Classes
class	AddContactManagersPluginInfoCommand

class	AddKinematicsInformationCommand

class	AddLinkCommand

class	AddSceneGraphCommand

class	AddTrajectoryLinkCommand

class	ChangeCollisionMarginsCommand

class	ChangeJointAccelerationLimitsCommand

class	ChangeJointOriginCommand

class	ChangeJointPositionLimitsCommand

class	ChangeJointVelocityLimitsCommand

class	ChangeLinkCollisionEnabledCommand

class	ChangeLinkOriginCommand

class	ChangeLinkVisibilityCommand

class	Command

struct	CommandAppliedEvent
	The command applied event. More...

class	DefaultEnvironmentCache

class	Environment

class	EnvironmentCache

class	EnvironmentContactAllowedValidator

class	EnvironmentMonitor
	Tesseract Environment Monitor Interface Class. More...

class	EnvironmentMonitorInterface

struct	Event
	The event base class. More...

class	ModifyAllowedCollisionsCommand

class	MoveJointCommand

class	MoveLinkCommand

class	RemoveAllowedCollisionLinkCommand

class	RemoveJointCommand

class	RemoveLinkCommand

class	ReplaceJointCommand

struct	SceneStateChangedEvent
	The scene state changed event. More...

class	SetActiveContinuousContactManagerCommand

class	SetActiveDiscreteContactManagerCommand

Typedefs
using	CalcStateFn = std::function< tesseract_common::TransformMap(const Eigen::VectorXd &state)>

using	CollisionMarginPairData = tesseract_common::CollisionMarginPairData

using	CollisionMarginPairOverrideType = tesseract_common::CollisionMarginPairOverrideType

using	Commands = std::vector< std::shared_ptr< const Command > >

using	EnvironmentConstPtrAnyPoly = tesseract_common::AnyWrapper< std::shared_ptr< const tesseract_environment::Environment > >

using	EnvironmentPtrAnyPoly = tesseract_common::AnyWrapper< std::shared_ptr< tesseract_environment::Environment > >

using	EventCallbackFn = std::function< void(const Event &event)>

using	FindTCPOffsetCallbackFn = std::function< Eigen::Isometry3d(const tesseract_common::ManipulatorInfo &)>
	Function signature for adding additional callbacks for looking up TCP information. More...

Enumerations
enum	CommandType { CommandType::UNINITIALIZED = -1, CommandType::ADD_LINK = 0, CommandType::MOVE_LINK = 1, CommandType::MOVE_JOINT = 2, CommandType::REMOVE_LINK = 3, CommandType::REMOVE_JOINT = 4, CommandType::CHANGE_LINK_ORIGIN = 5, CommandType::CHANGE_JOINT_ORIGIN = 6, CommandType::CHANGE_LINK_COLLISION_ENABLED = 7, CommandType::CHANGE_LINK_VISIBILITY = 8, CommandType::MODIFY_ALLOWED_COLLISIONS = 9, CommandType::REMOVE_ALLOWED_COLLISION_LINK = 10, CommandType::ADD_SCENE_GRAPH = 11, CommandType::CHANGE_JOINT_POSITION_LIMITS = 12, CommandType::CHANGE_JOINT_VELOCITY_LIMITS = 13, CommandType::CHANGE_JOINT_ACCELERATION_LIMITS = 14, CommandType::ADD_KINEMATICS_INFORMATION = 15, CommandType::REPLACE_JOINT = 16, CommandType::CHANGE_COLLISION_MARGINS = 17, CommandType::ADD_CONTACT_MANAGERS_PLUGIN_INFO = 18, CommandType::SET_ACTIVE_DISCRETE_CONTACT_MANAGER = 19, CommandType::SET_ACTIVE_CONTINUOUS_CONTACT_MANAGER = 20, CommandType::ADD_TRAJECTORY_LINK = 21 }

enum	Events { Events::COMMAND_APPLIED = 0, Events::SCENE_STATE_CHANGED = 1 }

enum	ModifyAllowedCollisionsType { ModifyAllowedCollisionsType::ADD, ModifyAllowedCollisionsType::REMOVE, ModifyAllowedCollisionsType::REPLACE }

enum	MonitoredEnvironmentMode : int { MonitoredEnvironmentMode::DEFAULT = 0, MonitoredEnvironmentMode::SYNCHRONIZED = 1 }

