveit::core::JointModelGroup::group_kinematics_ [protected] |
Definition at line 695 of file joint_model_group.h.
std::vector<GroupMimicUpdate> moveit::core::JointModelGroup::group_mimic_update_ [protected] |
Definition at line 693 of file joint_model_group.h.
bool moveit::core::JointModelGroup::is_chain_ [protected] |
Definition at line 678 of file joint_model_group.h.
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 661 of file joint_model_group.h.
bool moveit::core::JointModelGroup::is_single_dof_ [protected] |
Definition at line 680 of file joint_model_group.h.
A map from joint names to their instances. This includes all joints in the group.
Definition at line 594 of file joint_model_group.h.
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 570 of file joint_model_group.h.
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 567 of file joint_model_group.h.
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 597 of file joint_model_group.h.
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 605 of file joint_model_group.h.
A map from link names to their instances.
Definition at line 622 of file joint_model_group.h.
std::vector<std::string> moveit::core::JointModelGroup::link_model_name_vector_ [protected] |
The names of the links in this group.
Definition at line 625 of file joint_model_group.h.
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 619 of file joint_model_group.h.
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 630 of file joint_model_group.h.
std::vector<const LinkModel*> moveit::core::JointModelGroup::link_model_with_geometry_vector_ [protected] |
Definition at line 627 of file joint_model_group.h.
std::vector<const JointModel*> moveit::core::JointModelGroup::mimic_joints_ [protected] |
Joints that mimic other joints.
Definition at line 582 of file joint_model_group.h.
std::string moveit::core::JointModelGroup::name_ [protected] |
Name of group.
Definition at line 564 of file joint_model_group.h.
const RobotModel* moveit::core::JointModelGroup::parent_model_ [protected] |
Owner model.
Definition at line 561 of file joint_model_group.h.
std::vector<std::string> moveit::core::JointModelGroup::subgroup_names_ [protected] |
The set of labelled subgroups that are included in this group.
Definition at line 664 of file joint_model_group.h.
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 667 of file joint_model_group.h.
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 642 of file joint_model_group.h.
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 639 of file joint_model_group.h.
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 636 of file joint_model_group.h.
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 633 of file joint_model_group.h.
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 654 of file joint_model_group.h.
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 651 of file joint_model_group.h.
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 648 of file joint_model_group.h.
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 645 of file joint_model_group.h.
unsigned int moveit::core::JointModelGroup::variable_count_ [protected] |
The number of variables necessary to describe this group of joints.
Definition at line 657 of file joint_model_group.h.
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 611 of file joint_model_group.h.
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 588 of file joint_model_group.h.
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 591 of file joint_model_group.h.