#include <motion_model.h>

Public Member Functions
bool	addGroupToGroup (const std::string &group, const std::string &subgroup)

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

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

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

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

void	changeTime (int frame, float time_increment)

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

void	extendFrames (const sensor_msgs::JointStateConstPtr &msg)

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

const std::string &	getCurrentGroup ()

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

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

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

const KeyFrame &	getKeyFrame (int i) const

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

const KeyFrame &	getLastKeyFrame () const

const std::string &	getParamName () const

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

bool	jointsLoaded ()

void	loadFrame (int frame) const

void	loadYAML (double downshift) const

	Motion (const std::string &robot_description, const std::string &robot_description_semantic, const std::vector< std::string > &extra_joints)

	Motion (XmlRpc::XmlRpcValue &param, const std::string &robot_description, const std::string &robot_description_semantic, const std::vector< std::string > &extra_joints)

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	removeKeyFrame (int frame)

bool	setCurrentGroup (const std::string &group)

bool	setExtraJointUsedState (const std::string &name, bool used)

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

void	setParamName ()

std::size_t	size () const

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

Static Public Attributes
static const float	DEFAULT_TIME = 5.0

Private Attributes
std::unordered_map< std::string, bool >	extra_joints_

std::string	group_used_

std::unordered_map< std::string, std::vector< std::string > >	joint_groups_

std::unordered_map< std::string, JointModel >	joint_models_

std::vector< KeyFrame >	keyframes_

std::string	tmp_name_

Detailed Description

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

Definition at line 138 of file motion_model.h.

Constructor & Destructor Documentation

◆ Motion() [1/2]

pal::Motion::Motion	(	const std::string &	robot_description,
		const std::string &	robot_description_semantic,
		const std::vector< std::string > &	extra_joints
	)

Definition at line 122 of file motion_model.cpp.

◆ Motion() [2/2]

pal::Motion::Motion	(	XmlRpc::XmlRpcValue &	param,
		const std::string &	robot_description,
		const std::string &	robot_description_semantic,
		const std::vector< std::string > &	extra_joints
	)

Definition at line 154 of file motion_model.cpp.

Member Function Documentation

◆ addGroupToGroup()

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

Definition at line 522 of file motion_model.cpp.

◆ addJointModel()

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

Definition at line 389 of file motion_model.cpp.

◆ addJointToGroup()

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

Definition at line 514 of file motion_model.cpp.

◆ addKeyFrame()

void pal::Motion::addKeyFrame	(	const sensor_msgs::JointStateConstPtr &	msg,
		float	time_increment = `DEFAULT_TIME`
	)

Definition at line 353 of file motion_model.cpp.

◆ changeJoint()

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

Definition at line 405 of file motion_model.cpp.

◆ changeTime()

void pal::Motion::changeTime	(	int	frame,
		float	time_increment
	)

Definition at line 394 of file motion_model.cpp.

◆ copyFrame()

void pal::Motion::copyFrame	(	int	frame,
		int	new_frame_pos = `-1`
	)

Definition at line 436 of file motion_model.cpp.

◆ extendFrames()

void pal::Motion::extendFrames ( const sensor_msgs::JointStateConstPtr & msg )

Definition at line 497 of file motion_model.cpp.

◆ getAvailableJoints()

std::vector<std::string> pal::Motion::getAvailableJoints ( )

inline

Definition at line 273 of file motion_model.h.

◆ getCurrentGroup()

const std::string& pal::Motion::getCurrentGroup ( )

inline

Definition at line 214 of file motion_model.h.

◆ getExtraJoints()

std::vector<std::string> pal::Motion::getExtraJoints ( )

inline

Definition at line 263 of file motion_model.h.

◆ getJointGroups()

std::vector<std::string> pal::Motion::getJointGroups ( )

inline

Definition at line 253 of file motion_model.h.

◆ getJoints()

std::vector<std::string> pal::Motion::getJoints ( ) const

inline

Definition at line 186 of file motion_model.h.

◆ getKeyFrame()

const KeyFrame& pal::Motion::getKeyFrame ( int i ) const

inline

Definition at line 182 of file motion_model.h.

◆ getKeyframes()

const std::vector<KeyFrame> pal::Motion::getKeyframes ( ) const

inline

Definition at line 210 of file motion_model.h.

