A Joint Group is defined by a list of joint_names. More...

#include <joint_group.h>

Inheritance diagram for tesseract_kinematics::JointGroup:

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

using	ConstUPtr = std::unique_ptr< const JointGroup >

using	Ptr = std::shared_ptr< JointGroup >

using	UPtr = std::unique_ptr< JointGroup >

Public Member Functions
tesseract_common::TransformMap	calcFwdKin (const Eigen::Ref< const Eigen::VectorXd > &joint_angles) const
	Calculates tool pose of robot chain. More...

Eigen::MatrixXd	calcJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_angles, const std::string &base_link_name, const std::string &link_name) const
	Calculated jacobian of robot given joint angles. More...

Eigen::MatrixXd	calcJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_angles, const std::string &base_link_name, const std::string &link_name, const Eigen::Vector3d &link_point) const
	Calculated jacobian of robot given joint angles. More...

Eigen::MatrixXd	calcJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_angles, const std::string &link_name) const
	Calculated jacobian of robot given joint angles. More...

Eigen::MatrixXd	calcJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_angles, const std::string &link_name, const Eigen::Vector3d &link_point) const
	Calculated jacobian of robot given joint angles. More...

bool	checkJoints (const Eigen::Ref< const Eigen::VectorXd > &vec) const
	Check for consistency in # and limits of joints. More...

std::vector< std::string >	getActiveLinkNames () const
	Get list of active link names (with and without geometry) for kinematic object. More...

std::string	getBaseLinkName () const
	Get the robot base link name. More...

std::vector< std::string >	getJointNames () const
	Get list of joint names for kinematic object. More...

tesseract_common::KinematicLimits	getLimits () const
	Get the kinematic limits (joint, velocity, acceleration, etc.) More...

std::vector< std::string >	getLinkNames () const
	Get list of all link names (with and without geometry) for kinematic object. More...

std::string	getName () const
	Name of the manipulator. More...

std::vector< Eigen::Index >	getRedundancyCapableJointIndices () const
	Get vector indicating which joints are capable of producing redundant solutions. More...

std::vector< std::string >	getStaticLinkNames () const
	Get list of static link names (with and without geometry) for kinematic object. More...

bool	hasLinkName (const std::string &link_name) const
	Check if link name exists. More...

bool	isActiveLinkName (const std::string &link_name) const
	Check if link is an active link. More...

	JointGroup (const JointGroup &other)

	JointGroup (JointGroup &&)=default

	JointGroup (std::string name, std::vector< std::string > joint_names, const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::SceneState &scene_state)
	Create a kinematics group without inverse kinematics for the provided joint names. More...

Eigen::Index	numJoints () const
	Number of joints in robot. More...

JointGroup &	operator= (const JointGroup &other)

JointGroup &	operator= (JointGroup &&)=default

void	setLimits (const tesseract_common::KinematicLimits &limits)
	Setter for kinematic limits (joint, velocity, acceleration, etc.) More...

virtual	~JointGroup ()

Protected Attributes
std::vector< Eigen::Index >	jacobian_map_

std::vector< std::string >	joint_names_

tesseract_common::KinematicLimits	limits_

std::vector< std::string >	link_names_

std::string	name_

std::vector< Eigen::Index >	redundancy_indices_

tesseract_scene_graph::SceneState	state_

std::unique_ptr< tesseract_scene_graph::StateSolver >	state_solver_

std::vector< std::string >	static_link_names_

tesseract_common::TransformMap	static_link_transforms_

Detailed Description

A Joint Group is defined by a list of joint_names.

Provides the ability to calculate forward kinematics and jacobian.

Note: This creates an optimized object replace all joints not listed in the provided list with a fixed joint calculated using the provided state. Also the calcFwdKin only return the link transforms in the optimized object which is all active links and root of the scene graph usually.

Definition at line 44 of file joint_group.h.

Member Typedef Documentation

◆ ConstPtr

using tesseract_kinematics::JointGroup::ConstPtr = std::shared_ptr<const JointGroup>

Definition at line 52 of file joint_group.h.

◆ ConstUPtr

using tesseract_kinematics::JointGroup::ConstUPtr = std::unique_ptr<const JointGroup>

Definition at line 54 of file joint_group.h.

◆ Ptr

using tesseract_kinematics::JointGroup::Ptr = std::shared_ptr<JointGroup>

Definition at line 51 of file joint_group.h.

◆ UPtr

using tesseract_kinematics::JointGroup::UPtr = std::unique_ptr<JointGroup>

Definition at line 53 of file joint_group.h.

Constructor & Destructor Documentation

◆ ~JointGroup()

tesseract_kinematics::JointGroup::~JointGroup ( )

virtualdefault

◆ JointGroup() [1/3]

tesseract_kinematics::JointGroup::JointGroup ( const JointGroup & other )

Definition at line 109 of file joint_group.cpp.

