#include <graph.h>

Inheritance diagram for tesseract_scene_graph::SceneGraph:

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

using	ConstUPtr = std::unique_ptr< const SceneGraph >

using	Edge = SceneGraph::edge_descriptor

using	Ptr = std::shared_ptr< SceneGraph >

using	UPtr = std::unique_ptr< SceneGraph >

using	Vertex = SceneGraph::vertex_descriptor

Public Member Functions
void	addAllowedCollision (const std::string &link_name1, const std::string &link_name2, const std::string &reason)
	Disable collision between two collision objects. More...

bool	addJoint (const Joint &joint)
	Adds joint to the graph. More...

bool	addLink (const Link &link, bool replace_allowed=false)
	Adds a link to the graph. More...

bool	addLink (const Link &link, const Joint &joint)
	Adds a link/joint to the graph. More...

bool	changeJointAccelerationLimits (const std::string &name, double limit)
	Changes the acceleration limits associated with a joint. More...

bool	changeJointJerkLimits (const std::string &name, double limit)
	Changes the jerk limits associated with a joint. More...

bool	changeJointLimits (const std::string &name, const JointLimits &limits)
	Changes the limits of a joint. The JointLimits::Ptr remains the same, but the values passed in are assigned. More...

bool	changeJointOrigin (const std::string &name, const Eigen::Isometry3d &new_origin)
	Changes the "origin" transform of the joint and recomputes the associated edge. More...

bool	changeJointPositionLimits (const std::string &name, double lower, double upper)
	Changes the position limits associated with a joint. More...

bool	changeJointVelocityLimits (const std::string &name, double limit)
	Changes the velocity limits associated with a joint. More...

void	clear ()
	Clear the scene graph. More...

void	clearAllowedCollisions ()
	Remove all allowed collisions. More...

SceneGraph::UPtr	clone () const
	Clone the scene graph. More...

std::vector< std::shared_ptr< const Joint > >	getActiveJoints () const
	Get a vector of active joints in the scene graph. More...

std::unordered_map< std::string, std::string >	getAdjacencyMap (const std::vector< std::string > &link_names) const
	Create mapping between links in the scene to the provided links if they are directly affected if the link moves. More...

std::vector< std::string >	getAdjacentLinkNames (const std::string &name) const
	Get a vector of adjacent link names provided a link name. More...

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

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

Edge	getEdge (const std::string &name) const
	Get the graph edge by name. More...

std::vector< std::shared_ptr< const Joint > >	getInboundJoints (const std::string &link_name) const
	Get inbound joints for a link. More...

std::vector< std::string >	getInvAdjacentLinkNames (const std::string &name) const
	Geta a vectpr pf inverse adjacent link names provided a link name. More...

std::shared_ptr< const Joint >	getJoint (const std::string &name) const
	Get a joint in the graph. More...

std::vector< std::string >	getJointChildrenNames (const std::string &name) const
	Get all children link names for a given joint name. More...

std::vector< std::string >	getJointChildrenNames (const std::vector< std::string > &names) const
	Get all children link names for the given joint names. More...

std::shared_ptr< const JointLimits >	getJointLimits (const std::string &name)
	Gets the limits of the joint specified by name. More...

std::vector< std::shared_ptr< const Joint > >	getJoints () const
	Get a vector of joints in the scene graph. More...

std::vector< std::shared_ptr< const Link > >	getLeafLinks () const
	Get a vector leaf links in the scene graph. More...

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

std::vector< std::string >	getLinkChildrenNames (const std::string &name) const
	Get all children for a given link name. More...

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

std::vector< std::shared_ptr< const Link > >	getLinks () const
	Get a vector links in the scene graph. More...

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

const std::string &	getName () const
	Sets the graph name. More...

std::vector< std::shared_ptr< const Joint > >	getOutboundJoints (const std::string &link_name) const
	Get outbound joints for a link. More...

const std::string &	getRoot () const
	Gets the root link name (aka. World Coordinate Frame) More...

ShortestPath	getShortestPath (const std::string &root, const std::string &tip) const
	Get the shortest path between two links. More...

std::shared_ptr< const Link >	getSourceLink (const std::string &joint_name) const
	Get the source link (parent link) for a joint. More...

std::shared_ptr< const Link >	getTargetLink (const std::string &joint_name) const
	Get the target link (child link) for a joint. More...

