Contains information about a robot manipulator. More...

#include <manipulator_info.h>

Public Member Functions
bool	empty () const
	Check if any data is current being stored. More...

ManipulatorInfo	getCombined (const ManipulatorInfo &manip_info_override) const
	If the provided manipulator information member is not empty it will override this and return a new manipulator information with the combined results. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ManipulatorInfo ()=default

	ManipulatorInfo (std::string manipulator_, std::string working_frame_, std::string tcp_frame_, std::variant< std::string, Eigen::Isometry3d > tcp_offset_=Eigen::Isometry3d::Identity())

bool	operator!= (const ManipulatorInfo &rhs) const

bool	operator== (const ManipulatorInfo &rhs) const

Public Attributes
std::string	manipulator
	Name of the manipulator group. More...

std::string	manipulator_ik_solver
	(Optional) IK Solver to be used More...

std::string	tcp_frame
	The coordinate frame within to the environment to use as the reference frame for the tool center point (TCP) which is defined by an offset transform relative to this frame. More...

std::variant< std::string, Eigen::Isometry3d >	tcp_offset { Eigen::Isometry3d::Identity() }
	(Optional) Offset transform applied to the tcp_frame link to represent the manipulator TCP More...

std::string	working_frame
	The working frame to which waypoints are relative. More...

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Friends
class	boost::serialization::access

struct	tesseract_common::Serialization

Detailed Description

Contains information about a robot manipulator.

Definition at line 44 of file manipulator_info.h.

Constructor & Destructor Documentation

◆ ManipulatorInfo() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW tesseract_common::ManipulatorInfo::ManipulatorInfo ( )

default

◆ ManipulatorInfo() [2/2]

tesseract_common::ManipulatorInfo::ManipulatorInfo	(	std::string	manipulator_,
		std::string	working_frame_,
		std::string	tcp_frame_,
		std::variant< std::string, Eigen::Isometry3d >	tcp_offset_ = `Eigen::Isometry3d::Identity()`
	)

Definition at line 39 of file manipulator_info.cpp.

Member Function Documentation

◆ empty()

bool tesseract_common::ManipulatorInfo::empty ( ) const

Check if any data is current being stored.

Returns: True if empty otherwise false

Definition at line 72 of file manipulator_info.cpp.

◆ getCombined()

ManipulatorInfo tesseract_common::ManipulatorInfo::getCombined ( const ManipulatorInfo & manip_info_override ) const

If the provided manipulator information member is not empty it will override this and return a new manipulator information with the combined results.

Parameters

manip_info_override The manipulator information to check for overrides

Returns: The combined manipulator information

Definition at line 50 of file manipulator_info.cpp.

◆ operator!=()

bool tesseract_common::ManipulatorInfo::operator!= ( const ManipulatorInfo & rhs ) const

Definition at line 96 of file manipulator_info.cpp.

◆ operator==()

bool tesseract_common::ManipulatorInfo::operator== ( const ManipulatorInfo & rhs ) const

Definition at line 78 of file manipulator_info.cpp.

◆ serialize()

template<class Archive >

void tesseract_common::ManipulatorInfo::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

Definition at line 99 of file manipulator_info.cpp.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 96 of file manipulator_info.h.

◆ tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 97 of file manipulator_info.h.

Member Data Documentation

◆ manipulator

std::string tesseract_common::ManipulatorInfo::manipulator

Name of the manipulator group.

Definition at line 57 of file manipulator_info.h.

◆ manipulator_ik_solver

std::string tesseract_common::ManipulatorInfo::manipulator_ik_solver

(Optional) IK Solver to be used

Definition at line 76 of file manipulator_info.h.

◆ tcp_frame

std::string tesseract_common::ManipulatorInfo::tcp_frame

The coordinate frame within to the environment to use as the reference frame for the tool center point (TCP) which is defined by an offset transform relative to this frame.

Definition at line 70 of file manipulator_info.h.

◆ tcp_offset

std::variant<std::string, Eigen::Isometry3d> tesseract_common::ManipulatorInfo::tcp_offset { Eigen::Isometry3d::Identity() }

(Optional) Offset transform applied to the tcp_frame link to represent the manipulator TCP

Definition at line 73 of file manipulator_info.h.

◆ working_frame

std::string tesseract_common::ManipulatorInfo::working_frame

The working frame to which waypoints are relative.

If the tcp_frame is external to manipulator then the working frame must be an active frame on the manipulator

Definition at line 64 of file manipulator_info.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Friends