tesseract_environment::Environment::Implementation Struct Reference

Public Member Functions
bool	applyAddCommand (const std::shared_ptr< const AddLinkCommand > &cmd)
bool	applyAddContactManagersPluginInfoCommand (const std::shared_ptr< const AddContactManagersPluginInfoCommand > &cmd)
bool	applyAddKinematicsInformationCommand (const std::shared_ptr< const AddKinematicsInformationCommand > &cmd)
bool	applyAddLinkCommandHelper (const std::shared_ptr< const tesseract_scene_graph::Link > &link, const std::shared_ptr< const tesseract_scene_graph::Joint > &joint, bool replace_allowed)
bool	applyAddSceneGraphCommand (std::shared_ptr< const AddSceneGraphCommand > cmd)
bool	applyAddTrajectoryLinkCommand (const std::shared_ptr< const AddTrajectoryLinkCommand > &cmd)
bool	applyChangeCollisionMarginsCommand (const std::shared_ptr< const ChangeCollisionMarginsCommand > &cmd)
bool	applyChangeJointAccelerationLimitsCommand (const std::shared_ptr< const ChangeJointAccelerationLimitsCommand > &cmd)
bool	applyChangeJointOriginCommand (const std::shared_ptr< const ChangeJointOriginCommand > &cmd)
bool	applyChangeJointPositionLimitsCommand (const std::shared_ptr< const ChangeJointPositionLimitsCommand > &cmd)
bool	applyChangeJointVelocityLimitsCommand (const std::shared_ptr< const ChangeJointVelocityLimitsCommand > &cmd)
bool	applyChangeLinkCollisionEnabledCommand (const std::shared_ptr< const ChangeLinkCollisionEnabledCommand > &cmd)
bool	applyChangeLinkOriginCommand (const std::shared_ptr< const ChangeLinkOriginCommand > &cmd)
bool	applyChangeLinkVisibilityCommand (const std::shared_ptr< const ChangeLinkVisibilityCommand > &cmd)
bool	applyCommandsHelper (const std::vector< std::shared_ptr< const Command >> &commands)
	Apply Command Helper which does not lock. More...
bool	applyModifyAllowedCollisionsCommand (const std::shared_ptr< const ModifyAllowedCollisionsCommand > &cmd)
bool	applyMoveJointCommand (const std::shared_ptr< const MoveJointCommand > &cmd)
bool	applyMoveLinkCommand (const std::shared_ptr< const MoveLinkCommand > &cmd)
bool	applyRemoveAllowedCollisionLinkCommand (const std::shared_ptr< const RemoveAllowedCollisionLinkCommand > &cmd)
bool	applyRemoveJointCommand (const std::shared_ptr< const RemoveJointCommand > &cmd)
bool	applyRemoveLinkCommand (const std::shared_ptr< const RemoveLinkCommand > &cmd)
bool	applyReplaceJointCommand (const std::shared_ptr< const ReplaceJointCommand > &cmd)
bool	applySetActiveContinuousContactManagerCommand (const std::shared_ptr< const SetActiveContinuousContactManagerCommand > &cmd)
bool	applySetActiveDiscreteContactManagerCommand (const std::shared_ptr< const SetActiveDiscreteContactManagerCommand > &cmd)
void	clear ()
void	clearCachedContinuousContactManager () const
void	clearCachedDiscreteContactManager () const
std::unique_ptr< Implementation >	clone () const
void	currentStateChanged ()
void	environmentChanged ()
Eigen::Isometry3d	findTCPOffset (const tesseract_common::ManipulatorInfo &manip_info) const
std::unique_ptr< tesseract_collision::ContinuousContactManager >	getContinuousContactManager () const
std::unique_ptr< tesseract_collision::ContinuousContactManager >	getContinuousContactManager (const std::string &name) const
std::unique_ptr< tesseract_collision::ContinuousContactManager >	getContinuousContactManagerHelper (const std::string &name) const
tesseract_common::TransformMap	getCurrentFloatingJointValues () const
tesseract_common::TransformMap	getCurrentFloatingJointValues (const std::vector< std::string > &joint_names) const
Eigen::VectorXd	getCurrentJointValues () const
Eigen::VectorXd	getCurrentJointValues (const std::vector< std::string > &joint_names) const
std::unique_ptr< tesseract_collision::DiscreteContactManager >	getDiscreteContactManager () const
std::unique_ptr< tesseract_collision::DiscreteContactManager >	getDiscreteContactManager (const std::string &name) const
std::unique_ptr< tesseract_collision::DiscreteContactManager >	getDiscreteContactManagerHelper (const std::string &name) const
std::vector< std::string >	getGroupJointNames (const std::string &group_name) const
std::shared_ptr< const tesseract_kinematics::JointGroup >	getJointGroup (const std::string &group_name) const
std::shared_ptr< const tesseract_kinematics::JointGroup >	getJointGroup (const std::string &name, const std::vector< std::string > &joint_names) const
std::shared_ptr< const tesseract_kinematics::KinematicGroup >	getKinematicGroup (const std::string &group_name, std::string ik_solver_name) const
std::vector< std::string >	getStaticLinkNames (const std::vector< std::string > &joint_names) const
bool	initHelper (const std::vector< std::shared_ptr< const Command >> &commands)
template<class Archive >
void	load (Archive &ar, const unsigned int)
bool	operator== (const Implementation &rhs) const
bool	removeLinkHelper (const std::string &name)
bool	reset ()
template<class Archive >
void	save (Archive &ar, const unsigned int) const
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)
bool	setActiveContinuousContactManager (const std::string &name)
bool	setActiveContinuousContactManagerHelper (const std::string &name)
bool	setActiveDiscreteContactManager (const std::string &name)
bool	setActiveDiscreteContactManagerHelper (const std::string &name)
void	setState (const std::unordered_map< std::string, double > &joints, const tesseract_common::TransformMap &floating_joints={})
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)
void	triggerCallbacks ()
	Trigger both Current State and Environment changed callback. More...
void	triggerCurrentStateChangedCallbacks ()
	Passes a current state changed event to the callbacks. More...
void	triggerEnvironmentChangedCallbacks ()
	Passes a environment changed event to the callbacks. More...
	~Implementation ()=default

