Namespaces
	serialization

Classes
class	ACMContactAllowedValidator

class	AllowedCollisionMatrix

struct	ambiguate

class	AnyInterface

class	AnyPoly

class	AnyWrapper

class	BytesResource

struct	CalibrationInfo
	The CalibrationInfo struct. More...

class	CloneCache
	Used to create a cache of objects. More...

class	CollisionMarginData
	Stores information about how the margins allowed between collision objects. More...

class	CollisionMarginPairData

class	CombinedContactAllowedValidator

class	ContactAllowedValidator
	Should return true if links are allowed to be in collision, otherwise false. More...

struct	ContactManagersPluginInfo
	The contact managers plugin information structure. More...

class	GeneralResourceLocator
	A general resource loaders using environment variable. More...

struct	got_type

struct	got_type< A >

struct	has_member

class	JointState

class	JointTrajectory
	Represents a joint trajectory. More...

struct	KinematicLimits
	Store kinematic limits. More...

struct	KinematicsPluginInfo
	The kinematics plugin information structure. More...

struct	ManipulatorInfo
	Contains information about a robot manipulator. More...

struct	PairHash

struct	PluginInfo
	The Plugin Information struct. More...

struct	PluginInfoContainer

class	Profile
	The Profile class. More...

class	ProfileDictionary
	This class is used to store profiles used by various tasks. More...

class	Resource
	Represents resource data available from a file or url. More...

class	ResourceLocator
	Abstract class for resource loaders. More...

struct	Serialization

struct	sig_check

class	SimpleLocatedResource
	Resource implementation for a local file. More...

class	Stopwatch
	A simple stopwatch class leveraging chrono high resolution clock. More...

struct	TaskComposerPluginInfo
	The task composer plugin information structure. More...

class	TestPluginBase

class	TestPluginMultiply

class	Timer
	A timer which calls a callback every interval on a separate thread. More...

struct	TypeErasureBase

struct	TypeErasureInstance

struct	TypeErasureInterface
	This is the interface that all type erasures interfaces must inherit from. More...

Typedefs
template<typename Key , typename Value >
using	AlignedMap = std::map< Key, Value, std::less< Key >, Eigen::aligned_allocator< std::pair< const Key, Value > >>

template<typename Key , typename Value >
using	AlignedUnorderedMap = std::unordered_map< Key, Value, std::hash< Key >, std::equal_to< Key >, Eigen::aligned_allocator< std::pair< const Key, Value > >>

template<typename T >
using	AlignedVector = std::vector< T, Eigen::aligned_allocator< T > >

using	AllowedCollisionEntries = std::unordered_map< tesseract_common::LinkNamesPair, std::string, tesseract_common::PairHash >

using	BoolAnyPoly = AnyWrapper< bool >

using	DoubleAnyPoly = AnyWrapper< double >

using	FloatAnyPoly = AnyWrapper< float >

using	IntAnyPoly = AnyWrapper< int >

using	JointStateAnyPoly = AnyWrapper< JointState >

using	JointStatePtrAnyPoly = AnyWrapper< std::shared_ptr< JointState > >

using	LinkNamesPair = std::pair< std::string, std::string >

using	ManipulatorInfoAnyPoly = AnyWrapper< ManipulatorInfo >

using	PairsCollisionMarginData = std::unordered_map< tesseract_common::LinkNamesPair, double, tesseract_common::PairHash >

using	PluginInfoMap = std::map< std::string, PluginInfo >
	A map of PluginInfo to user defined name. More...

using	ProfileDictionaryPtrAnyPoly = tesseract_common::AnyWrapper< std::shared_ptr< ProfileDictionary > >

using	SimpleResourceLocatorFn = std::function< std::string(const std::string &)>

using	SizeTAnyPoly = AnyWrapper< std::size_t >

using	StringAnyPoly = AnyWrapper< std::string >

using	Toolpath = AlignedVector< VectorIsometry3d >

using	TrajArray = Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >

using	TransformMap = AlignedMap< std::string, Eigen::Isometry3d >

using	UMapStringBoolAnyPoly = AnyWrapper< std::unordered_map< std::string, bool > >

using	UMapStringDoubleAnyPoly = AnyWrapper< std::unordered_map< std::string, double > >

using	UMapStringFloatAnyPoly = AnyWrapper< std::unordered_map< std::string, float > >

using	UMapStringIntAnyPoly = AnyWrapper< std::unordered_map< std::string, int > >

using	UMapStringSizeTAnyPoly = AnyWrapper< std::unordered_map< std::string, std::size_t > >

using	UMapStringStringAnyPoly = AnyWrapper< std::unordered_map< std::string, std::string > >

using	UMapStringUnsignedAnyPoly = AnyWrapper< std::unordered_map< std::string, unsigned > >

using	UnsignedAnyPoly = AnyWrapper< unsigned >

using	VectorIsometry3d = AlignedVector< Eigen::Isometry3d >

using	VectorVector2d = AlignedVector< Eigen::Vector2d >

using	VectorVector3d = std::vector< Eigen::Vector3d >

using	VectorVector4d = AlignedVector< Eigen::Vector4d >

Enumerations
enum	CollisionMarginPairOverrideType : std::uint8_t { CollisionMarginPairOverrideType::NONE, CollisionMarginPairOverrideType::REPLACE, CollisionMarginPairOverrideType::MODIFY }
	Identifies how the provided contact margin data should be applied. More...

enum	CombinedContactAllowedValidatorType : std::uint8_t { CombinedContactAllowedValidatorType::AND, CombinedContactAllowedValidatorType::OR }
	Identify how the two should be combined. More...

Functions
bool	almostEqualRelativeAndAbs (const Eigen::Ref< const Eigen::VectorXd > &v1, const Eigen::Ref< const Eigen::VectorXd > &v2, const Eigen::Ref< const Eigen::VectorXd > &max_diff, const Eigen::Ref< const Eigen::VectorXd > &max_rel_diff)
	Check if two Eigen VectorXd are relatively and absolute equal. More...

bool	almostEqualRelativeAndAbs (const Eigen::Ref< const Eigen::VectorXd > &v1, const Eigen::Ref< const Eigen::VectorXd > &v2, double max_diff=1e-6, double max_rel_diff=std::numeric_limits< double >::epsilon())
	Check if two Eigen VectorXd are relatively and absolute equal. More...

bool	almostEqualRelativeAndAbs (double a, double b, double max_diff=1e-6, double max_rel_diff=std::numeric_limits< double >::epsilon())
	Check if two double are relatively equal. More...

Eigen::VectorXd	calcJacobianTransformErrorDiff (const Eigen::Isometry3d &target, const Eigen::Isometry3d &source, const Eigen::Isometry3d &source_perturbed)
	Calculate jacobian transform error difference expressed in the target frame coordinate system. More...

Eigen::VectorXd	calcJacobianTransformErrorDiff (const Eigen::Isometry3d &target, const Eigen::Isometry3d &target_perturbed, const Eigen::Isometry3d &source, const Eigen::Isometry3d &source_perturbed)
	Calculate jacobian transform error difference expressed in the target frame coordinate system. More...

Eigen::Vector3d	calcRotationalError (const Eigen::Ref< const Eigen::Matrix3d > &R)
	Calculate the rotation error vector given a rotation error matrix where the angle is between [-pi, pi]. More...

std::pair< Eigen::Vector3d, double >	calcRotationalErrorDecomposed (const Eigen::Ref< const Eigen::Matrix3d > &R)

Eigen::VectorXd	calcTransformError (const Eigen::Isometry3d &t1, const Eigen::Isometry3d &t2)
	Calculate error between two transforms expressed in t1 coordinate system. More...

void	checkForUnknownKeys (const YAML::Node &node, const std::set< std::string > &expected_keys)
	Check node map for unknown keys. More...

bool	compareYAML (const YAML::Node &node1, const YAML::Node &node2)
	Checks if the YAML::Nodes are identical. More...