◆ JointGroup() [2/3]

tesseract_kinematics::JointGroup::JointGroup ( JointGroup && )

default

◆ JointGroup() [3/3]

tesseract_kinematics::JointGroup::JointGroup	(	std::string	name,
		std::vector< std::string >	joint_names,
		const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_scene_graph::SceneState &	scene_state
	)

Create a kinematics group without inverse kinematics for the provided joint names.

Parameters

name	The name of the kinematic group
joint_names	The joints names to create kinematic group from
scene_graph	The scene graph
scene_state	The scene state

Definition at line 43 of file joint_group.cpp.

Member Function Documentation

◆ calcFwdKin()

tesseract_common::TransformMap tesseract_kinematics::JointGroup::calcFwdKin ( const Eigen::Ref< const Eigen::VectorXd > & joint_angles ) const

Calculates tool pose of robot chain.

Throws an exception on failures (including uninitialized)

Parameters

pose	Transform of end-of-tip relative to root
joint_angles	Vector of joint angles (size must match number of joints in robot chain)

Definition at line 126 of file joint_group.cpp.

◆ calcJacobian() [1/4]

Eigen::MatrixXd tesseract_kinematics::JointGroup::calcJacobian	(	const Eigen::Ref< const Eigen::VectorXd > &	joint_angles,
		const std::string &	base_link_name,
		const std::string &	link_name
	)		const

Calculated jacobian of robot given joint angles.

Parameters

joint_angles	Input vector of joint angles
base_link_name	The frame that the jacobian is calculated in

Returns: The jacobian at the provided link_name relative to the provided base_link_name

Definition at line 160 of file joint_group.cpp.

◆ calcJacobian() [2/4]

Eigen::MatrixXd tesseract_kinematics::JointGroup::calcJacobian	(	const Eigen::Ref< const Eigen::VectorXd > &	joint_angles,
		const std::string &	base_link_name,
		const std::string &	link_name,
		const Eigen::Vector3d &	link_point
	)		const

Calculated jacobian of robot given joint angles.

Parameters

joint_angles	Input vector of joint angles
base_link_name	The frame that the jacobian is calculated in
link_name	The frame that the jacobian is calculated for
link_point	A point on the link that the jacobian is calculated for

Returns: The jacobian at the provided link_name relative to the provided base_link_name

Definition at line 198 of file joint_group.cpp.

◆ calcJacobian() [3/4]

Eigen::MatrixXd tesseract_kinematics::JointGroup::calcJacobian	(	const Eigen::Ref< const Eigen::VectorXd > &	joint_angles,
		const std::string &	link_name
	)		const

Calculated jacobian of robot given joint angles.

Parameters

joint_angles	Input vector of joint angles
link_name	The frame that the jacobian is calculated for

Returns: The jacobian at the provided link_name relative to the joint group base link

Definition at line 133 of file joint_group.cpp.

◆ calcJacobian() [4/4]

Eigen::MatrixXd tesseract_kinematics::JointGroup::calcJacobian	(	const Eigen::Ref< const Eigen::VectorXd > &	joint_angles,
		const std::string &	link_name,
		const Eigen::Vector3d &	link_point
	)		const

Calculated jacobian of robot given joint angles.

Parameters

joint_angles	Input vector of joint angles
link_name	The frame that the jacobian is calculated for
link_point	A point on the link that the jacobian is calculated for

Returns: The jacobian at the provided link_name relative to the joint group base link

Definition at line 145 of file joint_group.cpp.

◆ checkJoints()

bool tesseract_kinematics::JointGroup::checkJoints ( const Eigen::Ref< const Eigen::VectorXd > & vec ) const

Check for consistency in # and limits of joints.

Parameters

vec	Vector of joint values

Returns: True if size of vec matches # of robot joints and all joints are within limits

Definition at line 242 of file joint_group.cpp.

◆ getActiveLinkNames()

std::vector< std::string > tesseract_kinematics::JointGroup::getActiveLinkNames ( ) const

Get list of active link names (with and without geometry) for kinematic object.

Note: This only includes links that are children of the active joints

Returns: A vector of active link names

Definition at line 271 of file joint_group.cpp.

◆ getBaseLinkName()

std::string tesseract_kinematics::JointGroup::getBaseLinkName ( ) const

Get the robot base link name.

Definition at line 301 of file joint_group.cpp.

◆ getJointNames()

std::vector< std::string > tesseract_kinematics::JointGroup::getJointNames ( ) const

Get list of joint names for kinematic object.

Returns: A vector of joint names

Definition at line 267 of file joint_group.cpp.

◆ getLimits()

tesseract_common::KinematicLimits tesseract_kinematics::JointGroup::getLimits ( ) const

Get the kinematic limits (joint, velocity, acceleration, etc.)

Returns: Kinematic Limits

Definition at line 285 of file joint_group.cpp.

