A link from the robot. Contains the constant transform applied to the link and its geometry. More...

#include <link_model.h>

Public Member Functions
void	addAssociatedFixedTransform (const LinkModel *link_model, const Eigen::Affine3d &transform)
	Remember that link_model is attached to this link using a fixed transform.
void	addChildJointModel (const JointModel *joint)
const std::vector< int > &	areCollisionOriginTransformsIdentity () const
	Return flags for each transform specifying whether they are identity or not.
const LinkTransformMap &	getAssociatedFixedTransforms () const
	Get the set of links that are attached to this one via fixed transforms.
const Eigen::Vector3d	getCenteredBoundingBoxOffset () const
	Get the offset of the center of the bounding box of this link when the link is positioned at origin.
const std::vector< const JointModel * > &	getChildJointModels () const
	A link may have 0 or more child joints. From those joints there will certainly be other descendant links.
const EigenSTL::vector_Affine3d &	getCollisionOriginTransforms () const
	In addition to the link transform, the geometry of a link that is used for collision checking may have a different offset itself, with respect to the origin.
int	getFirstCollisionBodyTransformIndex () const
const Eigen::Affine3d &	getJointOriginTransform () const
	When transforms are computed for this link, they are usually applied to the link's origin. The joint origin transform acts as an offset -- it is pre-applied before any other transform.
int	getLinkIndex () const
	The index of this joint when traversing the kinematic tree in depth first fashion.
const std::string &	getName () const
	The name of this link.
const JointModel *	getParentJointModel () const
	Get the joint model whose child this link is. There will always be a parent joint.
const LinkModel *	getParentLinkModel () const
	Get the link model whose child this link is (through some joint). There may not always be a parent link (NULL is returned for the root link)
const Eigen::Vector3d &	getShapeExtentsAtOrigin () const
	Get the extents of the link's geometry (dimensions of axis-aligned bounding box around all shapes that make up the link, when the link is positioned at origin -- only collision origin transforms are considered)
const std::vector < shapes::ShapeConstPtr > &	getShapes () const
	Get shape associated to the collision geometry for this link.
const std::string &	getVisualMeshFilename () const
	Get the filename of the mesh resource used for visual display of this link.
const Eigen::Affine3d &	getVisualMeshOrigin () const
	Get the transform for the visual mesh origin.
const Eigen::Vector3d &	getVisualMeshScale () const
	Get the scale of the mesh resource for this link.
bool	jointOriginTransformIsIdentity () const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	LinkModel (const std::string &name)
bool	parentJointIsFixed () const
void	setFirstCollisionBodyTransformIndex (int index)
void	setGeometry (const std::vector< shapes::ShapeConstPtr > &shapes, const EigenSTL::vector_Affine3d &origins)
void	setJointOriginTransform (const Eigen::Affine3d &transform)
void	setLinkIndex (int index)
void	setParentJointModel (const JointModel *joint)
void	setParentLinkModel (const LinkModel *link)
void	setVisualMesh (const std::string &visual_mesh, const Eigen::Affine3d &origin, const Eigen::Vector3d &scale)
	~LinkModel ()
Private Attributes
LinkTransformMap	associated_fixed_transforms_
	The set of links that are attached to this one via fixed transforms.
std::vector< const JointModel * >	child_joint_models_
	List of directly descending joints (each connects to a child link)
EigenSTL::vector_Affine3d	collision_origin_transform_
	The constant transform applied to the collision geometry of the link (local)
std::vector< int >	collision_origin_transform_is_identity_
	Flag indicating if the constant transform applied to the collision geometry of the link (local) is identity; use int instead of bool to avoid bit operations.
int	first_collision_body_transform_index_
	Index of the transform for the first shape that makes up the geometry of this link in the full robot state.
bool	is_parent_joint_fixed_
	True if the parent joint of this link is fixed.
Eigen::Affine3d	joint_origin_transform_
	The constant transform applied to the link (local)
bool	joint_origin_transform_is_identity_
	True of the joint origin transform is identity.
int	link_index_
	Index of the transform for this link in the full robot frame.
std::string	name_
	Name of the link.
const JointModel *	parent_joint_model_
	JointModel that connects this link to the parent link.
const LinkModel *	parent_link_model_
	The parent link model (NULL for the root link)
Eigen::Vector3d	shape_extents_
	The extents of shape (dimensions of axis aligned bounding box when shape is at origin).
std::vector < shapes::ShapeConstPtr >	shapes_
	The collision geometry of the link.
std::string	visual_mesh_filename_
	Filename associated with the visual geometry mesh of this link. If empty, no mesh was used.
Eigen::Affine3d	visual_mesh_origin_
	The additional origin transform for the mesh.
Eigen::Vector3d	visual_mesh_scale_
	Scale factor associated with the visual geometry mesh of this link.