Eigen::Vector4d	computeRandomColor ()
	This computes a random color RGBA [0, 1] with alpha set to 1. More...

Eigen::VectorXd	concat (const Eigen::VectorXd &a, const Eigen::VectorXd &b)
	Concatenate two vector. More...

template<typename FloatType >
void	enforceLimits (Eigen::Ref< Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >> values, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 >> &limits)
	Enforce values to be within the provided limits. More...

template void	enforceLimits< double > (Eigen::Ref< Eigen::Matrix< double, Eigen::Dynamic, 1 >> values, const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 >> &limits)

template void	enforceLimits< float > (Eigen::Ref< Eigen::Matrix< float, Eigen::Dynamic, 1 >> values, const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 >> &limits)

std::string	fileToString (const std::filesystem::path &filepath)
	Read in the contents of the file into a string. More...

std::size_t	findSeparator (const std::string &str)

YAML::Node	fromYAMLString (const std::string &string)
	Converts yaml string to a YAML::Node. More...

Eigen::VectorXd	generateRandomNumber (const Eigen::Ref< const Eigen::MatrixX2d > &limits)
	Given a set of limits it will generate a vector of random numbers between the limit. More...

std::vector< std::string >	getAllowedCollisions (const std::vector< std::string > &link_names, const AllowedCollisionEntries &acm_entries, bool remove_duplicates=true)
	Gets allowed collisions for a set of link names. More...

std::string	getTempPath ()
	Get the host temp directory path. More...

std::string	getTimestampString ()
	Get Timestamp string. More...

template<typename T >
bool	isIdentical (const std::vector< T > &vec1, const std::vector< T > &vec2, bool ordered=true, const std::function< bool(const T &, const T &)> &equal_pred=[](const T &v1, const T &v2) { return v1==v2;}, const std::function< bool(const T &, const T &)> &comp=[](const T &v1, const T &v2) { return v1< v2;})
	Check if two vector of strings are identical. More...

template bool	isIdentical< Eigen::Index > (const std::vector< Eigen::Index > &, const std::vector< Eigen::Index > &, bool, const std::function< bool(const Eigen::Index &, const Eigen::Index &)> &, const std::function< bool(const Eigen::Index &, const Eigen::Index &)> &)

template bool	isIdentical< std::string > (const std::vector< std::string > &, const std::vector< std::string > &, bool, const std::function< bool(const std::string &, const std::string &)> &, const std::function< bool(const std::string &, const std::string &)> &)

template<typename ValueType , std::size_t Size>
bool	isIdenticalArray (const std::array< ValueType, Size > &array_1, const std::array< ValueType, Size > &array_2, const std::function< bool(const ValueType &, const ValueType &)> &value_eq=[](const ValueType &v1, const ValueType &v2) { return v1==v2;})
	Checks if 2 arrays are identical. More...

template<typename KeyValueContainerType , typename ValueType >
bool	isIdenticalMap (const KeyValueContainerType &map_1, const KeyValueContainerType &map_2, const std::function< bool(const ValueType &, const ValueType &)> &value_eq=[](const ValueType &v1, const ValueType &v2) { return v1==v2;})
	Checks if 2 maps are identical. More...

template<typename ValueType >
bool	isIdenticalSet (const std::set< ValueType > &set_1, const std::set< ValueType > &set_2, const std::function< bool(const ValueType &, const ValueType &)> &value_eq=[](const ValueType &v1, const ValueType &v2) { return v1==v2;})
	Checks if 2 sets are identical. More...

bool	isNumeric (const std::string &s)
	Determine if a string is a number. More...

bool	isNumeric (const std::vector< std::string > &sv)
	Determine if each string in vector is a number. More...

bool	isRelativePath (const std::string &url)

template<typename FloatType >
bool	isWithinLimits (const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >> &values, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 >> &limits)
	Check if within limits. More...

template bool	isWithinLimits< double > (const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 >> &values, const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 >> &limits)

template bool	isWithinLimits< float > (const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 >> &values, const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 >> &limits)

void	jacobianChangeBase (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base)
	Change the base coordinate system of the jacobian. More...

void	jacobianChangeRefPoint (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Ref< const Eigen::Vector3d > &ref_point)
	Change the reference point of the jacobian. More...

YAML::Node	loadYamlFile (const std::string &file_path, const ResourceLocator &locator)
	Loads a YAML file and processes `!include` directives recursively. More...

YAML::Node	loadYamlString (const std::string &yaml_string, const ResourceLocator &locator)

void	ltrim (std::string &s)
	Left trim string. More...

LinkNamesPair	makeOrderedLinkPair (const std::string &link_name1, const std::string &link_name2)
	Create a pair of strings, where the pair.first is always <= pair.second. More...

void	makeOrderedLinkPair (LinkNamesPair &pair, const std::string &link_name1, const std::string &link_name2)
	Populate a pair of strings, where the pair.first is always <= pair.second. More...

template<typename E >
std::enable_if_t<!std::is_polymorphic< E >::value >	my_rethrow_if_nested (const E &)

template<typename E >
std::enable_if_t< std::is_polymorphic< E >::value >	my_rethrow_if_nested (const E &e)

bool	operator!= (const ProfileDictionary &lhs, const ProfileDictionary &rhs)

std::ostream &	operator<< (std::ostream &os, const AllowedCollisionMatrix &acm)

bool	operator== (const AllowedCollisionEntries &entries_1, const AllowedCollisionEntries &entries_2)

bool	operator== (const ProfileDictionary &lhs, const ProfileDictionary &rhs)

template<typename T >
bool	pointersComparison (const std::shared_ptr< T > &p1, const std::shared_ptr< T > &p2)
	Comparison operator for the objects 2 points point to. More...

template<typename T >
bool	pointersEqual (const std::shared_ptr< T > &p1, const std::shared_ptr< T > &p2)
	Checks if 2 pointers point to objects that are ==. More...

void	printNestedException (const std::exception &e, int level=0)
	Print a nested exception. More...

YAML::Node	processYamlIncludeDirective (const YAML::Node &node, const ResourceLocator &locator)
	Recursively processes a YAML node to resolve `!include` directives. More...

int	QueryDoubleAttributeRequired (const tinyxml2::XMLElement xml_element, const char name, double &value)
	Query a double attribute from an xml element and print error log. More...

int	QueryIntAttributeRequired (const tinyxml2::XMLElement xml_element, const char name, int &value)
	Query a int attribute from an xml element and print error log. More...

int	QueryStringAttribute (const tinyxml2::XMLElement xml_element, const char name, std::string &value)
	Query a string attribute from an xml element. More...

int	QueryStringAttributeRequired (const tinyxml2::XMLElement xml_element, const char name, std::string &value)
	Query a string attribute from an xml element and print error log. More...

int	QueryStringText (const tinyxml2::XMLElement *xml_element, std::string &text)
	Query a string Text from xml element. More...

int	QueryStringValue (const tinyxml2::XMLAttribute *xml_attribute, std::string &value)
	Query a string value from xml attribute. More...

int	QueryStringValue (const tinyxml2::XMLElement *xml_element, std::string &value)
	Query a string value from xml element. More...

void	reorder (Eigen::Ref< Eigen::VectorXd > v, std::vector< Eigen::Index > order)
	Reorder Eigen::VectorXd implace given index list. More...

