#include <kinematics_plugin_factory.h>

Public Member Functions
void	addFwdKinPlugin (const std::string &group_name, const std::string &solver_name, tesseract_common::PluginInfo plugin_info)
	Add a forward kinematics plugin to the manager. More...

void	addInvKinPlugin (const std::string &group_name, const std::string &solver_name, tesseract_common::PluginInfo plugin_info)
	Add a inverse kinematics plugin to the manager. More...

void	addSearchLibrary (const std::string &library_name)
	Add a library to search for plugin name. More...

void	addSearchPath (const std::string &path)
	Add location for the plugin loader to search. More...

std::unique_ptr< ForwardKinematics >	createFwdKin (const std::string &group_name, const std::string &solver_name, const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::SceneState &scene_state) const
	Get forward kinematics object given group name and solver name. More...

std::unique_ptr< ForwardKinematics >	createFwdKin (const std::string &solver_name, const tesseract_common::PluginInfo &plugin_info, const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::SceneState &scene_state) const
	Get forward kinematics object given plugin info. More...

std::unique_ptr< InverseKinematics >	createInvKin (const std::string &group_name, const std::string &solver_name, const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::SceneState &scene_state) const
	Get inverse kinematics object given group name and solver name. More...

std::unique_ptr< InverseKinematics >	createInvKin (const std::string &solver_name, const tesseract_common::PluginInfo &plugin_info, const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::SceneState &scene_state) const
	Get inverse kinematics object given plugin info. More...

YAML::Node	getConfig () const
	Get the plugin information config as a yaml node. More...

std::string	getDefaultFwdKinPlugin (const std::string &group_name) const
	Get the default forward kinematics solver for a group. More...

std::string	getDefaultInvKinPlugin (const std::string &group_name) const
	Get the default forward inverse solver for a group. More...

std::map< std::string, tesseract_common::PluginInfoContainer >	getFwdKinPlugins () const
	Get the map of forward kinematic plugins. More...

std::map< std::string, tesseract_common::PluginInfoContainer >	getInvKinPlugins () const
	Get the map of inverse kinematic plugins. More...

std::set< std::string >	getSearchLibraries () const
	Get the plugin search libraries. More...

std::set< std::string >	getSearchPaths () const
	Get the plugin search paths. More...

	KinematicsPluginFactory ()

	KinematicsPluginFactory (const KinematicsPluginFactory &)=default

	KinematicsPluginFactory (const std::filesystem::path &config, const tesseract_common::ResourceLocator &locator)
	Load plugins from file path. More...

	KinematicsPluginFactory (const std::string &config, const tesseract_common::ResourceLocator &locator)
	Load plugins from string. More...

	KinematicsPluginFactory (KinematicsPluginFactory &&)=default

	KinematicsPluginFactory (YAML::Node config, const tesseract_common::ResourceLocator &locator)
	Load plugins from yaml node. More...

KinematicsPluginFactory &	operator= (const KinematicsPluginFactory &)=default

KinematicsPluginFactory &	operator= (KinematicsPluginFactory &&)=default

void	removeFwdKinPlugin (const std::string &group_name, const std::string &solver_name)
	remove forward kinematics plugin from the manager More...

void	removeInvKinPlugin (const std::string &group_name, const std::string &solver_name)
	remove inverse kinematics plugin from the manager More...

void	saveConfig (const std::filesystem::path &file_path) const
	Save the plugin information to a yaml config file. More...

void	setDefaultFwdKinPlugin (const std::string &group_name, const std::string &solver_name)
	Set a groups default forward kinematics solver. More...

void	setDefaultInvKinPlugin (const std::string &group_name, const std::string &solver_name)
	Set a groups default inverse kinematics solver. More...

	~KinematicsPluginFactory ()

Private Member Functions
void	loadConfig (const YAML::Node &config)

Private Attributes
std::map< std::string, FwdKinFactory::Ptr >	fwd_kin_factories_

std::map< std::string, tesseract_common::PluginInfoContainer >	fwd_plugin_info_

std::map< std::string, InvKinFactory::Ptr >	inv_kin_factories_

std::map< std::string, tesseract_common::PluginInfoContainer >	inv_plugin_info_

boost_plugin_loader::PluginLoader	plugin_loader_

Detailed Description

Definition at line 116 of file kinematics_plugin_factory.h.