◆ getLastKeyFrame()

const KeyFrame& pal::Motion::getLastKeyFrame ( ) const

inline

Definition at line 178 of file motion_model.h.

◆ getParamName()

const std::string& pal::Motion::getParamName ( ) const

inline

Definition at line 170 of file motion_model.h.

◆ isJointUsed()

bool pal::Motion::isJointUsed ( const std::string & joint_name ) const

inline

Definition at line 230 of file motion_model.h.

◆ jointsLoaded()

bool pal::Motion::jointsLoaded ( )

inline

Definition at line 174 of file motion_model.h.

◆ loadFrame()

void pal::Motion::loadFrame ( int frame ) const

Definition at line 455 of file motion_model.cpp.

◆ loadYAML()

void pal::Motion::loadYAML ( double downshift ) const

Definition at line 476 of file motion_model.cpp.

◆ print() [1/2]

PrintMotion pal::Motion::print ( double downshift = 1.0 ) const

Definition at line 541 of file motion_model.cpp.

◆ print() [2/2]

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

Definition at line 551 of file motion_model.cpp.

◆ removeAllKeyFrames()

void pal::Motion::removeAllKeyFrames ( )

Definition at line 546 of file motion_model.cpp.

◆ removeKeyFrame()

void pal::Motion::removeKeyFrame ( int frame )

Definition at line 431 of file motion_model.cpp.

◆ setCurrentGroup()

bool pal::Motion::setCurrentGroup ( const std::string & group )

inline

Definition at line 218 of file motion_model.h.

◆ setExtraJointUsedState()

bool pal::Motion::setExtraJointUsedState	(	const std::string &	name,
		bool	used
	)

inline

Definition at line 241 of file motion_model.h.

◆ setMotionGroups()

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

Definition at line 232 of file motion_model.cpp.

◆ setParamName()

void pal::Motion::setParamName ( )

Definition at line 341 of file motion_model.cpp.

◆ size()

std::size_t pal::Motion::size ( ) const

inline

Definition at line 206 of file motion_model.h.

◆ updateKeyFrame()

void pal::Motion::updateKeyFrame	(	const sensor_msgs::JointStateConstPtr &	msg,
		int	frame
	)

Definition at line 373 of file motion_model.cpp.

Member Data Documentation

◆ DEFAULT_TIME

const float pal::Motion::DEFAULT_TIME = 5.0

static

Definition at line 141 of file motion_model.h.

◆ extra_joints_

std::unordered_map<std::string, bool> pal::Motion::extra_joints_

private

Definition at line 300 of file motion_model.h.

◆ group_used_

std::string pal::Motion::group_used_

private

Definition at line 301 of file motion_model.h.

◆ joint_groups_

std::unordered_map<std::string, std::vector<std::string> > pal::Motion::joint_groups_

private

Definition at line 299 of file motion_model.h.

◆ joint_models_

std::unordered_map<std::string, JointModel> pal::Motion::joint_models_

private

Definition at line 302 of file motion_model.h.

◆ keyframes_

std::vector<KeyFrame> pal::Motion::keyframes_

private

Definition at line 298 of file motion_model.h.

◆ tmp_name_

std::string pal::Motion::tmp_name_

private

Definition at line 297 of file motion_model.h.

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

Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Motion() [1/2]

◆ Motion() [2/2]

Member Function Documentation

◆ addGroupToGroup()

◆ addJointModel()

◆ addJointToGroup()

◆ addKeyFrame()

◆ changeJoint()

◆ changeTime()

◆ copyFrame()

◆ extendFrames()

◆ getAvailableJoints()

◆ getCurrentGroup()

◆ getExtraJoints()

◆ getJointGroups()

◆ getJoints()

◆ getKeyFrame()

◆ getKeyframes()

◆ getLastKeyFrame()

◆ getParamName()

◆ isJointUsed()

◆ jointsLoaded()

◆ loadFrame()

◆ loadYAML()

◆ print() [1/2]

◆ print() [2/2]

◆ removeAllKeyFrames()

◆ removeKeyFrame()

◆ setCurrentGroup()

◆ setExtraJointUsedState()

◆ setMotionGroups()

◆ setParamName()

◆ size()

◆ updateKeyFrame()

Member Data Documentation

◆ DEFAULT_TIME

◆ extra_joints_

◆ group_used_

◆ joint_groups_

◆ joint_models_

◆ keyframes_

◆ tmp_name_