void	rtrim (std::string &s)
	Right trim string. More...

template<typename FloatType >
bool	satisfiesLimits (const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >> &values, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 >> &limits, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >> &max_diff, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >> &max_rel_diff)
	Check if values are within bounds or relatively equal to a limit. More...

template<typename FloatType >
bool	satisfiesLimits (const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >> &values, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 >> &limits, FloatType max_diff=static_cast< FloatType >(1e-6), FloatType max_rel_diff=std::numeric_limits< FloatType >::epsilon())
	Check if values is within bounds or relatively equal to a limit. More...

template bool	satisfiesLimits< double > (const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 >> &values, const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 >> &limits, const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 >> &max_diff, const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 >> &max_rel_diff)

template bool	satisfiesLimits< double > (const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 >> &values, const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 >> &limits, double max_diff, double max_rel_diff)

template bool	satisfiesLimits< float > (const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 >> &values, const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 >> &limits, const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 >> &max_diff, const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 >> &max_rel_diff)

template bool	satisfiesLimits< float > (const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 >> &values, const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 >> &limits, float max_diff, float max_rel_diff)

template<typename... Args>
std::string	strFormat (const std::string &format, Args... args)

std::string	StringAttribute (const tinyxml2::XMLElement xml_element, const char name, std::string default_value)
	Get string attribute if exist. If it does not exist it returns the default value. More...

template<typename SerializableType >
void	testSerialization (const SerializableType &object, const std::string &typename_string)
	Tests Boost serialization for a serializable type. More...

template<typename SerializableTypeStored >
void	testSerializationAnyPolyStoredSharedPtr (const tesseract_common::AnyPoly &object, const std::string &typename_string)
	Tests Boost serialization for a serializable any poly type. More...

template<typename SerializableTypeBase , typename SerializableTypeDerived >
void	testSerializationDerivedClass (const std::shared_ptr< SerializableTypeBase > &object, const std::string &typename_string)
	Tests Boost serialization for a serializable derived type. More...

template<typename SerializableType >
void	testSerializationPtr (const std::shared_ptr< SerializableType > &object, const std::string &typename_string)
	Tests Boost serialization of shared pointer for a serializable type. More...

template<typename FloatType >
bool	toNumeric (const std::string &s, FloatType &value)
	Convert a string to a numeric value type. More...

template bool	toNumeric< double > (const std::string &, double &)

template bool	toNumeric< float > (const std::string &, float &)

template bool	toNumeric< int > (const std::string &, int &)

template bool	toNumeric< long > (const std::string &, long &)

std::string	toYAMLString (const YAML::Node &node)
	Converts a YAML::Node to a yaml string. More...

void	trim (std::string &s)
	Trim left and right of string. More...

void	twistChangeBase (Eigen::Ref< Eigen::VectorXd > twist, const Eigen::Isometry3d &change_base)
	Change the base coordinate system of the Twist. More...

void	twistChangeRefPoint (Eigen::Ref< Eigen::VectorXd > twist, const Eigen::Ref< const Eigen::Vector3d > &ref_point)
	Change the reference point of the provided Twist. More...

void	writeYamlToFile (const YAML::Node &node, const std::string &file_path)
	Writes a YAML::Node to a file. More...

Variables
static std::mt19937	mersenne { static_cast<std::mt19937::result_type>(std::time(nullptr)) }
	Random number generator. More...

Typedef Documentation

◆ AlignedMap

template<typename Key , typename Value >

using tesseract_common::AlignedMap = typedef std::map<Key, Value, std::less<Key>, Eigen::aligned_allocator<std::pair<const Key, Value> >>

Definition at line 19 of file eigen_types.h.

◆ AlignedUnorderedMap

template<typename Key , typename Value >

using tesseract_common::AlignedUnorderedMap = typedef std::unordered_map<Key, Value, std::hash<Key>, std::equal_to<Key>, Eigen::aligned_allocator<std::pair<const Key, Value> >>

Definition at line 26 of file eigen_types.h.

◆ AlignedVector

template<typename T >

using tesseract_common::AlignedVector = typedef std::vector<T, Eigen::aligned_allocator<T> >

Definition at line 16 of file eigen_types.h.

◆ AllowedCollisionEntries

using tesseract_common::AllowedCollisionEntries = typedef std::unordered_map<tesseract_common::LinkNamesPair, std::string, tesseract_common::PairHash>

Definition at line 24 of file allowed_collision_matrix.h.

◆ BoolAnyPoly

using tesseract_common::BoolAnyPoly = typedef AnyWrapper<bool>

Definition at line 237 of file any_poly.h.

◆ DoubleAnyPoly

using tesseract_common::DoubleAnyPoly = typedef AnyWrapper<double>

Definition at line 240 of file any_poly.h.

◆ FloatAnyPoly

using tesseract_common::FloatAnyPoly = typedef AnyWrapper<float>

Definition at line 241 of file any_poly.h.

◆ IntAnyPoly

using tesseract_common::IntAnyPoly = typedef AnyWrapper<int>

Definition at line 238 of file any_poly.h.

◆ JointStateAnyPoly

using tesseract_common::JointStateAnyPoly = typedef AnyWrapper<JointState>

Definition at line 245 of file joint_state.h.

◆ JointStatePtrAnyPoly

using tesseract_common::JointStatePtrAnyPoly = typedef AnyWrapper<std::shared_ptr<JointState> >

Definition at line 246 of file joint_state.h.

◆ LinkNamesPair

using tesseract_common::LinkNamesPair = typedef std::pair<std::string, std::string>

Definition at line 37 of file types.h.

◆ ManipulatorInfoAnyPoly

using tesseract_common::ManipulatorInfoAnyPoly = typedef AnyWrapper<ManipulatorInfo>

Definition at line 103 of file manipulator_info.h.

◆ PairsCollisionMarginData

using tesseract_common::PairsCollisionMarginData = typedef std::unordered_map<tesseract_common::LinkNamesPair, double, tesseract_common::PairHash>

Definition at line 66 of file collision_margin_data.h.

◆ PluginInfoMap

using tesseract_common::PluginInfoMap = typedef std::map<std::string, PluginInfo>

A map of PluginInfo to user defined name.

Definition at line 79 of file plugin_info.h.

◆ ProfileDictionaryPtrAnyPoly

using tesseract_common::ProfileDictionaryPtrAnyPoly = typedef tesseract_common::AnyWrapper<std::shared_ptr<ProfileDictionary> >

Definition at line 162 of file profile_dictionary.h.

◆ SimpleResourceLocatorFn

using tesseract_common::SimpleResourceLocatorFn = typedef std::function<std::string(const std::string&)>

Definition at line 198 of file resource_locator.h.

◆ SizeTAnyPoly

using tesseract_common::SizeTAnyPoly = typedef AnyWrapper<std::size_t>

Definition at line 243 of file any_poly.h.

◆ StringAnyPoly

using tesseract_common::StringAnyPoly = typedef AnyWrapper<std::string>

Definition at line 242 of file any_poly.h.

◆ Toolpath

using tesseract_common::Toolpath = typedef AlignedVector<VectorIsometry3d>

Definition at line 33 of file eigen_types.h.

◆ TrajArray

using tesseract_common::TrajArray = typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>

Definition at line 34 of file eigen_types.h.

◆ TransformMap

using tesseract_common::TransformMap = typedef AlignedMap<std::string, Eigen::Isometry3d>

Definition at line 32 of file eigen_types.h.

◆ UMapStringBoolAnyPoly

using tesseract_common::UMapStringBoolAnyPoly = typedef AnyWrapper<std::unordered_map<std::string, bool> >

Definition at line 246 of file any_poly.h.