Detailed Description

A link from the robot. Contains the constant transform applied to the link and its geometry.

Definition at line 67 of file link_model.h.

Constructor & Destructor Documentation

moveit::core::LinkModel::LinkModel ( const std::string & name )

Definition at line 54 of file link_model.cpp.

moveit::core::LinkModel::~LinkModel ( )

Definition at line 67 of file link_model.cpp.

Member Function Documentation

void moveit::core::LinkModel::addAssociatedFixedTransform	(	const LinkModel *	link_model,
		const Eigen::Affine3d &	transform
	)		`[inline]`

Remember that link_model is attached to this link using a fixed transform.

Definition at line 194 of file link_model.h.

void moveit::core::LinkModel::addChildJointModel ( const JointModel * joint ) [inline]

Definition at line 128 of file link_model.h.

const std::vector<int>& moveit::core::LinkModel::areCollisionOriginTransformsIdentity ( ) const [inline]

Return flags for each transform specifying whether they are identity or not.

Definition at line 163 of file link_model.h.

const LinkTransformMap& moveit::core::LinkModel::getAssociatedFixedTransforms ( ) const [inline]

Get the set of links that are attached to this one via fixed transforms.

Definition at line 188 of file link_model.h.

const Eigen::Vector3d moveit::core::LinkModel::getCenteredBoundingBoxOffset ( ) const

Get the offset of the center of the bounding box of this link when the link is positioned at origin.

Definition at line 139 of file link_model.cpp.

const std::vector<const JointModel*>& moveit::core::LinkModel::getChildJointModels ( ) const [inline]

A link may have 0 or more child joints. From those joints there will certainly be other descendant links.

Definition at line 123 of file link_model.h.

const EigenSTL::vector_Affine3d& moveit::core::LinkModel::getCollisionOriginTransforms ( ) const [inline]

In addition to the link transform, the geometry of a link that is used for collision checking may have a different offset itself, with respect to the origin.

Definition at line 157 of file link_model.h.

int moveit::core::LinkModel::getFirstCollisionBodyTransformIndex ( ) const [inline]

Definition at line 92 of file link_model.h.

const Eigen::Affine3d& moveit::core::LinkModel::getJointOriginTransform ( ) const [inline]

When transforms are computed for this link, they are usually applied to the link's origin. The joint origin transform acts as an offset -- it is pre-applied before any other transform.

Definition at line 137 of file link_model.h.

int moveit::core::LinkModel::getLinkIndex ( ) const [inline]

The index of this joint when traversing the kinematic tree in depth first fashion.

Definition at line 82 of file link_model.h.

const std::string& moveit::core::LinkModel::getName ( ) const [inline]

The name of this link.

Definition at line 76 of file link_model.h.

const JointModel* moveit::core::LinkModel::getParentJointModel ( ) const [inline]

Get the joint model whose child this link is. There will always be a parent joint.