Public Attributes
tesseract_common::CollisionMarginData	collision_margin_data
	The collision margin data. More...
std::vector< std::shared_ptr< const Command > >	commands {}
	The history of commands applied to the environment after initialization. More...
tesseract_common::ContactAllowedValidator::ConstPtr	contact_allowed_validator
	The validator used to determine if two objects are allowed in collision. More...
tesseract_collision::ContactManagersPluginFactory	contact_managers_factory
	The contact managers factory. More...
tesseract_common::ContactManagersPluginInfo	contact_managers_plugin_info
	The contact manager information. More...
std::unique_ptr< tesseract_collision::ContinuousContactManager >	continuous_manager { nullptr }
	The continuous contact manager object. More...
std::shared_mutex	continuous_manager_mutex
tesseract_scene_graph::SceneState	current_state
	Current state of the environment. More...
std::chrono::system_clock::time_point	current_state_timestamp { std::chrono::system_clock::now() }
	Current state timestamp. More...
std::unique_ptr< tesseract_collision::DiscreteContactManager >	discrete_manager { nullptr }
	The discrete contact manager object. More...
std::shared_mutex	discrete_manager_mutex
std::map< std::size_t, EventCallbackFn >	event_cb {}
	A map of user defined event callback functions. More...
std::vector< FindTCPOffsetCallbackFn >	find_tcp_cb {}
	A vector of user defined callbacks for locating tool center point. More...
std::unordered_map< std::string, std::vector< std::string > >	group_joint_names_cache {}
	A cache of group joint names to provide faster access. More...
std::shared_mutex	group_joint_names_cache_mutex
int	init_revision { 0 }
	This is the revision number after initialization used when reset is called. More...
bool	initialized { false }
	Identifies if the object has been initialized. More...
std::unordered_map< std::string, std::shared_ptr< const tesseract_kinematics::JointGroup > >	joint_group_cache {}
	A cache of joint groups to provide faster access. More...
std::shared_mutex	joint_group_cache_mutex
std::map< std::pair< std::string, std::string >, std::shared_ptr< const tesseract_kinematics::KinematicGroup > >	kinematic_group_cache {}
	A cache of kinematic groups to provide faster access. More...
std::shared_mutex	kinematic_group_cache_mutex
tesseract_kinematics::KinematicsPluginFactory	kinematics_factory
	The kinematics factory. More...
tesseract_srdf::KinematicsInformation	kinematics_information
	The kinematics information. More...
std::shared_ptr< const tesseract_common::ResourceLocator >	resource_locator { nullptr }
	Used when initialized by URDF_STRING, URDF_STRING_SRDF_STRING, URDF_PATH, and URDF_PATH_SRDF_PATH. More...
int	revision { 0 }
	This increments when the scene graph is modified. More...
std::shared_ptr< tesseract_scene_graph::SceneGraph >	scene_graph { nullptr }
	Tesseract Scene Graph. More...
std::unique_ptr< tesseract_scene_graph::MutableStateSolver >	state_solver { nullptr }
	Tesseract State Solver. More...
std::chrono::system_clock::time_point	timestamp { std::chrono::system_clock::now() }
	Environment timestamp. More...

