#include <environment.h>

Classes
struct	Implementation

Public Types
using	ConstPtr = std::shared_ptr< const Environment >

using	ConstUPtr = std::unique_ptr< const Environment >

using	Ptr = std::shared_ptr< Environment >

using	UPtr = std::unique_ptr< Environment >

Public Member Functions
void	addEventCallback (std::size_t hash, const EventCallbackFn &fn)
	Add an event callback function. More...

void	addFindTCPOffsetCallback (const FindTCPOffsetCallbackFn &fn)
	This allows for user defined callbacks for looking up TCP information. More...

bool	applyCommand (std::shared_ptr< const Command > command)
	Apply command to the environment. More...

bool	applyCommands (const std::vector< std::shared_ptr< const Command >> &commands)
	Applies the commands to the environment. More...

void	clear ()
	clear content and uninitialized More...

void	clearCachedContinuousContactManager () const
	Set the cached internal copy of the environments active continuous contact manager not nullptr. More...

void	clearCachedDiscreteContactManager () const
	Set the cached internal copy of the environments active discrete contact manager not nullptr. More...

void	clearEventCallbacks ()
	clear all event callbacks More...

Environment::UPtr	clone () const
	Clone the environment. More...

	Environment ()
	Default constructor. More...

	Environment (const Environment &)=delete

	Environment (Environment &&)=delete

	Environment (std::unique_ptr< Implementation > impl)
	This should only be used by the clone method. More...

Eigen::Isometry3d	findTCPOffset (const tesseract_common::ManipulatorInfo &manip_info) const
	Find tool center point provided in the manipulator info. More...

std::vector< std::string >	getActiveJointNames () const
	Get a vector of active joint names in the environment. More...

std::vector< std::string >	getActiveLinkNames () const
	Get a vector of active link names in the environment. More...

std::vector< std::string >	getActiveLinkNames (const std::vector< std::string > &joint_names) const
	Get a vector of active link names affected by the provided joints in the environment. More...

std::shared_ptr< const tesseract_common::AllowedCollisionMatrix >	getAllowedCollisionMatrix () const
	Get the allowed collision matrix. More...

tesseract_common::CollisionMarginData	getCollisionMarginData () const
	Get the environment collision margin data. More...

std::vector< std::shared_ptr< const Command > >	getCommandHistory () const
	Get Environment command history post initialization. More...

tesseract_common::ContactManagersPluginInfo	getContactManagersPluginInfo () const
	Get the contact managers plugin information. More...

std::unique_ptr< tesseract_collision::ContinuousContactManager >	getContinuousContactManager () const
	Get a copy of the environments active continuous contact manager. More...

std::unique_ptr< tesseract_collision::ContinuousContactManager >	getContinuousContactManager (const std::string &name) const
	Get a copy of the environments available continuous contact manager by name. More...

tesseract_common::TransformMap	getCurrentFloatingJointValues () const
	Get the current floating joint values. More...

tesseract_common::TransformMap	getCurrentFloatingJointValues (const std::vector< std::string > &joint_names) const
	Get the current floating joint values. More...

Eigen::VectorXd	getCurrentJointValues () const
	Get the current state of the environment. More...

Eigen::VectorXd	getCurrentJointValues (const std::vector< std::string > &joint_names) const
	Get the current joint values for a vector of joints. More...

std::chrono::system_clock::time_point	getCurrentStateTimestamp () const
	Last update time to current state. Updated only when current state is updated. More...

std::unique_ptr< tesseract_collision::DiscreteContactManager >	getDiscreteContactManager () const
	Get a copy of the environments active discrete contact manager. More...

std::unique_ptr< tesseract_collision::DiscreteContactManager >	getDiscreteContactManager (const std::string &name) const
	Get a copy of the environments available discrete contact manager by name. More...

std::map< std::size_t, EventCallbackFn >	getEventCallbacks () const
	Get the current event callbacks stored in the environment. More...

std::vector< FindTCPOffsetCallbackFn >	getFindTCPOffsetCallbacks () const
	This get the current find tcp callbacks stored in the environment. More...

std::vector< std::string >	getGroupJointNames (const std::string &group_name) const
	Get a groups joint names. More...

std::set< std::string >	getGroupNames () const
	Get the available group names. More...

int	getInitRevision () const
	Get the initialization revision number. More...

std::shared_ptr< const tesseract_scene_graph::Joint >	getJoint (const std::string &name) const
	Get joint by name. More...

std::shared_ptr< const tesseract_kinematics::JointGroup >	getJointGroup (const std::string &group_name) const
	Get a joint group by name. More...