◆ UMapStringDoubleAnyPoly

using tesseract_common::UMapStringDoubleAnyPoly = typedef AnyWrapper<std::unordered_map<std::string, double> >

Definition at line 249 of file any_poly.h.

◆ UMapStringFloatAnyPoly

using tesseract_common::UMapStringFloatAnyPoly = typedef AnyWrapper<std::unordered_map<std::string, float> >

Definition at line 250 of file any_poly.h.

◆ UMapStringIntAnyPoly

using tesseract_common::UMapStringIntAnyPoly = typedef AnyWrapper<std::unordered_map<std::string, int> >

Definition at line 247 of file any_poly.h.

◆ UMapStringSizeTAnyPoly

using tesseract_common::UMapStringSizeTAnyPoly = typedef AnyWrapper<std::unordered_map<std::string, std::size_t> >

Definition at line 251 of file any_poly.h.

◆ UMapStringStringAnyPoly

using tesseract_common::UMapStringStringAnyPoly = typedef AnyWrapper<std::unordered_map<std::string, std::string> >

Definition at line 245 of file any_poly.h.

◆ UMapStringUnsignedAnyPoly

using tesseract_common::UMapStringUnsignedAnyPoly = typedef AnyWrapper<std::unordered_map<std::string, unsigned> >

Definition at line 248 of file any_poly.h.

◆ UnsignedAnyPoly

using tesseract_common::UnsignedAnyPoly = typedef AnyWrapper<unsigned>

Definition at line 239 of file any_poly.h.

◆ VectorIsometry3d

using tesseract_common::VectorIsometry3d = typedef AlignedVector<Eigen::Isometry3d>

Definition at line 28 of file eigen_types.h.

◆ VectorVector2d

using tesseract_common::VectorVector2d = typedef AlignedVector<Eigen::Vector2d>

Definition at line 31 of file eigen_types.h.

◆ VectorVector3d

using tesseract_common::VectorVector3d = typedef std::vector<Eigen::Vector3d>

Definition at line 30 of file eigen_types.h.

◆ VectorVector4d

using tesseract_common::VectorVector4d = typedef AlignedVector<Eigen::Vector4d>

Definition at line 29 of file eigen_types.h.

Enumeration Type Documentation

◆ CollisionMarginPairOverrideType

enum tesseract_common::CollisionMarginPairOverrideType : std::uint8_t

strong

Identifies how the provided contact margin data should be applied.

Enumerator

NONE

Do not apply contact margin data.

REPLACE

Replace the contact manager's CollisionMarginPairData.

MODIFY

Modify the contact managers pair margins.

This will preserve existing pairs not being modified by the provided margin data. If a pair already exist it will be updated with the provided margin data.

Definition at line 51 of file collision_margin_data.h.

◆ CombinedContactAllowedValidatorType

enum tesseract_common::CombinedContactAllowedValidatorType : std::uint8_t

strong

Identify how the two should be combined.

Enumerator
AND	Combines the two ContactAllowedValidator with AND operator.
OR	Combines the two ContactAllowedValidator with OR operator.

Definition at line 82 of file contact_allowed_validator.h.

Function Documentation

◆ almostEqualRelativeAndAbs() [1/3]

bool tesseract_common::almostEqualRelativeAndAbs	(	const Eigen::Ref< const Eigen::VectorXd > &	v1,
		const Eigen::Ref< const Eigen::VectorXd > &	v2,
		const Eigen::Ref< const Eigen::VectorXd > &	max_diff,
		const Eigen::Ref< const Eigen::VectorXd > &	max_rel_diff
	)

Check if two Eigen VectorXd are relatively and absolute equal.

This is a vectorized implementation of the function above. The max_diff is for handling when comparing numbers near zero

Parameters

a	A vector of double
b	A vector of double
max_diff	The max diff when comparing max(abs(a - b)) <= max_diff, if true they are considered equal
max_rel_diff	The max relative diff abs(a - b) <= largest * max_rel_diff, if true considered equal. The largest is the largest of the absolute values of a and b.

Returns: True if they are relatively equal, otherwise false.

Definition at line 469 of file utils.cpp.

◆ almostEqualRelativeAndAbs() [2/3]

bool tesseract_common::almostEqualRelativeAndAbs	(	const Eigen::Ref< const Eigen::VectorXd > &	v1,
		const Eigen::Ref< const Eigen::VectorXd > &	v2,
		double	max_diff = `1e-6`,
		double	max_rel_diff = `std::numeric_limits<double>::epsilon()`
	)

Check if two Eigen VectorXd are relatively and absolute equal.

This is a vectorized implementation of the function above. The max_diff is for handling when comparing numbers near zero

Parameters

a	A vector of double
b	A vector of double
max_diff	The max diff when comparing max(abs(a - b)) <= max_diff, if true they are considered equal
max_rel_diff	The max relative diff abs(a - b) <= largest * max_rel_diff, if true considered equal. The largest is the largest of the absolute values of a and b.

Returns: True if they are relatively equal, otherwise false.

Definition at line 458 of file utils.cpp.

◆ almostEqualRelativeAndAbs() [3/3]

bool tesseract_common::almostEqualRelativeAndAbs	(	double	a,
		double	b,
		double	max_diff = `1e-6`,
		double	max_rel_diff = `std::numeric_limits<double>::epsilon()`
	)

Check if two double are relatively equal.

The max_diff is for handling when comparing numbers near zero

Parameters

a	Double
b	Double
max_diff	The max diff when comparing std::abs(a - b) <= max_diff, if true they are considered equal
max_rel_diff	The max relative diff std::abs(a - b) <= largest * max_rel_diff, if true considered equal. The largest is the largest of the absolute values of a and b.

Returns: True if they are relatively equal, otherwise false.

Definition at line 445 of file utils.cpp.

◆ calcJacobianTransformErrorDiff() [1/2]

Eigen::VectorXd tesseract_common::calcJacobianTransformErrorDiff	(	const Eigen::Isometry3d &	target,
		const Eigen::Isometry3d &	source,
		const Eigen::Isometry3d &	source_perturbed
	)

Calculate jacobian transform error difference expressed in the target frame coordinate system.

This is used when the target is a fixed frame in the environment

Parameters

target	Target The desired transform to express the transform error difference in
source	The current location of the source transform
source_perturbed	The perturbed location of the source transform

Returns: The change in error represented in the target frame

Definition at line 163 of file utils.cpp.

◆ calcJacobianTransformErrorDiff() [2/2]

Eigen::VectorXd tesseract_common::calcJacobianTransformErrorDiff	(	const Eigen::Isometry3d &	target,
		const Eigen::Isometry3d &	target_perturbed,
		const Eigen::Isometry3d &	source,
		const Eigen::Isometry3d &	source_perturbed
	)

Calculate jacobian transform error difference expressed in the target frame coordinate system.

This is used when the target and source are both dynamic links

Parameters

target	Target The desired transform to express the transform error difference in
target_perturbed	The perturbed location of the target transform
source	The current location of the source transform
source_perturbed	The perturbed location of the source transform

Returns: The change in error represented in the target frame

Definition at line 197 of file utils.cpp.

◆ calcRotationalError()

Eigen::Vector3d tesseract_common::calcRotationalError ( const Eigen::Ref< const Eigen::Matrix3d > & R )

Calculate the rotation error vector given a rotation error matrix where the angle is between [-pi, pi].

This should be used only for calculating the error. Do not use for numerically calculating jacobians because it breaks down a -PI and PI

Parameters

R	rotation error matrix

Returns: Rotation error vector = Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle()

Definition at line 151 of file utils.cpp.