Friends
class	boost::serialization::access
struct	tesseract_common::Serialization

Detailed Description

Definition at line 164 of file environment.cpp.

Constructor & Destructor Documentation

~Implementation()

tesseract_environment::Environment::Implementation::~Implementation ( )

default

Member Function Documentation

applyAddCommand()

bool tesseract_environment::Environment::Implementation::applyAddCommand

(

const std::shared_ptr< const AddLinkCommand > &

cmd

)

Definition at line 1354 of file environment.cpp.

applyAddContactManagersPluginInfoCommand()

bool tesseract_environment::Environment::Implementation::applyAddContactManagersPluginInfoCommand

(

const std::shared_ptr< const AddContactManagersPluginInfoCommand > &

cmd

)

Definition at line 2046 of file environment.cpp.

applyAddKinematicsInformationCommand()

bool tesseract_environment::Environment::Implementation::applyAddKinematicsInformationCommand

(

const std::shared_ptr< const AddKinematicsInformationCommand > &

cmd

)

Definition at line 2007 of file environment.cpp.

applyAddLinkCommandHelper()

bool tesseract_environment::Environment::Implementation::applyAddLinkCommandHelper	(	const std::shared_ptr< const tesseract_scene_graph::Link > &	link,
		const std::shared_ptr< const tesseract_scene_graph::Joint > &	joint,
		bool	replace_allowed
	)

Definition at line 1476 of file environment.cpp.

applyAddSceneGraphCommand()

bool tesseract_environment::Environment::Implementation::applyAddSceneGraphCommand

(

std::shared_ptr< const AddSceneGraphCommand >

cmd

)

Definition at line 1844 of file environment.cpp.

applyAddTrajectoryLinkCommand()

bool tesseract_environment::Environment::Implementation::applyAddTrajectoryLinkCommand

(

const std::shared_ptr< const AddTrajectoryLinkCommand > &

cmd

)

Definition at line 1370 of file environment.cpp.

applyChangeCollisionMarginsCommand()

bool tesseract_environment::Environment::Implementation::applyChangeCollisionMarginsCommand

(

const std::shared_ptr< const ChangeCollisionMarginsCommand > &

cmd

)

Definition at line 2126 of file environment.cpp.

applyChangeJointAccelerationLimitsCommand()

bool tesseract_environment::Environment::Implementation::applyChangeJointAccelerationLimitsCommand

(

const std::shared_ptr< const ChangeJointAccelerationLimitsCommand > &

cmd

)

Definition at line 1978 of file environment.cpp.

applyChangeJointOriginCommand()

bool tesseract_environment::Environment::Implementation::applyChangeJointOriginCommand

(

const std::shared_ptr< const ChangeJointOriginCommand > &

cmd

)

Definition at line 1740 of file environment.cpp.

applyChangeJointPositionLimitsCommand()

bool tesseract_environment::Environment::Implementation::applyChangeJointPositionLimitsCommand

(

const std::shared_ptr< const ChangeJointPositionLimitsCommand > &

cmd

)

Definition at line 1919 of file environment.cpp.

applyChangeJointVelocityLimitsCommand()

bool tesseract_environment::Environment::Implementation::applyChangeJointVelocityLimitsCommand

(

const std::shared_ptr< const ChangeJointVelocityLimitsCommand > &

cmd

)

Definition at line 1949 of file environment.cpp.

applyChangeLinkCollisionEnabledCommand()

bool tesseract_environment::Environment::Implementation::applyChangeLinkCollisionEnabledCommand

(

const std::shared_ptr< const ChangeLinkCollisionEnabledCommand > &

cmd

)

Definition at line 1754 of file environment.cpp.