std::shared_ptr< const tesseract_kinematics::JointGroup >	getJointGroup (const std::string &name, const std::vector< std::string > &joint_names) const
	Get a joint group given a vector of joint names. More...

std::shared_ptr< const tesseract_scene_graph::JointLimits >	getJointLimits (const std::string &joint_name) const
	Gets the limits associated with a joint. More...

std::vector< std::string >	getJointNames () const
	Get a vector of joint names in the environment. More...

std::shared_ptr< const tesseract_kinematics::KinematicGroup >	getKinematicGroup (const std::string &group_name, const std::string &ik_solver_name="") const
	Get a kinematic group given group name and solver name. More...

tesseract_srdf::KinematicsInformation	getKinematicsInformation () const
	Get the kinematics information. More...

std::shared_ptr< const tesseract_scene_graph::Link >	getLink (const std::string &name) const
	Get a link in the environment. More...

bool	getLinkCollisionEnabled (const std::string &name) const
	Get whether a link should be considered during collision checking. More...

std::vector< std::string >	getLinkNames () const
	Get a vector of link names in the environment. More...

Eigen::Isometry3d	getLinkTransform (const std::string &link_name) const
	Get the transform corresponding to the link. More...

tesseract_common::VectorIsometry3d	getLinkTransforms () const
	Get all of the links transforms. More...

bool	getLinkVisibility (const std::string &name) const
	Get a given links visibility setting. More...

const std::string &	getName () const
	Get the name of the environment. More...

Eigen::Isometry3d	getRelativeLinkTransform (const std::string &from_link_name, const std::string &to_link_name) const
	Get transform between two links using the current state. More...

std::shared_ptr< const tesseract_common::ResourceLocator >	getResourceLocator () const
	Get the resource locator assigned. More...

int	getRevision () const
	Get the current revision number. More...

std::string	getRootLinkName () const
	Get the root link name. More...

std::shared_ptr< const tesseract_scene_graph::SceneGraph >	getSceneGraph () const
	Get the Scene Graph. More...

tesseract_scene_graph::SceneState	getState () const
	Get the current state of the environment. More...

tesseract_scene_graph::SceneState	getState (const std::unordered_map< std::string, double > &joints, const tesseract_common::TransformMap &floating_joints={}) const
	Get the state of the environment for a given set or subset of joint values. More...

tesseract_scene_graph::SceneState	getState (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const tesseract_common::TransformMap &floating_joints={}) const

tesseract_scene_graph::SceneState	getState (const tesseract_common::TransformMap &floating_joints) const
	Get the state given floating joint values. More...

std::unique_ptr< tesseract_scene_graph::StateSolver >	getStateSolver () const
	Returns a clone of the environments state solver. More...

std::vector< std::string >	getStaticLinkNames () const
	Get a vector of static link names in the environment. More...

std::vector< std::string >	getStaticLinkNames (const std::vector< std::string > &joint_names) const
	Get a vector of static link names not affected by the provided joints in the environment. More...

std::chrono::system_clock::time_point	getTimestamp () const
	Last update time. Updated when any change to the environment occurs. More...

bool	init (const std::filesystem::path &urdf_path, const std::filesystem::path &srdf_path, const std::shared_ptr< const tesseract_common::ResourceLocator > &locator)

bool	init (const std::filesystem::path &urdf_path, const std::shared_ptr< const tesseract_common::ResourceLocator > &locator)

bool	init (const std::string &urdf_string, const std::shared_ptr< const tesseract_common::ResourceLocator > &locator)

bool	init (const std::string &urdf_string, const std::string &srdf_string, const std::shared_ptr< const tesseract_common::ResourceLocator > &locator)

bool	init (const std::vector< std::shared_ptr< const Command >> &commands)
	Initialize the Environment. More...

bool	init (const tesseract_scene_graph::SceneGraph &scene_graph, const std::shared_ptr< const tesseract_srdf::SRDFModel > &srdf_model=nullptr)
	Initialize the Environment. More...

bool	isInitialized () const
	check if the environment is initialized More...

std::shared_lock< std::shared_mutex >	lockRead () const
	Lock the environment when wanting to make multiple reads. More...

bool	operator!= (const Environment &rhs) const

Environment &	operator= (const Environment &)=delete

Environment &	operator= (Environment &&)=delete

bool	operator== (const Environment &rhs) const
	These operators are to facilitate checking serialization but may have value elsewhere. More...

void	removeEventCallback (std::size_t hash)
	Remove event callbacks. More...

bool	reset ()
	reset to initialized state More...

bool	setActiveContinuousContactManager (const std::string &name)
	Set the active continuous contact manager. More...

bool	setActiveDiscreteContactManager (const std::string &name)
	Set the active discrete contact manager. More...

void	setName (const std::string &name)
	Give the environment a name. More...