Functions
bool	checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::ContinuousContactManager &manager, const CalcStateFn &state_fn, const std::vector< std::string > &joint_names, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)

bool	checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::ContinuousContactManager &manager, const tesseract_kinematics::JointGroup &manip, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a continuous collision check over the trajectory and stop on first collision. More...

bool	checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::ContinuousContactManager &manager, const tesseract_scene_graph::StateSolver &state_solver, const std::vector< std::string > &joint_names, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a continuous collision check over the trajectory and stop on first collision. More...

bool	checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::DiscreteContactManager &manager, const CalcStateFn &state_fn, const std::vector< std::string > &joint_names, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)

bool	checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::DiscreteContactManager &manager, const tesseract_kinematics::JointGroup &manip, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a discrete collision check over the trajectory and stop on first collision. More...

bool	checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::DiscreteContactManager &manager, const tesseract_scene_graph::StateSolver &state_solver, const std::vector< std::string > &joint_names, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a discrete collision check over the trajectory and stop on first collision. More...

void	checkTrajectorySegment (tesseract_collision::ContactResultMap &contact_results, tesseract_collision::ContinuousContactManager &manager, const tesseract_common::TransformMap &state0, const tesseract_common::TransformMap &state1, const tesseract_collision::ContactRequest &contact_request)
	Should perform a continuous collision check between two states only passing along the contact_request to the manager. More...

void	checkTrajectoryState (tesseract_collision::ContactResultMap &contact_results, tesseract_collision::ContinuousContactManager &manager, const tesseract_common::TransformMap &state, const tesseract_collision::ContactRequest &contact_request)
	Should perform a discrete collision check a state first configuring manager with config. More...

void	checkTrajectoryState (tesseract_collision::ContactResultMap &contact_results, tesseract_collision::DiscreteContactManager &manager, const tesseract_common::TransformMap &state, const tesseract_collision::ContactRequest &contact_request)
	Should perform a discrete collision check a state only passing contact_request to the manager. More...

void	getActiveLinkNamesRecursive (std::vector< std::string > &active_links, const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &current_link, bool active)
	Get the active Link Names Recursively. More...

void	getCollisionObject (std::vector< std::shared_ptr< const tesseract_geometry::Geometry >> &shapes, tesseract_common::VectorIsometry3d &shape_poses, const tesseract_scene_graph::Link &link)

std::vector< std::shared_ptr< const Command > >	getInitCommands (const tesseract_scene_graph::SceneGraph &scene_graph, const std::shared_ptr< const tesseract_srdf::SRDFModel > &srdf_model=nullptr)

template<class Archive >
void	load (Archive &ar, CommandType &g, const unsigned int version)

void	printContinuousDebugInfo (const std::vector< std::string > &joint_names, const Eigen::VectorXd &swp0, const Eigen::VectorXd &swp1, tesseract_common::TrajArray::Index step_idx, tesseract_common::TrajArray::Index step_size, tesseract_common::TrajArray::Index sub_step_idx=-1)

void	printDiscreteDebugInfo (const std::vector< std::string > &joint_names, const Eigen::VectorXd &swp, tesseract_common::TrajArray::Index step_idx, tesseract_common::TrajArray::Index step_size, tesseract_common::TrajArray::Index sub_step_idx=-1)

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

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

Typedef Documentation

◆ CalcStateFn

using tesseract_environment::CalcStateFn = typedef std::function<tesseract_common::TransformMap(const Eigen::VectorXd& state)>

Definition at line 157 of file utils.cpp.

◆ CollisionMarginPairData

using tesseract_environment::CollisionMarginPairData = typedef tesseract_common::CollisionMarginPairData

Definition at line 46 of file change_collision_margins_command.h.

◆ CollisionMarginPairOverrideType

using tesseract_environment::CollisionMarginPairOverrideType = typedef tesseract_common::CollisionMarginPairOverrideType

Definition at line 47 of file change_collision_margins_command.h.

◆ Commands

using tesseract_environment::Commands = typedef std::vector<std::shared_ptr<const Command> >

Definition at line 110 of file command.h.

◆ EnvironmentConstPtrAnyPoly

using tesseract_environment::EnvironmentConstPtrAnyPoly = typedef tesseract_common::AnyWrapper<std::shared_ptr<const tesseract_environment::Environment> >

Definition at line 594 of file environment.h.