applyChangeLinkOriginCommand()

bool tesseract_environment::Environment::Implementation::applyChangeLinkOriginCommand

(

const std::shared_ptr< const ChangeLinkOriginCommand > &

cmd

)

Definition at line 1734 of file environment.cpp.

applyChangeLinkVisibilityCommand()

bool tesseract_environment::Environment::Implementation::applyChangeLinkVisibilityCommand

(

const std::shared_ptr< const ChangeLinkVisibilityCommand > &

cmd

)

Definition at line 1786 of file environment.cpp.

applyCommandsHelper()

bool tesseract_environment::Environment::Implementation::applyCommandsHelper

(

const std::vector< std::shared_ptr< const Command >> &

commands

)

Apply Command Helper which does not lock.

Definition at line 1182 of file environment.cpp.

applyModifyAllowedCollisionsCommand()

bool tesseract_environment::Environment::Implementation::applyModifyAllowedCollisionsCommand

(

const std::shared_ptr< const ModifyAllowedCollisionsCommand > &

cmd

)

Definition at line 1799 of file environment.cpp.

applyMoveJointCommand()

bool tesseract_environment::Environment::Implementation::applyMoveJointCommand

(

const std::shared_ptr< const MoveJointCommand > &

cmd

)

Definition at line 1646 of file environment.cpp.

applyMoveLinkCommand()

bool tesseract_environment::Environment::Implementation::applyMoveLinkCommand

(

const std::shared_ptr< const MoveLinkCommand > &

cmd

)

Definition at line 1632 of file environment.cpp.

applyRemoveAllowedCollisionLinkCommand()

bool tesseract_environment::Environment::Implementation::applyRemoveAllowedCollisionLinkCommand

(

const std::shared_ptr< const RemoveAllowedCollisionLinkCommand > &

cmd

)

Definition at line 1833 of file environment.cpp.

applyRemoveJointCommand()

bool tesseract_environment::Environment::Implementation::applyRemoveJointCommand

(

const std::shared_ptr< const RemoveJointCommand > &

cmd

)

Definition at line 1674 of file environment.cpp.

applyRemoveLinkCommand()

bool tesseract_environment::Environment::Implementation::applyRemoveLinkCommand

(

const std::shared_ptr< const RemoveLinkCommand > &

cmd

)

Definition at line 1660 of file environment.cpp.

applyReplaceJointCommand()

bool tesseract_environment::Environment::Implementation::applyReplaceJointCommand

(

const std::shared_ptr< const ReplaceJointCommand > &

cmd

)

Definition at line 1696 of file environment.cpp.

applySetActiveContinuousContactManagerCommand()

bool tesseract_environment::Environment::Implementation::applySetActiveContinuousContactManagerCommand

(

const std::shared_ptr< const SetActiveContinuousContactManagerCommand > &

cmd

)

Definition at line 2104 of file environment.cpp.

applySetActiveDiscreteContactManagerCommand()

bool tesseract_environment::Environment::Implementation::applySetActiveDiscreteContactManagerCommand

(

const std::shared_ptr< const SetActiveDiscreteContactManagerCommand > &

cmd

)

Definition at line 2115 of file environment.cpp.

clear()

void tesseract_environment::Environment::Implementation::clear

(

)

Definition at line 665 of file environment.cpp.

clearCachedContinuousContactManager()

void tesseract_environment::Environment::Implementation::clearCachedContinuousContactManager

(

)

const

Definition at line 988 of file environment.cpp.

clearCachedDiscreteContactManager()

void tesseract_environment::Environment::Implementation::clearCachedDiscreteContactManager

(

)

const

Definition at line 982 of file environment.cpp.

clone()

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

(

)

const

Definition at line 496 of file environment.cpp.

currentStateChanged()

void tesseract_environment::Environment::Implementation::currentStateChanged

(

)

This will update the contact managers transforms

Definition at line 722 of file environment.cpp.

environmentChanged()

void tesseract_environment::Environment::Implementation::environmentChanged

(

)

This will notify the state solver that the environment has changed

Definition at line 753 of file environment.cpp.

findTCPOffset()

Eigen::Isometry3d tesseract_environment::Environment::Implementation::findTCPOffset

(

const tesseract_common::ManipulatorInfo &

manip_info

)

const

Definition at line 903 of file environment.cpp.