void	setResourceLocator (std::shared_ptr< const tesseract_common::ResourceLocator > locator)
	Set resource locator for environment. More...

void	setState (const std::unordered_map< std::string, double > &joints, const tesseract_common::TransformMap &floating_joints={})
	Set the current state of the environment. More...

void	setState (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const tesseract_common::TransformMap &floating_joints={})

void	setState (const tesseract_common::TransformMap &floating_joints)
	Set the current state of the floating joint values. More...

virtual	~Environment ()

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

template<class Archive >
void	save (Archive &ar, const unsigned int version) const

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

Private Attributes
std::unique_ptr< Implementation >	impl_

std::shared_mutex	mutex_
	The environment can be accessed from multiple threads, need use mutex throughout. More...

Friends
class	boost::serialization::access

struct	tesseract_common::Serialization

Detailed Description

Definition at line 71 of file environment.h.

Member Typedef Documentation

◆ ConstPtr

using tesseract_environment::Environment::ConstPtr = std::shared_ptr<const Environment>

Definition at line 79 of file environment.h.

◆ ConstUPtr

using tesseract_environment::Environment::ConstUPtr = std::unique_ptr<const Environment>

Definition at line 81 of file environment.h.

◆ Ptr

using tesseract_environment::Environment::Ptr = std::shared_ptr<Environment>

Definition at line 78 of file environment.h.

◆ UPtr

using tesseract_environment::Environment::UPtr = std::unique_ptr<Environment>

Definition at line 80 of file environment.h.

Constructor & Destructor Documentation

◆ Environment() [1/4]

tesseract_environment::Environment::Environment ( )

Default constructor.

Definition at line 2152 of file environment.cpp.

◆ ~Environment()

tesseract_environment::Environment::~Environment ( )

virtualdefault

◆ Environment() [2/4]

tesseract_environment::Environment::Environment ( const Environment & )

delete

◆ Environment() [3/4]

tesseract_environment::Environment::Environment ( Environment && )

delete

◆ Environment() [4/4]

tesseract_environment::Environment::Environment ( std::unique_ptr< Implementation > impl )

explicit

This should only be used by the clone method.

Definition at line 2153 of file environment.cpp.

Member Function Documentation

◆ addEventCallback()

void tesseract_environment::Environment::addEventCallback	(	std::size_t	hash,
		const EventCallbackFn &	fn
	)

Add an event callback function.

When these get called they are protected by a unique lock internally so if the callback is a long event it can impact performance.

Note: These do not get cloned or serialized

Parameters

hash	The id associated with the callback to allow removal. It is recommended to use std::hash<Object*>{}(this) to associate the callback with the class it associated with.
fn	User defined callback function which gets called for different event triggers

Definition at line 2416 of file environment.cpp.

◆ addFindTCPOffsetCallback()

void tesseract_environment::Environment::addFindTCPOffsetCallback ( const FindTCPOffsetCallbackFn & fn )

This allows for user defined callbacks for looking up TCP information.

Parameters

fn	User defined callback function for locating TCP information

Definition at line 2404 of file environment.cpp.

◆ applyCommand()

bool tesseract_environment::Environment::applyCommand ( std::shared_ptr< const Command > command )

Apply command to the environment.

Parameters

command Command to be applied to the environment

Returns: true if successful. If returned false, then the command have not been applied. Some type of Command are not checked for success

Definition at line 2364 of file environment.cpp.

◆ applyCommands()

bool tesseract_environment::Environment::applyCommands ( const std::vector< std::shared_ptr< const Command >> & commands )

Applies the commands to the environment.

Parameters

commands Commands to be applied to the environment

Returns: true if successful. If returned false, then only a partial set of commands have been applied. Call getCommandHistory to check. Some commands are not checked for success

Definition at line 2351 of file environment.cpp.

◆ clear()

void tesseract_environment::Environment::clear ( )

clear content and uninitialized

Definition at line 2321 of file environment.cpp.

◆ clearCachedContinuousContactManager()

void tesseract_environment::Environment::clearCachedContinuousContactManager ( ) const

Set the cached internal copy of the environments active continuous contact manager not nullptr.

This can be useful to save space in the event the environment is being saved

Definition at line 2737 of file environment.cpp.

◆ clearCachedDiscreteContactManager()

void tesseract_environment::Environment::clearCachedDiscreteContactManager ( ) const

Set the cached internal copy of the environments active discrete contact manager not nullptr.

This can be useful to save space in the event the environment is being saved

Definition at line 2725 of file environment.cpp.

◆ clearEventCallbacks()

void tesseract_environment::Environment::clearEventCallbacks ( )

clear all event callbacks

Definition at line 2428 of file environment.cpp.