Vertex	getVertex (const std::string &name) const
	Get the graph vertex by name. More...

bool	insertSceneGraph (const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &prefix="")
	Merge a graph into the current graph. More...

bool	insertSceneGraph (const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::Joint &joint, const std::string &prefix="")
	Merge a graph into the current environment. More...

bool	isAcyclic () const
	Determine if the graph contains cycles. More...

bool	isCollisionAllowed (const std::string &link_name1, const std::string &link_name2) const
	Check if two links are allowed to be in collision. More...

bool	isEmpty () const
	Check if the graph is empty. More...

bool	isTree () const
	Determine if the graph is a tree. More...

bool	moveJoint (const std::string &name, const std::string &parent_link)
	Move joint to new parent link. More...

bool	moveLink (const Joint &joint)
	Move link defined by provided joint This deletes all inbound joints on the parent link defined by the joint. More...

bool	operator!= (const SceneGraph &rhs) const

SceneGraph &	operator= (const SceneGraph &other)=delete

SceneGraph &	operator= (SceneGraph &&other) noexcept

bool	operator== (const SceneGraph &rhs) const

void	removeAllowedCollision (const std::string &link_name)
	Remove disabled collision for any pair with link_name from allowed collision matrix. More...

void	removeAllowedCollision (const std::string &link_name1, const std::string &link_name2)
	Remove disabled collision pair from allowed collision matrix. More...

bool	removeJoint (const std::string &name, bool recursive=false)
	Removes a joint from the graph. More...

bool	removeLink (const std::string &name, bool recursive=false)
	Removes a link from the graph. More...

void	saveDOT (const std::string &path) const
	Saves Graph as Graph Description Language (DOT) More...

	SceneGraph (const SceneGraph &other)=delete

	SceneGraph (const std::string &name="")

	SceneGraph (SceneGraph &&other) noexcept

void	setAllowedCollisionMatrix (std::shared_ptr< tesseract_common::AllowedCollisionMatrix > acm)
	Set the allowed collision matrix. More...

void	setLinkCollisionEnabled (const std::string &name, bool enabled)
	Set whether a link should be considered during collision checking. More...

void	setLinkVisibility (const std::string &name, bool visibility)
	Set a links visibility. More...

void	setName (const std::string &name)
	Sets the graph name. More...

bool	setRoot (const std::string &name)
	Sets the root link name (aka. World Coordinate Frame) More...

	~SceneGraph ()=default

Protected Member Functions
bool	addJointHelper (const std::shared_ptr< Joint > &joint_ptr)
	Adds joint to the graph. More...

bool	addLinkHelper (const std::shared_ptr< Link > &link_ptr, bool replace_allowed=false)
	Adds a link to the graph. More...

Private Member Functions
std::vector< std::string >	getLinkChildrenHelper (Vertex start_vertex) const
	Get the children of a vertex starting with start_vertex. More...

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

void	rebuildLinkAndJointMaps ()
	The rebuild the link and joint map by extraction information from the graph. More...

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::shared_ptr< tesseract_common::AllowedCollisionMatrix >	acm_

std::unordered_map< std::string, std::pair< std::shared_ptr< Joint >, Edge > >	joint_map_

std::unordered_map< std::string, std::pair< std::shared_ptr< Link >, Vertex > >	link_map_

Friends
class	boost::serialization::access

struct	tesseract_common::Serialization

Detailed Description

Definition at line 125 of file graph.h.

Member Typedef Documentation

◆ ConstPtr

using tesseract_scene_graph::SceneGraph::ConstPtr = std::shared_ptr<const SceneGraph>

Definition at line 136 of file graph.h.

◆ ConstUPtr

using tesseract_scene_graph::SceneGraph::ConstUPtr = std::unique_ptr<const SceneGraph>

Definition at line 138 of file graph.h.

◆ Edge

using tesseract_scene_graph::SceneGraph::Edge = SceneGraph::edge_descriptor

Definition at line 133 of file graph.h.

◆ Ptr

using tesseract_scene_graph::SceneGraph::Ptr = std::shared_ptr<SceneGraph>

Definition at line 135 of file graph.h.

◆ UPtr

using tesseract_scene_graph::SceneGraph::UPtr = std::unique_ptr<SceneGraph>

Definition at line 137 of file graph.h.