getContinuousContactManager() [1/2]

std::unique_ptr< tesseract_collision::ContinuousContactManager > tesseract_environment::Environment::Implementation::getContinuousContactManager

(

)

const

Definition at line 960 of file environment.cpp.

getContinuousContactManager() [2/2]

std::unique_ptr< tesseract_collision::ContinuousContactManager > tesseract_environment::Environment::Implementation::getContinuousContactManager

(

const std::string &

name

)

const

Definition at line 1137 of file environment.cpp.

getContinuousContactManagerHelper()

std::unique_ptr< tesseract_collision::ContinuousContactManager > tesseract_environment::Environment::Implementation::getContinuousContactManagerHelper

(

const std::string &

name

)

const

Definition at line 1072 of file environment.cpp.

getCurrentFloatingJointValues() [1/2]

tesseract_common::TransformMap tesseract_environment::Environment::Implementation::getCurrentFloatingJointValues

(

)

const

Definition at line 630 of file environment.cpp.

getCurrentFloatingJointValues() [2/2]

tesseract_common::TransformMap tesseract_environment::Environment::Implementation::getCurrentFloatingJointValues

(

const std::vector< std::string > &

joint_names

)

const

Definition at line 636 of file environment.cpp.

getCurrentJointValues() [1/2]

Eigen::VectorXd tesseract_environment::Environment::Implementation::getCurrentJointValues

(

)

const

Definition at line 609 of file environment.cpp.

getCurrentJointValues() [2/2]

Eigen::VectorXd tesseract_environment::Environment::Implementation::getCurrentJointValues

(

const std::vector< std::string > &

joint_names

)

const

Definition at line 620 of file environment.cpp.

getDiscreteContactManager() [1/2]

std::unique_ptr< tesseract_collision::DiscreteContactManager > tesseract_environment::Environment::Implementation::getDiscreteContactManager

(

)

const

Definition at line 937 of file environment.cpp.

getDiscreteContactManager() [2/2]

std::unique_ptr< tesseract_collision::DiscreteContactManager > tesseract_environment::Environment::Implementation::getDiscreteContactManager

(

const std::string &

name

)

const

Definition at line 1118 of file environment.cpp.

getDiscreteContactManagerHelper()

std::unique_ptr< tesseract_collision::DiscreteContactManager > tesseract_environment::Environment::Implementation::getDiscreteContactManagerHelper

(

const std::string &

name

)

const

Definition at line 1040 of file environment.cpp.

getGroupJointNames()

std::vector< std::string > tesseract_environment::Environment::Implementation::getGroupJointNames

(

const std::string &

group_name

)

const

Definition at line 804 of file environment.cpp.

getJointGroup() [1/2]

std::shared_ptr< const tesseract_kinematics::JointGroup > tesseract_environment::Environment::Implementation::getJointGroup

(

const std::string &

group_name

)

const

Definition at line 844 of file environment.cpp.

getJointGroup() [2/2]

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

Definition at line 860 of file environment.cpp.

getKinematicGroup()

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

Definition at line 866 of file environment.cpp.

getStaticLinkNames()

std::vector< std::string > tesseract_environment::Environment::Implementation::getStaticLinkNames

(

const std::vector< std::string > &

joint_names

)

const

Definition at line 646 of file environment.cpp.

initHelper()

bool tesseract_environment::Environment::Implementation::initHelper

(

const std::vector< std::shared_ptr< const Command >> &

commands

)

Definition at line 555 of file environment.cpp.

load()

template<class Archive >

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

inline

Definition at line 434 of file environment.cpp.

operator==()

bool tesseract_environment::Environment::Implementation::operator==

(

const Implementation &

rhs

)

const

Todo:

uncomment after serialized

Definition at line 465 of file environment.cpp.

removeLinkHelper()

bool tesseract_environment::Environment::Implementation::removeLinkHelper

(

const std::string &

name

)

Definition at line 1149 of file environment.cpp.

reset()

bool tesseract_environment::Environment::Implementation::reset

(

)

Definition at line 709 of file environment.cpp.

save()

template<class Archive >

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

inline

Definition at line 418 of file environment.cpp.

serialize()

template<class Archive >

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

inline

Definition at line 459 of file environment.cpp.

setActiveContinuousContactManager()

bool tesseract_environment::Environment::Implementation::setActiveContinuousContactManager

(

const std::string &

name

)