◆ clone()

Environment::UPtr tesseract_environment::Environment::clone ( ) const

Clone the environment.

Returns: A clone of the environment

Definition at line 2762 of file environment.cpp.

◆ findTCPOffset()

Eigen::Isometry3d tesseract_environment::Environment::findTCPOffset ( const tesseract_common::ManipulatorInfo & manip_info ) const

Find tool center point provided in the manipulator info.

If manipulator information tcp is defined as a string it does the following

First check if manipulator info is empty or already an Isometry3d, if so return identity
Next if not, it checks if the tcp offset name is a link in the environment if so throw an exception.
Next if not found, it looks up the tcp name in the SRDF kinematics information
Next if not found, it leverages the user defined callbacks to try an locate the tcp information.
Next throw an exception, because no tcp information was located.

Parameters

manip_info The manipulator info

Returns: The tool center point

Definition at line 2398 of file environment.cpp.

◆ getActiveJointNames()

std::vector< std::string > tesseract_environment::Environment::getActiveJointNames ( ) const

Get a vector of active joint names in the environment.

Returns: A vector of active joint names

Definition at line 2577 of file environment.cpp.

◆ getActiveLinkNames() [1/2]

std::vector< std::string > tesseract_environment::Environment::getActiveLinkNames ( ) const

Get a vector of active link names in the environment.

Returns: A vector of active link names

Definition at line 2626 of file environment.cpp.

◆ getActiveLinkNames() [2/2]

std::vector< std::string > tesseract_environment::Environment::getActiveLinkNames ( const std::vector< std::string > & joint_names ) const

Get a vector of active link names affected by the provided joints in the environment.

Parameters

joint_names A list of joint names

Returns: A vector of active link names

Definition at line 2632 of file environment.cpp.

◆ getAllowedCollisionMatrix()

std::shared_ptr< const tesseract_common::AllowedCollisionMatrix > tesseract_environment::Environment::getAllowedCollisionMatrix ( ) const

Get the allowed collision matrix.

Returns: AllowedCollisionMatrixConstPtr

Definition at line 2565 of file environment.cpp.

◆ getCollisionMarginData()

tesseract_common::CollisionMarginData tesseract_environment::Environment::getCollisionMarginData ( ) const

Get the environment collision margin data.

Definition at line 2743 of file environment.cpp.

◆ getCommandHistory()

std::vector< std::shared_ptr< const Command > > tesseract_environment::Environment::getCommandHistory ( ) const

Get Environment command history post initialization.

Returns: List of commands

Definition at line 2345 of file environment.cpp.

◆ getContactManagersPluginInfo()

tesseract_common::ContactManagersPluginInfo tesseract_environment::Environment::getContactManagersPluginInfo ( ) const

Get the contact managers plugin information.

Returns: The contact managers plugin information

Definition at line 2687 of file environment.cpp.

◆ getContinuousContactManager() [1/2]

std::unique_ptr< tesseract_collision::ContinuousContactManager > tesseract_environment::Environment::getContinuousContactManager ( ) const

Get a copy of the environments active continuous contact manager.

Definition at line 2731 of file environment.cpp.

◆ getContinuousContactManager() [2/2]

std::unique_ptr< tesseract_collision::ContinuousContactManager > tesseract_environment::Environment::getContinuousContactManager ( const std::string & name ) const

Get a copy of the environments available continuous contact manager by name.

Definition at line 2713 of file environment.cpp.

◆ getCurrentFloatingJointValues() [1/2]

tesseract_common::TransformMap tesseract_environment::Environment::getCurrentFloatingJointValues ( ) const

Get the current floating joint values.

Returns: The joint origin transform for the floating joint

Definition at line 2601 of file environment.cpp.

◆ getCurrentFloatingJointValues() [2/2]

tesseract_common::TransformMap tesseract_environment::Environment::getCurrentFloatingJointValues ( const std::vector< std::string > & joint_names ) const

Get the current floating joint values.

Returns: The joint origin transform for the floating joint

Definition at line 2608 of file environment.cpp.

◆ getCurrentJointValues() [1/2]

Eigen::VectorXd tesseract_environment::Environment::getCurrentJointValues ( ) const

Get the current state of the environment.

Order should be the same as getActiveJointNames()

Returns: A vector of joint values

Definition at line 2589 of file environment.cpp.

◆ getCurrentJointValues() [2/2]

Eigen::VectorXd tesseract_environment::Environment::getCurrentJointValues ( const std::vector< std::string > & joint_names ) const

Get the current joint values for a vector of joints.

Order should be the same as the input vector

Returns: A vector of joint values

Definition at line 2595 of file environment.cpp.