◆ Vertex

using tesseract_scene_graph::SceneGraph::Vertex = SceneGraph::vertex_descriptor

Definition at line 132 of file graph.h.

Constructor & Destructor Documentation

◆ SceneGraph() [1/3]

tesseract_scene_graph::SceneGraph::SceneGraph ( const std::string & name = "" )

Definition at line 189 of file graph.cpp.

◆ ~SceneGraph()

tesseract_scene_graph::SceneGraph::~SceneGraph ( )

default

◆ SceneGraph() [2/3]

tesseract_scene_graph::SceneGraph::SceneGraph ( const SceneGraph & other )

delete

◆ SceneGraph() [3/3]

tesseract_scene_graph::SceneGraph::SceneGraph ( SceneGraph && other )

noexcept

Definition at line 194 of file graph.cpp.

Member Function Documentation

◆ addAllowedCollision()

void tesseract_scene_graph::SceneGraph::addAllowedCollision	(	const std::string &	link_name1,
		const std::string &	link_name2,
		const std::string &	reason
	)

Disable collision between two collision objects.

Parameters

link_name1	Collision object name
link_name2	Collision object name
reason	The reason for disabling collision

Definition at line 777 of file graph.cpp.

◆ addJoint()

bool tesseract_scene_graph::SceneGraph::addJoint ( const Joint & joint )

Adds joint to the graph.

Parameters

joint The joint to be added

Returns: Return False if parent or child link does not exists and if joint name already exists in the graph, otherwise true

Definition at line 460 of file graph.cpp.

◆ addJointHelper()

bool tesseract_scene_graph::SceneGraph::addJointHelper ( const std::shared_ptr< Joint > & joint_ptr )

protected

Adds joint to the graph.

Parameters

joint_ptr Shared pointer to the joint to be added

Returns: Return False if parent or child link does not exists and if joint name already exists in the graph, otherwise true

Definition at line 466 of file graph.cpp.

◆ addLink() [1/2]

bool tesseract_scene_graph::SceneGraph::addLink	(	const Link &	link,
		bool	replace_allowed = `false`
	)

Adds a link to the graph.

The first link added to the graph is set as the root by default. Use setRoot to change the root link of the graph.

Parameters

link	The link to be added to the graph
replace_allowed	If true and the link exist it will be replaced

Returns: Return False if a link with the same name already exists and replace is not allowed, otherwise true

Definition at line 273 of file graph.cpp.

◆ addLink() [2/2]

bool tesseract_scene_graph::SceneGraph::addLink	(	const Link &	link,
		const Joint &	joint
	)

Adds a link/joint to the graph.

The first link added to the graph is set as the root by default. Use setRoot to change the root link of the graph.

Parameters

link	The link to be added to the graph
joint	The associated joint to be added to the graph

Returns: Return False if a link with the same name allready exists, otherwise true

Definition at line 279 of file graph.cpp.

◆ addLinkHelper()

bool tesseract_scene_graph::SceneGraph::addLinkHelper	(	const std::shared_ptr< Link > &	link_ptr,
		bool	replace_allowed = `false`
	)

protected

Adds a link to the graph.

The first link added to the graph is set as the root by default. Use setRoot to change the root link of the graph.

Parameters

link_ptr	Shared pointer to the link to be added to the graph
replace_allowed	If true and the link exist it will be replaced

Returns: Return False if a link with the same name already exists and replace is not allowed, otherwise true

Definition at line 302 of file graph.cpp.

◆ changeJointAccelerationLimits()

bool tesseract_scene_graph::SceneGraph::changeJointAccelerationLimits	(	const std::string &	name,
		double	limit
	)

Changes the acceleration limits associated with a joint.

Parameters

joint_name	Name of the joint to be updated
limits	New acceleration limits to be set as the joint limits

Returns

Definition at line 705 of file graph.cpp.

◆ changeJointJerkLimits()

bool tesseract_scene_graph::SceneGraph::changeJointJerkLimits	(	const std::string &	name,
		double	limit
	)

Changes the jerk limits associated with a joint.

Parameters

joint_name	Name of the joint to be updated
limits	New jerk limits to be set as the joint limits

Returns

Definition at line 732 of file graph.cpp.