Definition at line 103 of file link_model.h.

const LinkModel* moveit::core::LinkModel::getParentLinkModel ( ) const [inline]

Get the link model whose child this link is (through some joint). There may not always be a parent link (NULL is returned for the root link)

Definition at line 112 of file link_model.h.

const Eigen::Vector3d& moveit::core::LinkModel::getShapeExtentsAtOrigin ( ) const [inline]

Get the extents of the link's geometry (dimensions of axis-aligned bounding box around all shapes that make up the link, when the link is positioned at origin -- only collision origin transforms are considered)

Definition at line 179 of file link_model.h.

const std::vector<shapes::ShapeConstPtr>& moveit::core::LinkModel::getShapes ( ) const [inline]

Get shape associated to the collision geometry for this link.

Definition at line 169 of file link_model.h.

const std::string& moveit::core::LinkModel::getVisualMeshFilename ( ) const [inline]

Get the filename of the mesh resource used for visual display of this link.

Definition at line 200 of file link_model.h.

const Eigen::Affine3d& moveit::core::LinkModel::getVisualMeshOrigin ( ) const [inline]

Get the transform for the visual mesh origin.

Definition at line 212 of file link_model.h.

const Eigen::Vector3d& moveit::core::LinkModel::getVisualMeshScale ( ) const [inline]

Get the scale of the mesh resource for this link.

Definition at line 206 of file link_model.h.

bool moveit::core::LinkModel::jointOriginTransformIsIdentity ( ) const [inline]

Definition at line 142 of file link_model.h.

bool moveit::core::LinkModel::parentJointIsFixed ( ) const [inline]

Definition at line 147 of file link_model.h.

void moveit::core::LinkModel::setFirstCollisionBodyTransformIndex ( int index ) [inline]

Definition at line 97 of file link_model.h.

void moveit::core::LinkModel::setGeometry	(	const std::vector< shapes::ShapeConstPtr > &	shapes,
		const EigenSTL::vector_Affine3d &	origins
	)

Definition at line 86 of file link_model.cpp.

void moveit::core::LinkModel::setJointOriginTransform ( const Eigen::Affine3d & transform )

Definition at line 72 of file link_model.cpp.

void moveit::core::LinkModel::setLinkIndex ( int index ) [inline]

Definition at line 87 of file link_model.h.

void moveit::core::LinkModel::setParentJointModel ( const JointModel * joint )

Definition at line 80 of file link_model.cpp.

void moveit::core::LinkModel::setParentLinkModel ( const LinkModel * link ) [inline]

Definition at line 117 of file link_model.h.

void moveit::core::LinkModel::setVisualMesh	(	const std::string &	visual_mesh,
		const Eigen::Affine3d &	origin,
		const Eigen::Vector3d &	scale
	)

Definition at line 131 of file link_model.cpp.

Member Data Documentation

LinkTransformMap moveit::core::LinkModel::associated_fixed_transforms_ [private]

The set of links that are attached to this one via fixed transforms.

Definition at line 249 of file link_model.h.

std::vector<const JointModel*> moveit::core::LinkModel::child_joint_models_ [private]

List of directly descending joints (each connects to a child link)

Definition at line 230 of file link_model.h.

EigenSTL::vector_Affine3d moveit::core::LinkModel::collision_origin_transform_ [private]

The constant transform applied to the collision geometry of the link (local)

Definition at line 242 of file link_model.h.

std::vector<int> moveit::core::LinkModel::collision_origin_transform_is_identity_ [private]

Flag indicating if the constant transform applied to the collision geometry of the link (local) is identity; use int instead of bool to avoid bit operations.

Definition at line 246 of file link_model.h.

int moveit::core::LinkModel::first_collision_body_transform_index_ [private]

Index of the transform for the first shape that makes up the geometry of this link in the full robot state.

Definition at line 268 of file link_model.h.

bool moveit::core::LinkModel::is_parent_joint_fixed_ [private]

True if the parent joint of this link is fixed.

Definition at line 233 of file link_model.h.

Eigen::Affine3d moveit::core::LinkModel::joint_origin_transform_ [private]

The constant transform applied to the link (local)

Definition at line 239 of file link_model.h.

bool moveit::core::LinkModel::joint_origin_transform_is_identity_ [private]

True of the joint origin transform is identity.