◆ getCurrentStateTimestamp()

std::chrono::system_clock::time_point tesseract_environment::Environment::getCurrentStateTimestamp ( ) const

Last update time to current state. Updated only when current state is updated.

Definition at line 2533 of file environment.cpp.

◆ getDiscreteContactManager() [1/2]

std::unique_ptr< tesseract_collision::DiscreteContactManager > tesseract_environment::Environment::getDiscreteContactManager ( ) const

Get a copy of the environments active discrete contact manager.

Definition at line 2719 of file environment.cpp.

◆ getDiscreteContactManager() [2/2]

std::unique_ptr< tesseract_collision::DiscreteContactManager > tesseract_environment::Environment::getDiscreteContactManager ( const std::string & name ) const

Get a copy of the environments available discrete contact manager by name.

Definition at line 2700 of file environment.cpp.

◆ getEventCallbacks()

std::map< std::size_t, EventCallbackFn > tesseract_environment::Environment::getEventCallbacks ( ) const

Get the current event callbacks stored in the environment.

Returns: A map of callback functions

Definition at line 2434 of file environment.cpp.

◆ getFindTCPOffsetCallbacks()

std::vector< FindTCPOffsetCallbackFn > tesseract_environment::Environment::getFindTCPOffsetCallbacks ( ) const

This get the current find tcp callbacks stored in the environment.

Returns: A vector of callback functions

Definition at line 2410 of file environment.cpp.

◆ getGroupJointNames()

std::vector< std::string > tesseract_environment::Environment::getGroupJointNames ( const std::string & group_name ) const

Get a groups joint names.

Parameters

group_name The group name

Returns: A vector of joint names

Definition at line 2371 of file environment.cpp.

◆ getGroupNames()

std::set< std::string > tesseract_environment::Environment::getGroupNames ( ) const

Get the available group names.

Returns: The group names

Definition at line 2681 of file environment.cpp.

◆ getInitRevision()

int tesseract_environment::Environment::getInitRevision ( ) const

Get the initialization revision number.

Returns: Initialization revision number

Definition at line 2339 of file environment.cpp.

◆ getJoint()

std::shared_ptr< const tesseract_scene_graph::Joint > tesseract_environment::Environment::getJoint ( const std::string & name ) const

Get joint by name.

Parameters

name	The name of the joint

Returns: Joint Const Pointer

Definition at line 2583 of file environment.cpp.

◆ getJointGroup() [1/2]

std::shared_ptr< const tesseract_kinematics::JointGroup > tesseract_environment::Environment::getJointGroup ( const std::string & group_name ) const

Get a joint group by name.

Parameters

group_name The group name

Returns: A joint group

Definition at line 2377 of file environment.cpp.

◆ getJointGroup() [2/2]

std::shared_ptr< const tesseract_kinematics::JointGroup > tesseract_environment::Environment::getJointGroup	(	const std::string &	name,
		const std::vector< std::string > &	joint_names
	)		const

Get a joint group given a vector of joint names.

Parameters

name	The name to assign to the joint group
joint_names	The joint names that make up the group

Returns: A joint group

Definition at line 2384 of file environment.cpp.

◆ getJointLimits()

std::shared_ptr< const tesseract_scene_graph::JointLimits > tesseract_environment::Environment::getJointLimits ( const std::string & joint_name ) const

Gets the limits associated with a joint.

Parameters

joint_name Name of the joint to be updated

Returns: The joint limits set for the given joint

Definition at line 2547 of file environment.cpp.

◆ getJointNames()

std::vector< std::string > tesseract_environment::Environment::getJointNames ( ) const

Get a vector of joint names in the environment.

Returns: A vector of joint names

Definition at line 2571 of file environment.cpp.

◆ getKinematicGroup()

std::shared_ptr< const tesseract_kinematics::KinematicGroup > tesseract_environment::Environment::getKinematicGroup	(	const std::string &	group_name,
		const std::string &	ik_solver_name = `""`
	)		const

Get a kinematic group given group name and solver name.

If ik_solver_name is empty it will choose the first ik solver for the group

Parameters

group_name	The group name
ik_solver_name	The IK solver name

Returns: A kinematics group

Definition at line 2391 of file environment.cpp.

◆ getKinematicsInformation()

tesseract_srdf::KinematicsInformation tesseract_environment::Environment::getKinematicsInformation ( ) const

Get the kinematics information.

Returns: The kinematics information

Definition at line 2675 of file environment.cpp.

◆ getLink()

std::shared_ptr< const tesseract_scene_graph::Link > tesseract_environment::Environment::getLink ( const std::string & name ) const

Get a link in the environment.