◆ calcRotationalErrorDecomposed()

std::pair<Eigen::Vector3d, double> tesseract_common::calcRotationalErrorDecomposed ( const Eigen::Ref< const Eigen::Matrix3d > & R )

Definition at line 127 of file utils.cpp.

◆ calcTransformError()

Eigen::VectorXd tesseract_common::calcTransformError	(	const Eigen::Isometry3d &	t1,
		const Eigen::Isometry3d &	t2
	)

Calculate error between two transforms expressed in t1 coordinate system.

Warning: This should not be used to calculate numerical jacobian, see calcJacobianTransformErrorDiff

Parameters

t1	Target Transform
t2	Current Transform

Returns: error [Position, calcRotationalError(Angle Axis)]

Definition at line 157 of file utils.cpp.

◆ checkForUnknownKeys()

void tesseract_common::checkForUnknownKeys	(	const YAML::Node &	node,
		const std::set< std::string > &	expected_keys
	)

Check node map for unknown keys.

Parameters

node	The node to check
expected_keys	The expected keys

Definition at line 122 of file yaml_utils.cpp.

◆ compareYAML()

bool tesseract_common::compareYAML	(	const YAML::Node &	node1,
		const YAML::Node &	node2
	)

Checks if the YAML::Nodes are identical.

The == operator checks if they reference the same memory. This checks if they contain the same information

Parameters

node1	Input YAML::Node
node2	Input YAML::Node

Definition at line 144 of file yaml_utils.cpp.

◆ computeRandomColor()

Eigen::Vector4d tesseract_common::computeRandomColor ( )

This computes a random color RGBA [0, 1] with alpha set to 1.

Returns: A random RGBA color

Definition at line 231 of file utils.cpp.

◆ concat()

Eigen::VectorXd tesseract_common::concat	(	const Eigen::VectorXd &	a,
		const Eigen::VectorXd &	b
	)

Concatenate two vector.

Definition at line 119 of file utils.cpp.

◆ enforceLimits()

template<typename FloatType >

void tesseract_common::enforceLimits	(	Eigen::Ref< Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >>	values,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 >> &	limits
	)

Enforce values to be within the provided limits.

Parameters

values	The values to enforce bounds on
limits	The limits to perform check

Definition at line 150 of file kinematic_limits.h.

◆ enforceLimits< double >()

template void tesseract_common::enforceLimits< double >	(	Eigen::Ref< Eigen::Matrix< double, Eigen::Dynamic, 1 >>	values,
		const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 >> &	limits
	)

◆ enforceLimits< float >()

template void tesseract_common::enforceLimits< float >	(	Eigen::Ref< Eigen::Matrix< float, Eigen::Dynamic, 1 >>	values,
		const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 >> &	limits
	)

◆ fileToString()

std::string tesseract_common::fileToString ( const std::filesystem::path & filepath )

Read in the contents of the file into a string.

Parameters

filepath The file to read

Returns: The contents of the file

Definition at line 75 of file utils.cpp.

◆ findSeparator()

std::size_t tesseract_common::findSeparator ( const std::string & str )

Definition at line 152 of file resource_locator.cpp.

◆ fromYAMLString()

YAML::Node tesseract_common::fromYAMLString ( const std::string & string )

Converts yaml string to a YAML::Node.

Parameters

string Input string containing the yaml

Returns: Resulting YAML::Node

Definition at line 142 of file yaml_utils.cpp.

◆ generateRandomNumber()

Eigen::VectorXd tesseract_common::generateRandomNumber ( const Eigen::Ref< const Eigen::MatrixX2d > & limits )

Given a set of limits it will generate a vector of random numbers between the limit.

Parameters

limits The limits to generated numbers based on.

Returns: A vector of random numbers between the provided limits.

Definition at line 288 of file utils.cpp.

◆ getAllowedCollisions()

std::vector< std::string > tesseract_common::getAllowedCollisions	(	const std::vector< std::string > &	link_names,
		const AllowedCollisionEntries &	acm_entries,
		bool	remove_duplicates = `true`
	)

Gets allowed collisions for a set of link names.

Parameters

link_names	Vector of link names for which we want the allowed collisions
acm_entries	Entries in the ACM. Get this with AllowedCollisionMatrix::getAllAllowedCollisions()
remove_duplicates	If true, duplicates will be removed. Default: true

Returns: vector of links that are allowed to collide with links given

Definition at line 492 of file utils.cpp.

◆ getTempPath()

std::string tesseract_common::getTempPath ( )

Get the host temp directory path.

Returns: The host temp directory path

Definition at line 262 of file utils.cpp.

◆ getTimestampString()

std::string tesseract_common::getTimestampString ( )

Get Timestamp string.

Returns: Timestamp string

Definition at line 310 of file utils.cpp.

◆ isIdentical()

template<typename T >

bool tesseract_common::isIdentical	(	const std::vector< T > &	vec1,
		const std::vector< T > &	vec2,
		bool	ordered = `true`,
		const std::function< bool(const T &, const T &)> &	equal_pred = `[](const T& v1, const T& v2) { return v1 == v2; }`,
		const std::function< bool(const T &, const T &)> &	comp = `[](const T& v1, const T& v2) { return v1 < v2; }`
	)

Check if two vector of strings are identical.

Parameters

vec1	Vector strings
vec2	Vector strings
ordered	If true order is relavent, othwise if false order is not relavent
equal_pred	Binary predicate passed into std::equals to determine if an element is equal. Useful for vectors of pointers
comp	Binary function passed into std::sort. Only used it ordered == false. Useful for vectors of pointers

Definition at line 227 of file utils.h.

◆ isIdentical< Eigen::Index >()

template bool tesseract_common::isIdentical< Eigen::Index >	(	const std::vector< Eigen::Index > &	,
		const std::vector< Eigen::Index > &	,
		bool	,
		const std::function< bool(const Eigen::Index &, const Eigen::Index &)> &	,
		const std::function< bool(const Eigen::Index &, const Eigen::Index &)> &
	)

◆ isIdentical< std::string >()

template bool tesseract_common::isIdentical< std::string >	(	const std::vector< std::string > &	,
		const std::vector< std::string > &	,
		bool	,
		const std::function< bool(const std::string &, const std::string &)> &	,
		const std::function< bool(const std::string &, const std::string &)> &
	)

◆ isIdenticalArray()

template<typename ValueType , std::size_t Size>

bool tesseract_common::isIdenticalArray	(	const std::array< ValueType, Size > &	array_1,
		const std::array< ValueType, Size > &	array_2,
		const std::function< bool(const ValueType &, const ValueType &)> &	value_eq = `[](const ValueType& v1, const ValueType& v2) { return v1 == v2; }`
	)

Checks if 2 arrays are identical.

Parameters

array_1	First array
array_2	Second array

Returns: True if they are identical

Definition at line 312 of file utils.h.

◆ isIdenticalMap()

template<typename KeyValueContainerType , typename ValueType >

bool tesseract_common::isIdenticalMap	(	const KeyValueContainerType &	map_1,
		const KeyValueContainerType &	map_2,
		const std::function< bool(const ValueType &, const ValueType &)> &	value_eq = `[](const ValueType& v1, const ValueType& v2) { return v1 == v2; }`
	)

Checks if 2 maps are identical.

Parameters

map_1	First map
map_2	Second map

Returns: True if they are identical

Definition at line 254 of file utils.h.

◆ isIdenticalSet()

template<typename ValueType >

bool tesseract_common::isIdenticalSet	(	const std::set< ValueType > &	set_1,
		const std::set< ValueType > &	set_2,
		const std::function< bool(const ValueType &, const ValueType &)> &	value_eq = `[](const ValueType& v1, const ValueType& v2) { return v1 == v2; }`
	)

Checks if 2 sets are identical.