◆ EnvironmentPtrAnyPoly

using tesseract_environment::EnvironmentPtrAnyPoly = typedef tesseract_common::AnyWrapper<std::shared_ptr<tesseract_environment::Environment> >

Definition at line 592 of file environment.h.

◆ EventCallbackFn

using tesseract_environment::EventCallbackFn = typedef std::function<void(const Event& event)>

Definition at line 69 of file environment.h.

◆ FindTCPOffsetCallbackFn

using tesseract_environment::FindTCPOffsetCallbackFn = typedef std::function<Eigen::Isometry3d(const tesseract_common::ManipulatorInfo&)>

Function signature for adding additional callbacks for looking up TCP information.

The function should throw and exception if not located

Definition at line 67 of file environment.h.

Enumeration Type Documentation

◆ CommandType

enum tesseract_environment::CommandType

strong

Enumerator
UNINITIALIZED
ADD_LINK
MOVE_LINK
MOVE_JOINT
REMOVE_LINK
REMOVE_JOINT
CHANGE_LINK_ORIGIN
CHANGE_JOINT_ORIGIN
CHANGE_LINK_COLLISION_ENABLED
CHANGE_LINK_VISIBILITY
MODIFY_ALLOWED_COLLISIONS
REMOVE_ALLOWED_COLLISION_LINK
ADD_SCENE_GRAPH
CHANGE_JOINT_POSITION_LIMITS
CHANGE_JOINT_VELOCITY_LIMITS
CHANGE_JOINT_ACCELERATION_LIMITS
ADD_KINEMATICS_INFORMATION
REPLACE_JOINT
CHANGE_COLLISION_MARGINS
ADD_CONTACT_MANAGERS_PLUGIN_INFO
SET_ACTIVE_DISCRETE_CONTACT_MANAGER
SET_ACTIVE_CONTINUOUS_CONTACT_MANAGER
ADD_TRAJECTORY_LINK

Definition at line 47 of file command.h.

◆ Events

enum tesseract_environment::Events

strong

Enumerator
COMMAND_APPLIED
SCENE_STATE_CHANGED

Definition at line 41 of file events.h.

◆ ModifyAllowedCollisionsType

enum tesseract_environment::ModifyAllowedCollisionsType

strong

Enumerator
ADD
REMOVE
REPLACE

Definition at line 45 of file modify_allowed_collisions_command.h.

◆ MonitoredEnvironmentMode

enum tesseract_environment::MonitoredEnvironmentMode : int

strong

Enumerator

DEFAULT

The default behavior when monitoring another environment is the following.

Case1: If the revision is greater than, it will call a service of the monitored environment to get the changes and apply them. Case2: If the revision is less than, it will reinitialize the environment and request the remaining changes and apply them.

SYNCHRONIZED

The synchronized behavior when monitoring another environment is the following.

Warning: Currently this works best if there is only one monitor which is synchronized because currently if two environment monitors are synchronized, it currently does not have a way to reason about which ones should get applied. Need to research approach for this type of system.

Case1: If the revision is greater than, it will call a service of the monitored environment to get the changes and apply them. Case2: If the revision is less than, it will call a service of the monitored environment to apply the new changes.

Definition at line 40 of file environment_monitor.h.

Function Documentation

◆ checkTrajectory() [1/6]

bool tesseract_environment::checkTrajectory	(	std::vector< tesseract_collision::ContactResultMap > &	contacts,
		tesseract_collision::ContinuousContactManager &	manager,
		const CalcStateFn &	state_fn,
		const std::vector< std::string > &	joint_names,
		const tesseract_common::TrajArray &	traj,
		const tesseract_collision::CollisionCheckConfig &	config
	)

Making this thread_local does not help because it is not called enough during planning

Definition at line 159 of file utils.cpp.

◆ checkTrajectory() [2/6]

bool tesseract_environment::checkTrajectory	(	std::vector< tesseract_collision::ContactResultMap > &	contacts,
		tesseract_collision::ContinuousContactManager &	manager,
		const tesseract_kinematics::JointGroup &	manip,
		const tesseract_common::TrajArray &	traj,
		const tesseract_collision::CollisionCheckConfig &	config
	)

Should perform a continuous collision check over the trajectory and stop on first collision.

Parameters

contacts	A vector of ContactMap where each index corresponds to a segment in the trajectory. The length should be trajectory size minus one.
manager	A continuous contact manager
manip	The kinematic joint group
traj	The joint values at each time step
config	CollisionCheckConfig used to specify collision check settings

Returns: True if collision was found, otherwise false.