Parameters

name	The name of the link

Returns: Return nullptr if link name does not exists, otherwise a pointer to the link

Definition at line 2539 of file environment.cpp.

◆ getLinkCollisionEnabled()

bool tesseract_environment::Environment::getLinkCollisionEnabled ( const std::string & name ) const

Get whether a link should be considered during collision checking.

Returns: True if should be considered during collision checking, otherwise false

Definition at line 2553 of file environment.cpp.

◆ getLinkNames()

std::vector< std::string > tesseract_environment::Environment::getLinkNames ( ) const

Get a vector of link names in the environment.

Returns: A vector of link names

Definition at line 2620 of file environment.cpp.

◆ getLinkTransform()

Eigen::Isometry3d tesseract_environment::Environment::getLinkTransform ( const std::string & link_name ) const

Get the transform corresponding to the link.

Returns: Transform and is identity when no transform is available.

Definition at line 2656 of file environment.cpp.

◆ getLinkTransforms()

tesseract_common::VectorIsometry3d tesseract_environment::Environment::getLinkTransforms ( ) const

Get all of the links transforms.

Order should be the same as getLinkNames()

Returns: Get a vector of transforms for all links in the environment.

Definition at line 2650 of file environment.cpp.

◆ getLinkVisibility()

bool tesseract_environment::Environment::getLinkVisibility ( const std::string & name ) const

Get a given links visibility setting.

Returns: True if should be visible, otherwise false

Definition at line 2559 of file environment.cpp.

◆ getName()

const std::string & tesseract_environment::Environment::getName ( ) const

Get the name of the environment.

This may be empty, if so check urdf name

Definition at line 2458 of file environment.cpp.

◆ getRelativeLinkTransform()

Eigen::Isometry3d tesseract_environment::Environment::getRelativeLinkTransform	(	const std::string &	from_link_name,
		const std::string &	to_link_name
	)		const

Get transform between two links using the current state.

Parameters

from_link_name	The link name the transform should be relative to
to_link_name	The link name to get transform

Returns: The relative transform = inv(Transform(from_link_name)) * Transform(to_link_name)

Definition at line 2662 of file environment.cpp.

◆ getResourceLocator()

std::shared_ptr< const tesseract_common::ResourceLocator > tesseract_environment::Environment::getResourceLocator ( ) const

Get the resource locator assigned.

This can be a nullptr

Returns: The resource locator assigned to the environment

Definition at line 2446 of file environment.cpp.

◆ getRevision()

int tesseract_environment::Environment::getRevision ( ) const

Get the current revision number.

Returns: Revision number

Definition at line 2333 of file environment.cpp.

◆ getRootLinkName()

std::string tesseract_environment::Environment::getRootLinkName ( ) const

Get the root link name.

Returns: String

Definition at line 2614 of file environment.cpp.

◆ getSceneGraph()

std::shared_ptr< const tesseract_scene_graph::SceneGraph > tesseract_environment::Environment::getSceneGraph ( ) const

Get the Scene Graph.

Returns: SceneGraphConstPtr

Definition at line 2366 of file environment.cpp.

◆ getState() [1/4]

tesseract_scene_graph::SceneState tesseract_environment::Environment::getState ( ) const

Get the current state of the environment.

Definition at line 2521 of file environment.cpp.

◆ getState() [2/4]

tesseract_scene_graph::SceneState tesseract_environment::Environment::getState	(	const std::unordered_map< std::string, double > &	joints,
		const tesseract_common::TransformMap &	floating_joints = `{}`
	)		const

Get the state of the environment for a given set or subset of joint values.

This does not change the internal state of the environment.

Parameters

joints A map of joint names to joint values to change.

Returns: A the state of the environment

Definition at line 2500 of file environment.cpp.

◆ getState() [3/4]

tesseract_scene_graph::SceneState tesseract_environment::Environment::getState	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const tesseract_common::TransformMap &	floating_joints = `{}`
	)		const

Definition at line 2507 of file environment.cpp.

◆ getState() [4/4]

tesseract_scene_graph::SceneState tesseract_environment::Environment::getState ( const tesseract_common::TransformMap & floating_joints ) const

Get the state given floating joint values.

Parameters

floating_joint_values The floating joint values to leverage

Returns: A the state of the environment

Definition at line 2515 of file environment.cpp.

◆ getStateSolver()

std::unique_ptr< tesseract_scene_graph::StateSolver > tesseract_environment::Environment::getStateSolver ( ) const

Returns a clone of the environments state solver.

The Environment::getState contains mutex's which is may not be needed in all motion planners. This allows the user to get snap shot of the environment to calculate the state.

Returns: A clone of the environments state solver

Definition at line 2669 of file environment.cpp.