Parameters

map_1	First map
map_2	Second map

Returns: True if they are identical

Definition at line 283 of file utils.h.

◆ isNumeric() [1/2]

bool tesseract_common::isNumeric ( const std::string & s )

Determine if a string is a number.

Parameters

s	The string to evaluate

Returns: True if numeric, otherwise false.

Definition at line 267 of file utils.cpp.

◆ isNumeric() [2/2]

bool tesseract_common::isNumeric ( const std::vector< std::string > & sv )

Determine if each string in vector is a number.

Parameters

sv	The vector of strings to evaluate

Returns: True if all strings are numeric, otherwise false.

Definition at line 283 of file utils.cpp.

◆ isRelativePath()

bool tesseract_common::isRelativePath ( const std::string & url )

Definition at line 46 of file resource_locator.cpp.

◆ isWithinLimits()

template<typename FloatType >

bool tesseract_common::isWithinLimits	(	const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >> &	values,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 >> &	limits
	)

Check if within limits.

Parameters

joint_positions	The values to check
position_limits	The limits to perform check

Returns

Definition at line 78 of file kinematic_limits.h.

◆ isWithinLimits< double >()

template bool tesseract_common::isWithinLimits< double >	(	const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 >> &	values,
		const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 >> &	limits
	)

◆ isWithinLimits< float >()

template bool tesseract_common::isWithinLimits< float >	(	const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 >> &	values,
		const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 >> &	limits
	)

◆ jacobianChangeBase()

void tesseract_common::jacobianChangeBase	(	Eigen::Ref< Eigen::MatrixXd >	jacobian,
		const Eigen::Isometry3d &	change_base
	)

Change the base coordinate system of the jacobian.

Parameters

jacobian	The current Jacobian which gets modified in place
change_base	The transform from the desired frame to the current base frame of the jacobian

Definition at line 104 of file utils.cpp.

◆ jacobianChangeRefPoint()

void tesseract_common::jacobianChangeRefPoint	(	Eigen::Ref< Eigen::MatrixXd >	jacobian,
		const Eigen::Ref< const Eigen::Vector3d > &	ref_point
	)

Change the reference point of the jacobian.

Parameters

jacobian	The current Jacobian which gets modified in place
ref_point	Is expressed in the same base frame of the jacobian and is a vector from the old point to the new point.

Definition at line 111 of file utils.cpp.

◆ loadYamlFile()

YAML::Node tesseract_common::loadYamlFile	(	const std::string &	file_path,
		const ResourceLocator &	locator
	)

Loads a YAML file and processes !include directives recursively.

This function loads a YAML file and replaces any node tagged with !include with the content of the specified file. It handles nested !include directives and works with both maps and sequences.

Parameters

file_path	The path to the YAML file/url to be loaded.
locator	The locator used to resolve urls and relative file paths.

Returns: A YAML::Node object containing the fully processed YAML structure.

Exceptions

std::runtime_error if an !include tag is used improperly (e.g., not scalar), or if a file specified in an !include directive cannot be loaded.

Definition at line 93 of file yaml_utils.cpp.

◆ loadYamlString()

YAML::Node tesseract_common::loadYamlString	(	const std::string &	yaml_string,
		const ResourceLocator &	locator
	)

Definition at line 100 of file yaml_utils.cpp.

◆ ltrim()

void tesseract_common::ltrim ( std::string & s )

Left trim string.

Parameters

s	The string to left trim

Definition at line 300 of file utils.cpp.

◆ makeOrderedLinkPair() [1/2]

LinkNamesPair tesseract_common::makeOrderedLinkPair	(	const std::string &	link_name1,
		const std::string &	link_name2
	)

Create a pair of strings, where the pair.first is always <= pair.second.

This is commonly used along with PairHash as the key to an unordered_map<LinkNamesPair, Type, PairHash>

Parameters

link_name1	First link name
link_name2	Second link name

Returns: LinkNamesPair a lexicographically sorted pair of strings

Definition at line 44 of file types.cpp.

◆ makeOrderedLinkPair() [2/2]

void tesseract_common::makeOrderedLinkPair	(	LinkNamesPair &	pair,
		const std::string &	link_name1,
		const std::string &	link_name2
	)

Populate a pair of strings, where the pair.first is always <= pair.second.

This is used to avoid multiple memory application throughout the code base

This is commonly used along with PairHash as the key to an unordered_map<LinkNamesPair, Type, PairHash>

Parameters

pair	The link name pair to load a lexicographically sorted pair of strings
link_name1	First link name
link_name2	Second link nam

Definition at line 49 of file types.cpp.

◆ my_rethrow_if_nested() [1/2]

template<typename E >

std::enable_if_t<!std::is_polymorphic<E>::value> tesseract_common::my_rethrow_if_nested ( const E & )

Definition at line 63 of file utils.cpp.

◆ my_rethrow_if_nested() [2/2]

template<typename E >

std::enable_if_t<std::is_polymorphic<E>::value> tesseract_common::my_rethrow_if_nested ( const E & e )

Definition at line 68 of file utils.cpp.

◆ operator!=()

bool tesseract_common::operator!=	(	const ProfileDictionary &	lhs,
		const ProfileDictionary &	rhs
	)

Definition at line 68 of file tesseract_common_serialization_unit.cpp.

◆ operator<<()

std::ostream & tesseract_common::operator<<	(	std::ostream &	os,
		const AllowedCollisionMatrix &	acm
	)

Definition at line 131 of file allowed_collision_matrix.cpp.

◆ operator==() [1/2]

bool tesseract_common::operator==	(	const AllowedCollisionEntries &	entries_1,
		const AllowedCollisionEntries &	entries_2
	)

Definition at line 42 of file allowed_collision_matrix.cpp.

◆ operator==() [2/2]

bool tesseract_common::operator==	(	const ProfileDictionary &	lhs,
		const ProfileDictionary &	rhs
	)

Definition at line 50 of file tesseract_common_serialization_unit.cpp.

◆ pointersComparison()

template<typename T >

bool tesseract_common::pointersComparison	(	const std::shared_ptr< T > &	p1,
		const std::shared_ptr< T > &	p2
	)

Comparison operator for the objects 2 points point to.

Parameters

p1	First pointer
p2	Second pointer

Returns: True if *p1 < *p2 and neither is nullptr. Non-nullptr is considered > than nullptr

Definition at line 347 of file utils.h.

◆ pointersEqual()

template<typename T >

bool tesseract_common::pointersEqual	(	const std::shared_ptr< T > &	p1,
		const std::shared_ptr< T > &	p2
	)

Checks if 2 pointers point to objects that are ==.

Parameters

p1	First pointer
p2	Second pointer

Returns: True if the objects are == or both pointers are nullptr

Definition at line 336 of file utils.h.

◆ printNestedException()

void tesseract_common::printNestedException	(	const std::exception &	e,
		int	level = `0`
	)

Print a nested exception.

Parameters

e	The exception to print
level	The exception level which controls the indentation

Definition at line 246 of file utils.cpp.

◆ processYamlIncludeDirective()

YAML::Node tesseract_common::processYamlIncludeDirective	(	const YAML::Node &	node,
		const ResourceLocator &	locator
	)

Recursively processes a YAML node to resolve !include directives.

This function replaces any node tagged with !include with the content of the specified file. It also recursively processes maps and sequences to handle nested !include directives.

Parameters

node	The YAML node to process.
locator	The locator used to resolve urls and relative file paths.