Definition at line 1130 of file environment.cpp.

setActiveContinuousContactManagerHelper()

bool tesseract_environment::Environment::Implementation::setActiveContinuousContactManagerHelper

(

const std::string &

name

)

Definition at line 1016 of file environment.cpp.

setActiveDiscreteContactManager()

bool tesseract_environment::Environment::Implementation::setActiveDiscreteContactManager

(

const std::string &

name

)

Definition at line 1111 of file environment.cpp.

setActiveDiscreteContactManagerHelper()

bool tesseract_environment::Environment::Implementation::setActiveDiscreteContactManagerHelper

(

const std::string &

name

)

Definition at line 994 of file environment.cpp.

setState() [1/3]

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

Definition at line 588 of file environment.cpp.

setState() [2/3]

void tesseract_environment::Environment::Implementation::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 595 of file environment.cpp.

setState() [3/3]

void tesseract_environment::Environment::Implementation::setState

(

const tesseract_common::TransformMap &

floating_joints

)

Definition at line 603 of file environment.cpp.

triggerCallbacks()

void tesseract_environment::Environment::Implementation::triggerCallbacks

(

)

Trigger both Current State and Environment changed callback.

Definition at line 798 of file environment.cpp.

triggerCurrentStateChangedCallbacks()

void tesseract_environment::Environment::Implementation::triggerCurrentStateChangedCallbacks

(

)

Passes a current state changed event to the callbacks.

Definition at line 778 of file environment.cpp.

triggerEnvironmentChangedCallbacks()

void tesseract_environment::Environment::Implementation::triggerEnvironmentChangedCallbacks

(

)

Passes a environment changed event to the callbacks.

Definition at line 788 of file environment.cpp.

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 415 of file environment.cpp.

tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 416 of file environment.cpp.

Member Data Documentation

collision_margin_data

tesseract_common::CollisionMarginData tesseract_environment::Environment::Implementation::collision_margin_data

The collision margin data.

Note

This is intentionally not serialized it will auto updated

Definition at line 231 of file environment.cpp.

commands

std::vector<std::shared_ptr<const Command> > tesseract_environment::Environment::Implementation::commands {}

The history of commands applied to the environment after initialization.

Definition at line 184 of file environment.cpp.

contact_allowed_validator

tesseract_common::ContactAllowedValidator::ConstPtr tesseract_environment::Environment::Implementation::contact_allowed_validator

The validator used to determine if two objects are allowed in collision.

Definition at line 210 of file environment.cpp.

contact_managers_factory

tesseract_collision::ContactManagersPluginFactory tesseract_environment::Environment::Implementation::contact_managers_factory

The contact managers factory.

Note

This is intentionally not serialized it will auto updated

Definition at line 255 of file environment.cpp.

contact_managers_plugin_info

tesseract_common::ContactManagersPluginInfo tesseract_environment::Environment::Implementation::contact_managers_plugin_info

The contact manager information.

Note

This is intentionally not serialized it will auto updated

Definition at line 249 of file environment.cpp.

continuous_manager

std::unique_ptr<tesseract_collision::ContinuousContactManager> tesseract_environment::Environment::Implementation::continuous_manager { nullptr }

mutable

The continuous contact manager object.

Note

This is intentionally not serialized it will auto updated

Definition at line 268 of file environment.cpp.

continuous_manager_mutex

std::shared_mutex tesseract_environment::Environment::Implementation::continuous_manager_mutex

mutable

Definition at line 269 of file environment.cpp.

current_state

tesseract_scene_graph::SceneState tesseract_environment::Environment::Implementation::current_state

Current state of the environment.

Definition at line 193 of file environment.cpp.

current_state_timestamp

std::chrono::system_clock::time_point tesseract_environment::Environment::Implementation::current_state_timestamp { std::chrono::system_clock::now() }

Current state timestamp.

Definition at line 199 of file environment.cpp.

discrete_manager

std::unique_ptr<tesseract_collision::DiscreteContactManager> tesseract_environment::Environment::Implementation::discrete_manager { nullptr }

mutable

The discrete contact manager object.

Note

This is intentionally not serialized it will auto updated

Definition at line 261 of file environment.cpp.

discrete_manager_mutex

std::shared_mutex tesseract_environment::Environment::Implementation::discrete_manager_mutex

mutable

Definition at line 262 of file environment.cpp.

event_cb

std::map<std::size_t, EventCallbackFn> tesseract_environment::Environment::Implementation::event_cb {}

A map of user defined event callback functions.