◆ getStaticLinkNames() [1/2]

std::vector< std::string > tesseract_environment::Environment::getStaticLinkNames ( ) const

Get a vector of static link names in the environment.

Returns: A vector of static link names

Definition at line 2638 of file environment.cpp.

◆ getStaticLinkNames() [2/2]

std::vector< std::string > tesseract_environment::Environment::getStaticLinkNames ( const std::vector< std::string > & joint_names ) const

Get a vector of static link names not affected by the provided joints in the environment.

Parameters

joint_names A list of joint names

Returns: A vector of static link names

Definition at line 2644 of file environment.cpp.

◆ getTimestamp()

std::chrono::system_clock::time_point tesseract_environment::Environment::getTimestamp ( ) const

Last update time. Updated when any change to the environment occurs.

Definition at line 2527 of file environment.cpp.

◆ init() [1/6]

bool tesseract_environment::Environment::init	(	const std::filesystem::path &	urdf_path,
		const std::filesystem::path &	srdf_path,
		const std::shared_ptr< const tesseract_common::ResourceLocator > &	locator
	)

Definition at line 2267 of file environment.cpp.

◆ init() [2/6]

bool tesseract_environment::Environment::init	(	const std::filesystem::path &	urdf_path,
		const std::shared_ptr< const tesseract_common::ResourceLocator > &	locator
	)

Definition at line 2242 of file environment.cpp.

◆ init() [3/6]

bool tesseract_environment::Environment::init	(	const std::string &	urdf_string,
		const std::shared_ptr< const tesseract_common::ResourceLocator > &	locator
	)

Definition at line 2178 of file environment.cpp.

◆ init() [4/6]

bool tesseract_environment::Environment::init	(	const std::string &	urdf_string,
		const std::string &	srdf_string,
		const std::shared_ptr< const tesseract_common::ResourceLocator > &	locator
	)

Definition at line 2203 of file environment.cpp.

◆ init() [5/6]

bool tesseract_environment::Environment::init ( const std::vector< std::shared_ptr< const Command >> & commands )

Initialize the Environment.

The template class provided should be a derived class from StateSolver.

Parameters

scene_graph The scene graph to initialize the environment.

Returns: True if successful, otherwise false

Definition at line 2156 of file environment.cpp.

◆ init() [6/6]

bool tesseract_environment::Environment::init	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::shared_ptr< const tesseract_srdf::SRDFModel > &	srdf_model = `nullptr`
	)

Initialize the Environment.

The template class provided should be a derived class from StateSolver.

Parameters

scene_graph The scene graph to initialize the environment.

Returns: True if successful, otherwise false

Definition at line 2171 of file environment.cpp.

◆ isInitialized()

bool tesseract_environment::Environment::isInitialized ( ) const

check if the environment is initialized

Definition at line 2327 of file environment.cpp.

◆ load()

template<class Archive >

void tesseract_environment::Environment::load	(	Archive &	ar,
		const unsigned int	version
	)

private

Definition at line 2776 of file environment.cpp.

◆ lockRead()

std::shared_lock< std::shared_mutex > tesseract_environment::Environment::lockRead ( ) const

Lock the environment when wanting to make multiple reads.

This is useful when making multiple read function calls and don't want the data to get updated between function calls when there a multiple threads updating a single environment

Definition at line 2749 of file environment.cpp.

◆ operator!=()

bool tesseract_environment::Environment::operator!= ( const Environment & rhs ) const

Definition at line 2760 of file environment.cpp.

◆ operator=() [1/2]

Environment& tesseract_environment::Environment::operator= ( const Environment & )

delete

◆ operator=() [2/2]

Environment& tesseract_environment::Environment::operator= ( Environment && )

delete

◆ operator==()

bool tesseract_environment::Environment::operator== ( const Environment & rhs ) const

These operators are to facilitate checking serialization but may have value elsewhere.

Parameters

rhs	The environment to compare

Returns: True if they are equal otherwise false

Definition at line 2754 of file environment.cpp.

◆ removeEventCallback()

void tesseract_environment::Environment::removeEventCallback ( std::size_t hash )

Remove event callbacks.

Parameters

hash	the id associated with the callback to be removed

Definition at line 2422 of file environment.cpp.

◆ reset()

bool tesseract_environment::Environment::reset ( )

reset to initialized state

If the environment has not been initialized then this returns false

Returns: True if environment was successfully reset, otherwise false.

Definition at line 2306 of file environment.cpp.

◆ save()

template<class Archive >

void tesseract_environment::Environment::save	(	Archive &	ar,
		const unsigned int	version
	)		const

private

Definition at line 2769 of file environment.cpp.

◆ serialize()

template<class Archive >

void tesseract_environment::Environment::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

Definition at line 2783 of file environment.cpp.