◆ getLinkNames()

std::vector< std::string > tesseract_kinematics::JointGroup::getLinkNames ( ) const

Get list of all link names (with and without geometry) for kinematic object.

Returns: A vector of link names

Definition at line 269 of file joint_group.cpp.

◆ getName()

std::string tesseract_kinematics::JointGroup::getName ( ) const

Name of the manipulator.

Definition at line 303 of file joint_group.cpp.

◆ getRedundancyCapableJointIndices()

std::vector< Eigen::Index > tesseract_kinematics::JointGroup::getRedundancyCapableJointIndices ( ) const

Get vector indicating which joints are capable of producing redundant solutions.

Returns: A vector of joint indices

Definition at line 297 of file joint_group.cpp.

◆ getStaticLinkNames()

std::vector< std::string > tesseract_kinematics::JointGroup::getStaticLinkNames ( ) const

Get list of static link names (with and without geometry) for kinematic object.

Returns: A vector of static link names

Definition at line 273 of file joint_group.cpp.

◆ hasLinkName()

bool tesseract_kinematics::JointGroup::hasLinkName ( const std::string & link_name ) const

Check if link name exists.

Parameters

link_name The link name to check for

Returns: True if it exists, otherwise false

Definition at line 280 of file joint_group.cpp.

◆ isActiveLinkName()

bool tesseract_kinematics::JointGroup::isActiveLinkName ( const std::string & link_name ) const

Check if link is an active link.

Parameters

link_name The link name to check

Returns: True if active, otherwise false

Definition at line 275 of file joint_group.cpp.

◆ numJoints()

Eigen::Index tesseract_kinematics::JointGroup::numJoints ( ) const

Number of joints in robot.

Returns: Number of joints in robot

Definition at line 299 of file joint_group.cpp.

◆ operator=() [1/2]

JointGroup & tesseract_kinematics::JointGroup::operator= ( const JointGroup & other )

Definition at line 111 of file joint_group.cpp.

◆ operator=() [2/2]

JointGroup& tesseract_kinematics::JointGroup::operator= ( JointGroup && )

default

◆ setLimits()

void tesseract_kinematics::JointGroup::setLimits ( const tesseract_common::KinematicLimits & limits )

Setter for kinematic limits (joint, velocity, acceleration, etc.)

Parameters

Kinematic Limits

Definition at line 287 of file joint_group.cpp.

Member Data Documentation

◆ jacobian_map_

std::vector<Eigen::Index> tesseract_kinematics::JointGroup::jacobian_map_

protected

Definition at line 214 of file joint_group.h.

◆ joint_names_

std::vector<std::string> tesseract_kinematics::JointGroup::joint_names_

protected

Definition at line 208 of file joint_group.h.

◆ limits_

tesseract_common::KinematicLimits tesseract_kinematics::JointGroup::limits_

protected

Definition at line 212 of file joint_group.h.

◆ link_names_

std::vector<std::string> tesseract_kinematics::JointGroup::link_names_

protected

Definition at line 209 of file joint_group.h.

◆ name_

std::string tesseract_kinematics::JointGroup::name_

protected

Definition at line 205 of file joint_group.h.

◆ redundancy_indices_

std::vector<Eigen::Index> tesseract_kinematics::JointGroup::redundancy_indices_

protected

Definition at line 213 of file joint_group.h.

◆ state_

tesseract_scene_graph::SceneState tesseract_kinematics::JointGroup::state_

protected

Definition at line 206 of file joint_group.h.

◆ state_solver_

std::unique_ptr<tesseract_scene_graph::StateSolver> tesseract_kinematics::JointGroup::state_solver_

protected

Definition at line 207 of file joint_group.h.

◆ static_link_names_

std::vector<std::string> tesseract_kinematics::JointGroup::static_link_names_

protected

Definition at line 210 of file joint_group.h.

◆ static_link_transforms_

tesseract_common::TransformMap tesseract_kinematics::JointGroup::static_link_transforms_

protected

Definition at line 211 of file joint_group.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ~JointGroup()

◆ JointGroup() [1/3]

◆ JointGroup() [2/3]

◆ JointGroup() [3/3]

Member Function Documentation

◆ calcFwdKin()

◆ calcJacobian() [1/4]

◆ calcJacobian() [2/4]

◆ calcJacobian() [3/4]

◆ calcJacobian() [4/4]

◆ checkJoints()

◆ getActiveLinkNames()

◆ getBaseLinkName()

◆ getJointNames()

◆ getLimits()

◆ getLinkNames()

◆ getName()

◆ getRedundancyCapableJointIndices()

◆ getStaticLinkNames()

◆ hasLinkName()

◆ isActiveLinkName()

◆ numJoints()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setLimits()

Member Data Documentation

◆ jacobian_map_

◆ joint_names_

◆ limits_

◆ link_names_

◆ name_

◆ redundancy_indices_

◆ state_

◆ state_solver_

◆ static_link_names_

◆ static_link_transforms_