◆ changeJointLimits()

bool tesseract_scene_graph::SceneGraph::changeJointLimits	(	const std::string &	name,
		const JointLimits &	limits
	)

Changes the limits of a joint. The JointLimits::Ptr remains the same, but the values passed in are assigned.

Parameters

name	Name of the joint to be changed
limits	The new limits associated with the joint

Returns: True if successful.

Definition at line 631 of file graph.cpp.

◆ changeJointOrigin()

bool tesseract_scene_graph::SceneGraph::changeJointOrigin	(	const std::string &	name,
		const Eigen::Isometry3d &	new_origin
	)

Changes the "origin" transform of the joint and recomputes the associated edge.

Parameters

name	Name of the joint to be changed
new_origin	The new transform associated with the joint

Returns: True if successful.

Definition at line 608 of file graph.cpp.

◆ changeJointPositionLimits()

bool tesseract_scene_graph::SceneGraph::changeJointPositionLimits	(	const std::string &	name,
		double	lower,
		double	upper
	)

Changes the position limits associated with a joint.

Parameters

joint_name	Name of the joint to be updated
limits	New position limits to be set as the joint limits @returnTrue if successful.

Definition at line 661 of file graph.cpp.

◆ changeJointVelocityLimits()

bool tesseract_scene_graph::SceneGraph::changeJointVelocityLimits	(	const std::string &	name,
		double	limit
	)

Changes the velocity limits associated with a joint.

Parameters

joint_name	Name of the joint to be updated
limits	New velocity limits to be set as the joint limits

Returns

Definition at line 684 of file graph.cpp.

◆ clear()

void tesseract_scene_graph::SceneGraph::clear ( )

Clear the scene graph.

Definition at line 238 of file graph.cpp.

◆ clearAllowedCollisions()

void tesseract_scene_graph::SceneGraph::clearAllowedCollisions ( )

Remove all allowed collisions.

Definition at line 791 of file graph.cpp.

◆ clone()

SceneGraph::UPtr tesseract_scene_graph::SceneGraph::clone ( ) const

Clone the scene graph.

Returns: The cloned scene graph

Definition at line 216 of file graph.cpp.

◆ getActiveJoints()

std::vector< std::shared_ptr< const Joint > > tesseract_scene_graph::SceneGraph::getActiveJoints ( ) const

Get a vector of active joints in the scene graph.

Returns: A vector of active joints

Definition at line 595 of file graph.cpp.

◆ getAdjacencyMap()

std::unordered_map< std::string, std::string > tesseract_scene_graph::SceneGraph::getAdjacencyMap ( const std::vector< std::string > & link_names ) const

Create mapping between links in the scene to the provided links if they are directly affected if the link moves.

Parameters

link_names The links to map other links to

Returns: A map of affected links to on of the provided link names.

Definition at line 948 of file graph.cpp.

◆ getAdjacentLinkNames()

std::vector< std::string > tesseract_scene_graph::SceneGraph::getAdjacentLinkNames ( const std::string & name ) const

Get a vector of adjacent link names provided a link name.

Parameters

name	Name of link

Returns: A vector of adjacent link names

Definition at line 897 of file graph.cpp.

◆ getAllowedCollisionMatrix() [1/2]

std::shared_ptr<tesseract_common::AllowedCollisionMatrix> tesseract_scene_graph::SceneGraph::getAllowedCollisionMatrix ( )

Get the allowed collision matrix.

Returns: AllowedCollisionMatrixPtr

◆ getAllowedCollisionMatrix() [2/2]

std::shared_ptr< tesseract_common::AllowedCollisionMatrix > tesseract_scene_graph::SceneGraph::getAllowedCollisionMatrix ( ) const

Get the allowed collision matrix.

Returns: AllowedCollisionMatrixConstPtr

Definition at line 798 of file graph.cpp.

◆ getEdge()

SceneGraph::Edge tesseract_scene_graph::SceneGraph::getEdge ( const std::string & name ) const

Get the graph edge by name.

Parameters

name	The edge/joint name

Returns: Graph Edge

Definition at line 1118 of file graph.cpp.

◆ getInboundJoints()

std::vector< std::shared_ptr< const Joint > > tesseract_scene_graph::SceneGraph::getInboundJoints ( const std::string & link_name ) const

Get inbound joints for a link.

The inbound joints are all joints that have the link identified as the child link

Parameters

link_name The name of the link

Returns: Vector of joints

Definition at line 819 of file graph.cpp.