Returns: A YAML::Node with all !include directives resolved.

Exceptions

std::runtime_error if an !include tag is used improperly (e.g., not scalar), or if a file specified in an !include directive cannot be loaded.

Definition at line 52 of file yaml_utils.cpp.

◆ QueryDoubleAttributeRequired()

int tesseract_common::QueryDoubleAttributeRequired	(	const tinyxml2::XMLElement *	xml_element,
		const char *	name,
		double &	value
	)

Query a double attribute from an xml element and print error log.

This is the same QueryDoubleAttribute but it will print out error messages for the failure conditions so the user only needs to check for the tinyxml2::XML_SUCCESS since it is a required attribute.

Parameters

xml_element	The xml attribute to query attribute
name	The name of the attribute to query
value	The value to update from the xml attribute

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_NO_ATTRIBUTE or tinyxml2::XML_WRONG_ATTRIBUTE_TYPE

Definition at line 405 of file utils.cpp.

◆ QueryIntAttributeRequired()

int tesseract_common::QueryIntAttributeRequired	(	const tinyxml2::XMLElement *	xml_element,
		const char *	name,
		int &	value
	)

Query a int attribute from an xml element and print error log.

This is the same QueryIntAttribute but it will print out error messages for the failure conditions so the user only needs to check for the tinyxml2::XML_SUCCESS since it is a required attribute.

Parameters

xml_element	The xml attribute to query attribute
name	The name of the attribute to query
value	The value to update from the xml attribute

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_NO_ATTRIBUTE or tinyxml2::XML_WRONG_ATTRIBUTE_TYPE

Definition at line 425 of file utils.cpp.

◆ QueryStringAttribute()

int tesseract_common::QueryStringAttribute	(	const tinyxml2::XMLElement *	xml_element,
		const char *	name,
		std::string &	value
	)

Query a string attribute from an xml element.

Parameters

xml_element	The xml attribute to query attribute
name	The name of the attribute to query
value	The value to update from the xml attribute

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_NO_ATTRIBUTE or tinyxml2::XML_WRONG_ATTRIBUTE_TYPE

Definition at line 369 of file utils.cpp.

◆ QueryStringAttributeRequired()

int tesseract_common::QueryStringAttributeRequired	(	const tinyxml2::XMLElement *	xml_element,
		const char *	name,
		std::string &	value
	)

Query a string attribute from an xml element and print error log.

This is the same QueryStringAttribute but it will print out error messages for the failure conditions so the user only needs to check for the tinyxml2::XML_SUCCESS since it is a required attribute.

Parameters

xml_element	The xml attribute to query attribute
name	The name of the attribute to query
value	The value to update from the xml attribute

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_NO_ATTRIBUTE or tinyxml2::XML_WRONG_ATTRIBUTE_TYPE

Definition at line 385 of file utils.cpp.

◆ QueryStringText()

int tesseract_common::QueryStringText	(	const tinyxml2::XMLElement *	xml_element,
		std::string &	text
	)

Query a string Text from xml element.

Parameters

xml_element	The xml element to query string from
test	The value to update from the xml element

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_NO_ATTRIBUTE

Definition at line 349 of file utils.cpp.

◆ QueryStringValue() [1/2]

int tesseract_common::QueryStringValue	(	const tinyxml2::XMLAttribute *	xml_attribute,
		std::string &	value
	)

Query a string value from xml attribute.

Parameters

xml_attribute	The xml attribute to query string from
value	The value to update from the xml attribute

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_WRONG_ATTRIBUTE_TYPE

Definition at line 359 of file utils.cpp.

◆ QueryStringValue() [2/2]

int tesseract_common::QueryStringValue	(	const tinyxml2::XMLElement *	xml_element,
		std::string &	value
	)

Query a string value from xml element.

Parameters

xml_element	The xml element to query string from
value	The value to update from the xml element

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_NO_ATTRIBUTE

Definition at line 339 of file utils.cpp.

◆ reorder()

void tesseract_common::reorder	(	Eigen::Ref< Eigen::VectorXd >	v,
		std::vector< Eigen::Index >	order
	)

Reorder Eigen::VectorXd implace given index list.

Parameters

v	The vector to reorder
order	A vector of index which define the new order

Definition at line 319 of file utils.cpp.

◆ rtrim()

void tesseract_common::rtrim ( std::string & s )

Right trim string.

Parameters

s	The string to right trim

Definition at line 302 of file utils.cpp.

◆ satisfiesLimits() [1/2]

template<typename FloatType >

bool tesseract_common::satisfiesLimits	(	const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >> &	values,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 >> &	limits,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >> &	max_diff,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >> &	max_rel_diff
	)

Check if values are within bounds or relatively equal to a limit.

Parameters

values	The values to check
limits	The limits to perform check
max_diff	The max diff when comparing value to limit value max(abs(value - limit)) <= max_diff, if true they are considered equal
max_rel_diff	The max relative diff between value and limit abs(value - limit) <= largest * max_rel_diff, if true considered equal. The largest is the largest of the absolute values of value and limit.

Returns: True if the all values are within the limits or relatively equal to the limit, otherwise false.

Definition at line 98 of file kinematic_limits.h.

◆ satisfiesLimits() [2/2]

template<typename FloatType >

bool tesseract_common::satisfiesLimits	(	const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >> &	values,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 >> &	limits,
		FloatType	max_diff = `static_cast<FloatType>(1e-6)`,
		FloatType	max_rel_diff = `std::numeric_limits<FloatType>::epsilon()`
	)

Check if values is within bounds or relatively equal to a limit.

Parameters

values	The values to check
limits	The limits to perform check
max_diff	The max diff when comparing value to limit value max(abs(value - limit)) <= max_diff, if true they are considered equal
max_rel_diff	The max relative diff between value and limit abs(value - limit) <= largest * max_rel_diff, if true considered equal. The largest is the largest of the absolute values of value and limit.

Returns: True if the all values are within the limits or relatively equal to the limit, otherwise false.

Definition at line 133 of file kinematic_limits.h.

◆ satisfiesLimits< double >() [1/2]

template bool tesseract_common::satisfiesLimits< double >	(	const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 >> &	values,
		const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 >> &	limits,
		const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 >> &	max_diff,
		const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 >> &	max_rel_diff
	)

◆ satisfiesLimits< double >() [2/2]

template bool tesseract_common::satisfiesLimits< double >	(	const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 >> &	values,
		const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 >> &	limits,
		double	max_diff,
		double	max_rel_diff
	)

◆ satisfiesLimits< float >() [1/2]

template bool tesseract_common::satisfiesLimits< float >	(	const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 >> &	values,
		const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 >> &	limits,
		const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 >> &	max_diff,
		const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 >> &	max_rel_diff
	)

◆ satisfiesLimits< float >() [2/2]

template bool tesseract_common::satisfiesLimits< float >	(	const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 >> &	values,
		const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 >> &	limits,
		float	max_diff,
		float	max_rel_diff
	)

◆ strFormat()

template<typename... Args>

std::string tesseract_common::strFormat	(	const std::string &	format,
		Args...	args
	)

Definition at line 63 of file utils.h.

◆ StringAttribute()

std::string tesseract_common::StringAttribute	(	const tinyxml2::XMLElement *	xml_element,
		const char *	name,
		std::string	default_value
	)

Get string attribute if exist. If it does not exist it returns the default value.

Parameters

xml_element	The xml element to attempt to parse attribute
name	The name of the attribute
default_value	The default value to return if attribute does not exist

Returns: Parsed string attribute or default value if attribute does not exist.

Definition at line 378 of file utils.cpp.