Definition at line 451 of file utils.cpp.

◆ checkTrajectory() [3/6]

bool tesseract_environment::checkTrajectory	(	std::vector< tesseract_collision::ContactResultMap > &	contacts,
		tesseract_collision::ContinuousContactManager &	manager,
		const tesseract_scene_graph::StateSolver &	state_solver,
		const std::vector< std::string > &	joint_names,
		const tesseract_common::TrajArray &	traj,
		const tesseract_collision::CollisionCheckConfig &	config
	)

Should perform a continuous collision check over the trajectory and stop on first collision.

Parameters

contacts	A vector of ContactMap where each index corresponds to a segment in the trajectory. The length should be trajectory size minus one.
manager	A continuous contact manager
state_solver	The environment state solver
joint_names	JointNames corresponding to the values in traj (must be in same order)
traj	The joint values at each time step
config	CollisionCheckConfig used to specify collision check settings

Returns: True if collision was found, otherwise false.

Definition at line 437 of file utils.cpp.

◆ checkTrajectory() [4/6]

bool tesseract_environment::checkTrajectory	(	std::vector< tesseract_collision::ContactResultMap > &	contacts,
		tesseract_collision::DiscreteContactManager &	manager,
		const CalcStateFn &	state_fn,
		const std::vector< std::string > &	joint_names,
		const tesseract_common::TrajArray &	traj,
		const tesseract_collision::CollisionCheckConfig &	config
	)

Making this thread_local does not help because it is not called enough during planning

Definition at line 463 of file utils.cpp.

◆ checkTrajectory() [5/6]

bool tesseract_environment::checkTrajectory	(	std::vector< tesseract_collision::ContactResultMap > &	contacts,
		tesseract_collision::DiscreteContactManager &	manager,
		const tesseract_kinematics::JointGroup &	manip,
		const tesseract_common::TrajArray &	traj,
		const tesseract_collision::CollisionCheckConfig &	config
	)

Should perform a discrete collision check over the trajectory and stop on first collision.

Parameters

contacts	A vector of ContactMap where each index corresponds to a segment in the trajectory, except the last which is the end state. The length should be the same size as the input trajectory.
manager	A continuous contact manager
manip	The kinematic joint group
traj	The joint values at each time step
config	CollisionCheckConfig used to specify collision check settings

Returns: True if collision was found, otherwise false.

Definition at line 873 of file utils.cpp.

◆ checkTrajectory() [6/6]

bool tesseract_environment::checkTrajectory	(	std::vector< tesseract_collision::ContactResultMap > &	contacts,
		tesseract_collision::DiscreteContactManager &	manager,
		const tesseract_scene_graph::StateSolver &	state_solver,
		const std::vector< std::string > &	joint_names,
		const tesseract_common::TrajArray &	traj,
		const tesseract_collision::CollisionCheckConfig &	config
	)

Should perform a discrete collision check over the trajectory and stop on first collision.

Parameters

contacts	A vector of ContactMap where each index corresponds to a segment in the trajectory, except the last which is the end state. The length should be the same size as the input trajectory.
manager	A continuous contact manager
state_solver	The environment state solver
joint_names	JointNames corresponding to the values in traj (must be in same order)
traj	The joint values at each time step
config	CollisionCheckConfig used to specify collision check settings

Returns: True if collision was found, otherwise false.

Definition at line 859 of file utils.cpp.

◆ checkTrajectorySegment()

void tesseract_environment::checkTrajectorySegment	(	tesseract_collision::ContactResultMap &	contact_results,
		tesseract_collision::ContinuousContactManager &	manager,
		const tesseract_common::TransformMap &	state0,
		const tesseract_common::TransformMap &	state1,
		const tesseract_collision::ContactRequest &	contact_request
	)

Should perform a continuous collision check between two states only passing along the contact_request to the manager.

Parameters

contact_results	The contact results to populate. It does not get cleared
manager	A continuous contact manager
state0	First environment state
state1	Second environment state
contact_request	Contact request passed to the manager

Definition at line 77 of file utils.cpp.