◆ setActiveContinuousContactManager()

bool tesseract_environment::Environment::setActiveContinuousContactManager ( const std::string & name )

Set the active continuous contact manager.

Parameters

name	The name used to register the contact manager

Returns: True of name exists in ContinuousContactManagerFactory

Definition at line 2706 of file environment.cpp.

◆ setActiveDiscreteContactManager()

bool tesseract_environment::Environment::setActiveDiscreteContactManager ( const std::string & name )

Set the active discrete contact manager.

Parameters

name	The name used to register the contact manager

Returns: True of name exists in DiscreteContactManagerFactory

Definition at line 2693 of file environment.cpp.

◆ setName()

void tesseract_environment::Environment::setName ( const std::string & name )

Give the environment a name.

Definition at line 2452 of file environment.cpp.

◆ setResourceLocator()

void tesseract_environment::Environment::setResourceLocator ( std::shared_ptr< const tesseract_common::ResourceLocator > locator )

Set resource locator for environment.

Parameters

locator The resource locator

Definition at line 2440 of file environment.cpp.

◆ setState() [1/3]

void tesseract_environment::Environment::setState	(	const std::unordered_map< std::string, double > &	joints,
		const tesseract_common::TransformMap &	floating_joints = `{}`
	)

Set the current state of the environment.

After updating the current state these function must call currentStateChanged() which will update the contact managers transforms

Definition at line 2464 of file environment.cpp.

◆ setState() [2/3]

void tesseract_environment::Environment::setState	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const tesseract_common::TransformMap &	floating_joints = `{}`
	)

Definition at line 2476 of file environment.cpp.

◆ setState() [3/3]

void tesseract_environment::Environment::setState ( const tesseract_common::TransformMap & floating_joints )

Set the current state of the floating joint values.

Parameters

floating_joint_values The floating joint values to set

Definition at line 2489 of file environment.cpp.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 576 of file environment.h.

◆ tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 577 of file environment.h.

Member Data Documentation

◆ impl_

std::unique_ptr<Implementation> tesseract_environment::Environment::impl_

private

Definition at line 573 of file environment.h.

◆ mutex_

std::shared_mutex tesseract_environment::Environment::mutex_

mutableprivate

The environment can be accessed from multiple threads, need use mutex throughout.

Definition at line 570 of file environment.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ Environment() [1/4]

◆ ~Environment()

◆ Environment() [2/4]

◆ Environment() [3/4]

◆ Environment() [4/4]

Member Function Documentation

◆ addEventCallback()

◆ addFindTCPOffsetCallback()

◆ applyCommand()

◆ applyCommands()

◆ clear()

◆ clearCachedContinuousContactManager()

◆ clearCachedDiscreteContactManager()

◆ clearEventCallbacks()

◆ clone()

◆ findTCPOffset()

◆ getActiveJointNames()

◆ getActiveLinkNames() [1/2]

◆ getActiveLinkNames() [2/2]

◆ getAllowedCollisionMatrix()

◆ getCollisionMarginData()

◆ getCommandHistory()

◆ getContactManagersPluginInfo()

◆ getContinuousContactManager() [1/2]

◆ getContinuousContactManager() [2/2]

◆ getCurrentFloatingJointValues() [1/2]

◆ getCurrentFloatingJointValues() [2/2]

◆ getCurrentJointValues() [1/2]

◆ getCurrentJointValues() [2/2]

◆ getCurrentStateTimestamp()

◆ getDiscreteContactManager() [1/2]

◆ getDiscreteContactManager() [2/2]

◆ getEventCallbacks()

◆ getFindTCPOffsetCallbacks()

◆ getGroupJointNames()

◆ getGroupNames()

◆ getInitRevision()

◆ getJoint()

◆ getJointGroup() [1/2]

◆ getJointGroup() [2/2]

◆ getJointLimits()

◆ getJointNames()

◆ getKinematicGroup()

◆ getKinematicsInformation()

◆ getLink()

◆ getLinkCollisionEnabled()

◆ getLinkNames()

◆ getLinkTransform()

◆ getLinkTransforms()

◆ getLinkVisibility()

◆ getName()

◆ getRelativeLinkTransform()

◆ getResourceLocator()

◆ getRevision()

◆ getRootLinkName()

◆ getSceneGraph()

◆ getState() [1/4]

◆ getState() [2/4]

◆ getState() [3/4]

◆ getState() [4/4]

◆ getStateSolver()

◆ getStaticLinkNames() [1/2]

◆ getStaticLinkNames() [2/2]

◆ getTimestamp()

◆ init() [1/6]

◆ init() [2/6]

◆ init() [3/6]