Class Motion

Defined in File motion_model.hpp

Class Documentation

class Motion

The Motion class represents a complex motion of the robot, encoded as a sequence of Keyframes at specific times

Public Functions

Motion(const rclcpp::Logger &logger, const std::string &robot_description, const std::string &robot_description_semantic, const std::vector<std::string> &extra_joints)

Motion(const rclcpp::Logger &logger, const play_motion2_msgs::msg::Motion &motion_cfg, const std::string &robot_description, const std::string &robot_description_semantic, const std::vector<std::string> &extra_joints)

void setMotionGroups(const std::string &robot_description, const std::string &robot_description_semantic)

void setParamName()

void addKeyFrame(const sensor_msgs::msg::JointState &msg, float time_increment = DEFAULT_TIME)

KeyFrame &getKeyFrame(const int frame)

void updateKeyFrame(const sensor_msgs::msg::JointState &msg, int frame)

void addJointModel(const std::string &joint_name, const JointModel &joint_model)

void changeTime(int frame, float time_increment)

double changeJoint(int frame, const std::string &joint_name, double position)

void removeKeyFrame(int frame)

void copyFrame(int frame, int new_frame_pos = -1)

void loadFrame(int frame) const

void loadYAML(double downshift) const

void extendFrames(const sensor_msgs::msg::JointState &msg)

PrintMotion print(double downshift = 1.0) const

PrintMotion print(const std::string &name, const std::string &usage, const std::string &description, double downshift = 1.0) const

void removeAllKeyFrames()

void addJointToGroup(const std::string &group, const std::string &joint)

bool addGroupToGroup(const std::string &group, const std::string &subgroup)

inline const std::string &getParamName() const

inline bool jointsLoaded()

inline const KeyFrame &getLastKeyFrame() const

inline const KeyFrame &getKeyFrame(int i) const

inline std::vector<std::string> getJoints() const

inline std::size_t size() const

inline const std::vector<KeyFrame> getKeyframes() const

inline const std::string &getCurrentGroup()

inline void addJointPositionToNanJointKeyframes(const sensor_msgs::msg::JointState &joint_state_msg, const std::string &joint_name)

inline bool setCurrentGroup(const std::string &group, const sensor_msgs::msg::JointState &joint_state_msg)

inline bool isJointUsed(const std::string &joint_name) const

inline bool setExtraJointUsedState(const std::string &name, bool used, const sensor_msgs::msg::JointState &joint_state_msg = sensor_msgs::msg::JointState())

inline std::vector<std::string> getJointGroups()

inline std::vector<std::string> getExtraJoints()

inline std::vector<std::string> getAvailableJoints()

Public Static Attributes

static const float DEFAULT_TIME