◆ checkTrajectoryState() [1/2]

void tesseract_environment::checkTrajectoryState	(	tesseract_collision::ContactResultMap &	contact_results,
		tesseract_collision::ContinuousContactManager &	manager,
		const tesseract_common::TransformMap &	state,
		const tesseract_collision::ContactRequest &	contact_request
	)

Should perform a discrete collision check a state first configuring manager with config.

Parameters

contact_results	The contact results to populate. It does not get cleared
manager	A discrete contact manager
state	First environment state
contact_request	Contact request passed to the manager

Definition at line 100 of file utils.cpp.

◆ checkTrajectoryState() [2/2]

void tesseract_environment::checkTrajectoryState	(	tesseract_collision::ContactResultMap &	contact_results,
		tesseract_collision::DiscreteContactManager &	manager,
		const tesseract_common::TransformMap &	state,
		const tesseract_collision::ContactRequest &	contact_request
	)

Should perform a discrete collision check a state only passing contact_request to the manager.

Parameters

contact_results	The contact results to populate. It does not get cleared
manager	A discrete contact manager
state	First environment state
contact_request	Contact request passed to the manager

Definition at line 89 of file utils.cpp.

◆ getActiveLinkNamesRecursive()

void tesseract_environment::getActiveLinkNamesRecursive	(	std::vector< std::string > &	active_links,
		const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::string &	current_link,
		bool	active
	)

Get the active Link Names Recursively.

   This currently only works for graphs that are trees. Need to create a generic method using boost::visitor
   TODO: Need to update using graph->getLinkChildren

Parameters

active_links
scene_graph
current_link
active

Definition at line 54 of file utils.cpp.

◆ getCollisionObject()

void tesseract_environment::getCollisionObject	(	std::vector< std::shared_ptr< const tesseract_geometry::Geometry >> &	shapes,
		tesseract_common::VectorIsometry3d &	shape_poses,
		const tesseract_scene_graph::Link &	link
	)

Definition at line 107 of file environment.cpp.

◆ getInitCommands()

std::vector<std::shared_ptr<const Command> > tesseract_environment::getInitCommands	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::shared_ptr< const tesseract_srdf::SRDFModel > &	srdf_model = `nullptr`
	)

Definition at line 119 of file environment.cpp.

◆ load()

template<class Archive >

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

Definition at line 47 of file command.cpp.

◆ printContinuousDebugInfo()

void tesseract_environment::printContinuousDebugInfo	(	const std::vector< std::string > &	joint_names,
		const Eigen::VectorXd &	swp0,
		const Eigen::VectorXd &	swp1,
		tesseract_common::TrajArray::Index	step_idx,
		tesseract_common::TrajArray::Index	step_size,
		tesseract_common::TrajArray::Index	sub_step_idx = `-1`
	)

Definition at line 111 of file utils.cpp.

◆ printDiscreteDebugInfo()

void tesseract_environment::printDiscreteDebugInfo	(	const std::vector< std::string > &	joint_names,
		const Eigen::VectorXd &	swp,
		tesseract_common::TrajArray::Index	step_idx,
		tesseract_common::TrajArray::Index	step_size,
		tesseract_common::TrajArray::Index	sub_step_idx = `-1`
	)

Definition at line 135 of file utils.cpp.

◆ save()

template<class Archive >

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

Definition at line 40 of file command.cpp.

◆ serialize()

template<class Archive >

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

Definition at line 55 of file command.cpp.

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ CalcStateFn

◆ CollisionMarginPairData

◆ CollisionMarginPairOverrideType

◆ Commands

◆ EnvironmentConstPtrAnyPoly

◆ EnvironmentPtrAnyPoly

◆ EventCallbackFn

◆ FindTCPOffsetCallbackFn

Enumeration Type Documentation

◆ CommandType

◆ Events

◆ ModifyAllowedCollisionsType

◆ MonitoredEnvironmentMode

Function Documentation

◆ checkTrajectory() [1/6]

◆ checkTrajectory() [2/6]

◆ checkTrajectory() [3/6]

◆ checkTrajectory() [4/6]

◆ checkTrajectory() [5/6]

◆ checkTrajectory() [6/6]

◆ checkTrajectorySegment()

◆ checkTrajectoryState() [1/2]

◆ checkTrajectoryState() [2/2]

◆ getActiveLinkNamesRecursive()

◆ getCollisionObject()

◆ getInitCommands()

◆ load()

◆ printContinuousDebugInfo()

◆ printDiscreteDebugInfo()

◆ save()

◆ serialize()