Constructor & Destructor Documentation

◆ KinematicsPluginFactory() [1/6]

tesseract_kinematics::KinematicsPluginFactory::KinematicsPluginFactory ( )

Definition at line 54 of file kinematics_plugin_factory.cpp.

◆ ~KinematicsPluginFactory()

tesseract_kinematics::KinematicsPluginFactory::~KinematicsPluginFactory ( )

default

◆ KinematicsPluginFactory() [2/6]

tesseract_kinematics::KinematicsPluginFactory::KinematicsPluginFactory ( const KinematicsPluginFactory & )

default

◆ KinematicsPluginFactory() [3/6]

tesseract_kinematics::KinematicsPluginFactory::KinematicsPluginFactory ( KinematicsPluginFactory && )

default

◆ KinematicsPluginFactory() [4/6]

tesseract_kinematics::KinematicsPluginFactory::KinematicsPluginFactory	(	YAML::Node	config,
		const tesseract_common::ResourceLocator &	locator
	)

Load plugins from yaml node.

Parameters

config The config node

Definition at line 76 of file kinematics_plugin_factory.cpp.

◆ KinematicsPluginFactory() [5/6]

tesseract_kinematics::KinematicsPluginFactory::KinematicsPluginFactory	(	const std::filesystem::path &	config,
		const tesseract_common::ResourceLocator &	locator
	)

Load plugins from file path.

Parameters

config The config file path

Definition at line 83 of file kinematics_plugin_factory.cpp.

◆ KinematicsPluginFactory() [6/6]

tesseract_kinematics::KinematicsPluginFactory::KinematicsPluginFactory	(	const std::string &	config,
		const tesseract_common::ResourceLocator &	locator
	)

Load plugins from string.

Parameters

config The config string

Definition at line 90 of file kinematics_plugin_factory.cpp.

Member Function Documentation

◆ addFwdKinPlugin()

void tesseract_kinematics::KinematicsPluginFactory::addFwdKinPlugin	(	const std::string &	group_name,
		const std::string &	solver_name,
		tesseract_common::PluginInfo	plugin_info
	)

Add a forward kinematics plugin to the manager.

Parameters

group_name	The group name
solver_name	The solver name
plugin_info	The plugin information

Definition at line 112 of file kinematics_plugin_factory.cpp.

◆ addInvKinPlugin()

void tesseract_kinematics::KinematicsPluginFactory::addInvKinPlugin	(	const std::string &	group_name,
		const std::string &	solver_name,
		tesseract_common::PluginInfo	plugin_info
	)

Add a inverse kinematics plugin to the manager.

Parameters

group_name	The group name
solver_name	The solver name
plugin_info	The plugin information

Definition at line 172 of file kinematics_plugin_factory.cpp.

◆ addSearchLibrary()

void tesseract_kinematics::KinematicsPluginFactory::addSearchLibrary ( const std::string & library_name )

Add a library to search for plugin name.

Parameters

library_name The library name without the prefix or suffix

Definition at line 105 of file kinematics_plugin_factory.cpp.

◆ addSearchPath()

void tesseract_kinematics::KinematicsPluginFactory::addSearchPath ( const std::string & path )

Add location for the plugin loader to search.

Parameters

path	The full path to the directory

Definition at line 101 of file kinematics_plugin_factory.cpp.

◆ createFwdKin() [1/2]

std::unique_ptr< ForwardKinematics > tesseract_kinematics::KinematicsPluginFactory::createFwdKin	(	const std::string &	group_name,
		const std::string &	solver_name,
		const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_scene_graph::SceneState &	scene_state
	)		const

Get forward kinematics object given group name and solver name.

This looks for kinematics plugin info added using addFwdKinPlugin. If not found nullptr is returned.

Parameters

group_name	The group name
solver_name	The solver
scene_graph	The scene graph
scene_state	The scene state

Definition at line 233 of file kinematics_plugin_factory.cpp.

◆ createFwdKin() [2/2]

std::unique_ptr< ForwardKinematics > tesseract_kinematics::KinematicsPluginFactory::createFwdKin	(	const std::string &	solver_name,
		const tesseract_common::PluginInfo &	plugin_info,
		const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_scene_graph::SceneState &	scene_state
	)		const

Get forward kinematics object given plugin info.