This should not be cloned or serialized

Definition at line 222 of file environment.cpp.

find_tcp_cb

std::vector<FindTCPOffsetCallbackFn> tesseract_environment::Environment::Implementation::find_tcp_cb {}

A vector of user defined callbacks for locating tool center point.

Todo:

This needs to be switched to class so it may be serialized

Definition at line 216 of file environment.cpp.

group_joint_names_cache

std::unordered_map<std::string, std::vector<std::string> > tesseract_environment::Environment::Implementation::group_joint_names_cache {}

mutable

A cache of group joint names to provide faster access.

This will cleared when environment changes

Note

This is intentionally not serialized it will auto updated

Definition at line 276 of file environment.cpp.

group_joint_names_cache_mutex

std::shared_mutex tesseract_environment::Environment::Implementation::group_joint_names_cache_mutex

mutable

Definition at line 277 of file environment.cpp.

init_revision

int tesseract_environment::Environment::Implementation::init_revision { 0 }

This is the revision number after initialization used when reset is called.

Definition at line 181 of file environment.cpp.

initialized

bool tesseract_environment::Environment::Implementation::initialized { false }

Identifies if the object has been initialized.

Note

This is intentionally not serialized it will auto updated

Definition at line 172 of file environment.cpp.

joint_group_cache

std::unordered_map<std::string, std::shared_ptr<const tesseract_kinematics::JointGroup> > tesseract_environment::Environment::Implementation::joint_group_cache {}

mutable

A cache of joint groups to provide faster access.

This will cleared when environment changes

Note

This is intentionally not serialized it will auto updated

Definition at line 284 of file environment.cpp.

joint_group_cache_mutex

std::shared_mutex tesseract_environment::Environment::Implementation::joint_group_cache_mutex

mutable

Definition at line 285 of file environment.cpp.

kinematic_group_cache

std::map<std::pair<std::string, std::string>, std::shared_ptr<const tesseract_kinematics::KinematicGroup> > tesseract_environment::Environment::Implementation::kinematic_group_cache {}

mutable

A cache of kinematic groups to provide faster access.

This will cleared when environment changes

Note

This is intentionally not serialized it will auto updated

Definition at line 293 of file environment.cpp.

kinematic_group_cache_mutex

std::shared_mutex tesseract_environment::Environment::Implementation::kinematic_group_cache_mutex

mutable

Definition at line 294 of file environment.cpp.

kinematics_factory

tesseract_kinematics::KinematicsPluginFactory tesseract_environment::Environment::Implementation::kinematics_factory

The kinematics factory.

Note

This is intentionally not serialized it will auto updated

Definition at line 243 of file environment.cpp.

kinematics_information

tesseract_srdf::KinematicsInformation tesseract_environment::Environment::Implementation::kinematics_information

The kinematics information.

Note

This is intentionally not serialized it will auto updated

Definition at line 237 of file environment.cpp.

resource_locator

std::shared_ptr<const tesseract_common::ResourceLocator> tesseract_environment::Environment::Implementation::resource_locator { nullptr }

Used when initialized by URDF_STRING, URDF_STRING_SRDF_STRING, URDF_PATH, and URDF_PATH_SRDF_PATH.

Definition at line 225 of file environment.cpp.

revision

int tesseract_environment::Environment::Implementation::revision { 0 }

This increments when the scene graph is modified.

Note

This is intentionally not serialized it will auto updated

Definition at line 178 of file environment.cpp.

scene_graph

std::shared_ptr<tesseract_scene_graph::SceneGraph> tesseract_environment::Environment::Implementation::scene_graph { nullptr }

Tesseract Scene Graph.

Note

This is intentionally not serialized it will auto updated

Definition at line 190 of file environment.cpp.

state_solver

std::unique_ptr<tesseract_scene_graph::MutableStateSolver> tesseract_environment::Environment::Implementation::state_solver { nullptr }

Tesseract State Solver.

Note

This is intentionally not serialized it will auto updated

Definition at line 205 of file environment.cpp.

timestamp

std::chrono::system_clock::time_point tesseract_environment::Environment::Implementation::timestamp { std::chrono::system_clock::now() }

Environment timestamp.

Definition at line 196 of file environment.cpp.

---

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

• environment.cpp