◆ testSerialization()

template<typename SerializableType >

void tesseract_common::testSerialization	(	const SerializableType &	object,
		const std::string &	typename_string
	)

Tests Boost serialization for a serializable type.

Serializes the type to XML file, binary file, and XML string. It then deserializes it and calls the equality operator on the results

Parameters

object	Object to be serialized
typename_string	Prefix used for filepaths. Serialized files are put in /tmp/<typename_string>.<extension>

Definition at line 48 of file unit_test_utils.h.

◆ testSerializationAnyPolyStoredSharedPtr()

template<typename SerializableTypeStored >

void tesseract_common::testSerializationAnyPolyStoredSharedPtr	(	const tesseract_common::AnyPoly &	object,
		const std::string &	typename_string
	)

Tests Boost serialization for a serializable any poly type.

Serializes the type to XML file, binary file, and XML string using the base type. It then deserializes it, casts it to the derived type, and calls the equality operator on the results

Parameters

object	Base class pointer to the object to be serialized
typename_string	Prefix used for filepaths. Serialized files are put in /tmp/<typename_string>.<extension>

Definition at line 244 of file unit_test_utils.h.

◆ testSerializationDerivedClass()

template<typename SerializableTypeBase , typename SerializableTypeDerived >

void tesseract_common::testSerializationDerivedClass	(	const std::shared_ptr< SerializableTypeBase > &	object,
		const std::string &	typename_string
	)

Tests Boost serialization for a serializable derived type.

Serializes the type to XML file, binary file, and XML string using the base type. It then deserializes it, casts it to the derived type, and calls the equality operator on the results

Parameters

object	Base class pointer to the object to be serialized
typename_string	Prefix used for filepaths. Serialized files are put in /tmp/<typename_string>.<extension>

Definition at line 178 of file unit_test_utils.h.

◆ testSerializationPtr()

template<typename SerializableType >

void tesseract_common::testSerializationPtr	(	const std::shared_ptr< SerializableType > &	object,
		const std::string &	typename_string
	)

Tests Boost serialization of shared pointer for a serializable type.

Serializes the type to XML file, binary file, and XML string. It then deserializes it and calls the equality operator on the results

Parameters

object	Object to be serialized
typename_string	Prefix used for filepaths. Serialized files are put in /tmp/<typename_string>.<extension>

Definition at line 128 of file unit_test_utils.h.

◆ toNumeric()

template<typename FloatType >

bool tesseract_common::toNumeric	(	const std::string &	s,
		FloatType &	value
	)

Convert a string to a numeric value type.

Parameters

s	The string to be converted
value	The value to be loaded with converted string

Returns: True if successful, otherwise false

Definition at line 508 of file utils.h.

◆ toNumeric< double >()

template bool tesseract_common::toNumeric< double >	(	const std::string &	,
		double &
	)

◆ toNumeric< float >()

template bool tesseract_common::toNumeric< float >	(	const std::string &	,
		float &
	)

◆ toNumeric< int >()

template bool tesseract_common::toNumeric< int >	(	const std::string &	,
		int &
	)

◆ toNumeric< long >()

template bool tesseract_common::toNumeric< long >	(	const std::string &	,
		long &
	)

◆ toYAMLString()

std::string tesseract_common::toYAMLString ( const YAML::Node & node )

Converts a YAML::Node to a yaml string.

Parameters

node	Input node

Returns: String containing the yaml

Definition at line 135 of file yaml_utils.cpp.

◆ trim()

void tesseract_common::trim ( std::string & s )

Trim left and right of string.

Parameters

s	The string to trim

Definition at line 304 of file utils.cpp.

◆ twistChangeBase()

void tesseract_common::twistChangeBase	(	Eigen::Ref< Eigen::VectorXd >	twist,
		const Eigen::Isometry3d &	change_base
	)

Change the base coordinate system of the Twist.

Parameters

twist	The current Twist which gets modified in place
change_base	The transform from the desired frame to the current base frame of the Twist

Definition at line 98 of file utils.cpp.

◆ twistChangeRefPoint()

void tesseract_common::twistChangeRefPoint	(	Eigen::Ref< Eigen::VectorXd >	twist,
		const Eigen::Ref< const Eigen::Vector3d > &	ref_point
	)

Change the reference point of the provided Twist.

Parameters

twist	The current Twist which gets modified in place
ref_point	Is expressed in the same base frame of the Twist and is a vector from the old point to the new point.

Definition at line 91 of file utils.cpp.

◆ writeYamlToFile()

void tesseract_common::writeYamlToFile	(	const YAML::Node &	node,
		const std::string &	file_path
	)

Writes a YAML::Node to a file.

Parameters

node	The YAML::Node to write.
file_path	The path to the output file.

Exceptions

std::runtime_error if the file cannot be opened.

Definition at line 106 of file yaml_utils.cpp.

Variable Documentation

◆ mersenne

std::mt19937 tesseract_common::mersenne { static_cast<std::mt19937::result_type>(std::time(nullptr)) }

static

Random number generator.

Definition at line 55 of file utils.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ AlignedMap

◆ AlignedUnorderedMap

◆ AlignedVector

◆ AllowedCollisionEntries

◆ BoolAnyPoly

◆ DoubleAnyPoly

◆ FloatAnyPoly

◆ IntAnyPoly

◆ JointStateAnyPoly

◆ JointStatePtrAnyPoly

◆ LinkNamesPair

◆ ManipulatorInfoAnyPoly

◆ PairsCollisionMarginData

◆ PluginInfoMap

◆ ProfileDictionaryPtrAnyPoly

◆ SimpleResourceLocatorFn

◆ SizeTAnyPoly

◆ StringAnyPoly

◆ Toolpath

◆ TrajArray

◆ TransformMap

◆ UMapStringBoolAnyPoly

◆ UMapStringDoubleAnyPoly

◆ UMapStringFloatAnyPoly

◆ UMapStringIntAnyPoly

◆ UMapStringSizeTAnyPoly

◆ UMapStringStringAnyPoly

◆ UMapStringUnsignedAnyPoly

◆ UnsignedAnyPoly

◆ VectorIsometry3d

◆ VectorVector2d

◆ VectorVector3d

◆ VectorVector4d

Enumeration Type Documentation

◆ CollisionMarginPairOverrideType

◆ CombinedContactAllowedValidatorType

Function Documentation

◆ almostEqualRelativeAndAbs() [1/3]

◆ almostEqualRelativeAndAbs() [2/3]

◆ almostEqualRelativeAndAbs() [3/3]

◆ calcJacobianTransformErrorDiff() [1/2]

◆ calcJacobianTransformErrorDiff() [2/2]

◆ calcRotationalError()

◆ calcRotationalErrorDecomposed()

◆ calcTransformError()

◆ checkForUnknownKeys()

◆ compareYAML()

◆ computeRandomColor()

◆ concat()

◆ enforceLimits()

◆ enforceLimits< double >()

◆ enforceLimits< float >()

◆ fileToString()

◆ findSeparator()

◆ fromYAMLString()

◆ generateRandomNumber()

◆ getAllowedCollisions()

◆ getTempPath()

◆ getTimestampString()

◆ isIdentical()

◆ isIdentical< Eigen::Index >()

◆ isIdentical< std::string >()

◆ isIdenticalArray()

◆ isIdenticalMap()

◆ isIdenticalSet()

◆ isNumeric() [1/2]

◆ isNumeric() [2/2]

◆ isRelativePath()

◆ isWithinLimits()

◆ isWithinLimits< double >()

◆ isWithinLimits< float >()

◆ jacobianChangeBase()

◆ jacobianChangeRefPoint()