Parameters

plugin_info	The plugin information to create kinematics object
scene_graph	The scene graph
scene_state	The scene state

Definition at line 262 of file kinematics_plugin_factory.cpp.

◆ createInvKin() [1/2]

std::unique_ptr< InverseKinematics > tesseract_kinematics::KinematicsPluginFactory::createInvKin	(	const std::string &	group_name,
		const std::string &	solver_name,
		const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_scene_graph::SceneState &	scene_state
	)		const

Get inverse kinematics object given group name and solver name.

This looks for kinematics plugin info added using addInvKinPlugin. If not found nullptr is returned.

Parameters

group_name	The group name
solver_name	The solver
scene_graph	The scene graph
scene_state	The scene state

Definition at line 290 of file kinematics_plugin_factory.cpp.

◆ createInvKin() [2/2]

std::unique_ptr< InverseKinematics > tesseract_kinematics::KinematicsPluginFactory::createInvKin	(	const std::string &	solver_name,
		const tesseract_common::PluginInfo &	plugin_info,
		const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_scene_graph::SceneState &	scene_state
	)		const

Get inverse kinematics object given plugin info.

Parameters

plugin_info	The plugin information to create kinematics object
scene_graph	The scene graph
scene_state	The scene state

Definition at line 319 of file kinematics_plugin_factory.cpp.

◆ getConfig()

YAML::Node tesseract_kinematics::KinematicsPluginFactory::getConfig ( ) const

Get the plugin information config as a yaml node.

Returns: The plugin information config yaml node/

Definition at line 353 of file kinematics_plugin_factory.cpp.

◆ getDefaultFwdKinPlugin()

std::string tesseract_kinematics::KinematicsPluginFactory::getDefaultFwdKinPlugin ( const std::string & group_name ) const

Get the default forward kinematics solver for a group.

Parameters

group_name The group

Returns: The default solver name

Definition at line 159 of file kinematics_plugin_factory.cpp.

◆ getDefaultInvKinPlugin()

std::string tesseract_kinematics::KinematicsPluginFactory::getDefaultInvKinPlugin ( const std::string & group_name ) const

Get the default forward inverse solver for a group.

Parameters

group_name The group

Returns: The default solver name

Definition at line 219 of file kinematics_plugin_factory.cpp.

◆ getFwdKinPlugins()

std::map< std::string, tesseract_common::PluginInfoContainer > tesseract_kinematics::KinematicsPluginFactory::getFwdKinPlugins ( ) const

Get the map of forward kinematic plugins.

Returns: A map of plugins

Definition at line 119 of file kinematics_plugin_factory.cpp.

◆ getInvKinPlugins()

std::map< std::string, tesseract_common::PluginInfoContainer > tesseract_kinematics::KinematicsPluginFactory::getInvKinPlugins ( ) const

Get the map of inverse kinematic plugins.

Returns: A map of plugins

Definition at line 179 of file kinematics_plugin_factory.cpp.

◆ getSearchLibraries()

std::set< std::string > tesseract_kinematics::KinematicsPluginFactory::getSearchLibraries ( ) const

Get the plugin search libraries.

Returns: The search libraries

Definition at line 110 of file kinematics_plugin_factory.cpp.

◆ getSearchPaths()

std::set< std::string > tesseract_kinematics::KinematicsPluginFactory::getSearchPaths ( ) const

Get the plugin search paths.

Returns: The search paths

Definition at line 103 of file kinematics_plugin_factory.cpp.

◆ loadConfig()

void tesseract_kinematics::KinematicsPluginFactory::loadConfig ( const YAML::Node & config )

private

Definition at line 63 of file kinematics_plugin_factory.cpp.

◆ operator=() [1/2]

KinematicsPluginFactory& tesseract_kinematics::KinematicsPluginFactory::operator= ( const KinematicsPluginFactory & )

default

◆ operator=() [2/2]

KinematicsPluginFactory& tesseract_kinematics::KinematicsPluginFactory::operator= ( KinematicsPluginFactory && )

default

◆ removeFwdKinPlugin()

void tesseract_kinematics::KinematicsPluginFactory::removeFwdKinPlugin	(	const std::string &	group_name,
		const std::string &	solver_name
	)

remove forward kinematics plugin from the manager

Parameters

group_name	The group name
solver_name	The solver name

Definition at line 124 of file kinematics_plugin_factory.cpp.

◆ removeInvKinPlugin()

void tesseract_kinematics::KinematicsPluginFactory::removeInvKinPlugin	(	const std::string &	group_name,
		const std::string &	solver_name
	)

remove inverse kinematics plugin from the manager

Parameters

group_name	The group name
solver_name	The solver name

Definition at line 184 of file kinematics_plugin_factory.cpp.

◆ saveConfig()

void tesseract_kinematics::KinematicsPluginFactory::saveConfig ( const std::filesystem::path & file_path ) const

Save the plugin information to a yaml config file.

Parameters

file_path The file path

Definition at line 346 of file kinematics_plugin_factory.cpp.

◆ setDefaultFwdKinPlugin()

void tesseract_kinematics::KinematicsPluginFactory::setDefaultFwdKinPlugin	(	const std::string &	group_name,
		const std::string &	solver_name
	)

Set a groups default forward kinematics solver.

A group can have multiple inverse kinematics solvers

Parameters

group_name	The group name
solver_name	The solver name

Definition at line 144 of file kinematics_plugin_factory.cpp.

◆ setDefaultInvKinPlugin()

void tesseract_kinematics::KinematicsPluginFactory::setDefaultInvKinPlugin	(	const std::string &	group_name,
		const std::string &	solver_name
	)

Set a groups default inverse kinematics solver.

A group can have multiple inverse kinematics solvers

Parameters

group_name	The group name
solver_name	The solver name

Definition at line 204 of file kinematics_plugin_factory.cpp.

Member Data Documentation

◆ fwd_kin_factories_

std::map<std::string, FwdKinFactory::Ptr> tesseract_kinematics::KinematicsPluginFactory::fwd_kin_factories_

mutableprivate

Definition at line 305 of file kinematics_plugin_factory.h.

◆ fwd_plugin_info_

std::map<std::string, tesseract_common::PluginInfoContainer> tesseract_kinematics::KinematicsPluginFactory::fwd_plugin_info_

private

Definition at line 307 of file kinematics_plugin_factory.h.

◆ inv_kin_factories_

std::map<std::string, InvKinFactory::Ptr> tesseract_kinematics::KinematicsPluginFactory::inv_kin_factories_

mutableprivate

Definition at line 306 of file kinematics_plugin_factory.h.

◆ inv_plugin_info_

std::map<std::string, tesseract_common::PluginInfoContainer> tesseract_kinematics::KinematicsPluginFactory::inv_plugin_info_

private

Definition at line 308 of file kinematics_plugin_factory.h.

◆ plugin_loader_

boost_plugin_loader::PluginLoader tesseract_kinematics::KinematicsPluginFactory::plugin_loader_

private

Definition at line 309 of file kinematics_plugin_factory.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ KinematicsPluginFactory() [1/6]

◆ ~KinematicsPluginFactory()

◆ KinematicsPluginFactory() [2/6]

◆ KinematicsPluginFactory() [3/6]

◆ KinematicsPluginFactory() [4/6]

◆ KinematicsPluginFactory() [5/6]

◆ KinematicsPluginFactory() [6/6]

Member Function Documentation

◆ addFwdKinPlugin()

◆ addInvKinPlugin()

◆ addSearchLibrary()

◆ addSearchPath()

◆ createFwdKin() [1/2]

◆ createFwdKin() [2/2]

◆ createInvKin() [1/2]

◆ createInvKin() [2/2]

◆ getConfig()

◆ getDefaultFwdKinPlugin()

◆ getDefaultInvKinPlugin()

◆ getFwdKinPlugins()

◆ getInvKinPlugins()

◆ getSearchLibraries()

◆ getSearchPaths()

◆ loadConfig()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ removeFwdKinPlugin()

◆ removeInvKinPlugin()

◆ saveConfig()

◆ setDefaultFwdKinPlugin()

◆ setDefaultInvKinPlugin()

Member Data Documentation

◆ fwd_kin_factories_

◆ fwd_plugin_info_

◆ inv_kin_factories_

◆ inv_plugin_info_

◆ plugin_loader_