◆ getInvAdjacentLinkNames()

std::vector< std::string > tesseract_scene_graph::SceneGraph::getInvAdjacentLinkNames ( const std::string & name ) const

Geta a vectpr pf inverse adjacent link names provided a link name.

Parameters

name

Returns

Definition at line 907 of file graph.cpp.

◆ getJoint()

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

Get a joint in the graph.

Parameters

name	The name of the joint

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

Definition at line 525 of file graph.cpp.

◆ getJointChildrenNames() [1/2]

std::vector< std::string > tesseract_scene_graph::SceneGraph::getJointChildrenNames ( const std::string & name ) const

Get all children link names for a given joint name.

Parameters

name	Name of joint

Returns: A vector of child link names

Definition at line 927 of file graph.cpp.

◆ getJointChildrenNames() [2/2]

std::vector< std::string > tesseract_scene_graph::SceneGraph::getJointChildrenNames ( const std::vector< std::string > & names ) const

Get all children link names for the given joint names.

Todo:: Need to create custom visitor so already process joint_names do not get processed again.

Parameters

names Name of joints

Returns: A vector of child link names

Definition at line 935 of file graph.cpp.

◆ getJointLimits()

std::shared_ptr< const JointLimits > tesseract_scene_graph::SceneGraph::getJointLimits ( const std::string & name )

Gets the limits of the joint specified by name.

Parameters

name	Name of the joint which limits will be retrieved

Returns: Limits of the joint. Returns nullptr is joint is not found.

Definition at line 758 of file graph.cpp.

◆ getJoints()

std::vector< std::shared_ptr< const Joint > > tesseract_scene_graph::SceneGraph::getJoints ( ) const

Get a vector of joints in the scene graph.

Returns: A vector of joints

Definition at line 585 of file graph.cpp.

◆ getLeafLinks()

std::vector< std::shared_ptr< const Link > > tesseract_scene_graph::SceneGraph::getLeafLinks ( ) const

Get a vector leaf links in the scene graph.

Returns: A vector of links

Definition at line 351 of file graph.cpp.

◆ getLink()

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

Get a link in the graph.

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 332 of file graph.cpp.

◆ getLinkChildrenHelper()

std::vector< std::string > tesseract_scene_graph::SceneGraph::getLinkChildrenHelper ( Vertex start_vertex ) const

private

Get the children of a vertex starting with start_vertex.

Note: This list will include the start vertex

Parameters

start_vertex The vertex to find childeren for.

Returns: A list of child link names including the start vertex

Definition at line 1273 of file graph.cpp.

◆ getLinkChildrenNames()

std::vector< std::string > tesseract_scene_graph::SceneGraph::getLinkChildrenNames ( const std::string & name ) const

Get all children for a given link name.

Parameters

name	Name of Link

Returns: A vector of child link names

Definition at line 917 of file graph.cpp.

◆ getLinkCollisionEnabled()

bool tesseract_scene_graph::SceneGraph::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 453 of file graph.cpp.

◆ getLinks()

std::vector< std::shared_ptr< const Link > > tesseract_scene_graph::SceneGraph::getLinks ( ) const

Get a vector links in the scene graph.

Returns: A vector of links

Definition at line 341 of file graph.cpp.

◆ getLinkVisibility()

bool tesseract_scene_graph::SceneGraph::getLinkVisibility ( const std::string & name ) const

Get a given links visibility setting.

Returns: True if should be visible, otherwise false

Definition at line 439 of file graph.cpp.

◆ getName()

const std::string & tesseract_scene_graph::SceneGraph::getName ( ) const

Sets the graph name.

Parameters

name	The name of the graph

Definition at line 251 of file graph.cpp.

◆ getOutboundJoints()

std::vector< std::shared_ptr< const Joint > > tesseract_scene_graph::SceneGraph::getOutboundJoints ( const std::string & link_name ) const

Get outbound joints for a link.

The outbound joints are all joins that have the link identified as the parent link

Parameters

link_name The name of the link

Returns: Vector of joints

Definition at line 839 of file graph.cpp.

◆ getRoot()

const std::string & tesseract_scene_graph::SceneGraph::getRoot ( ) const

Gets the root link name (aka. World Coordinate Frame)

Returns: The root link name

Definition at line 268 of file graph.cpp.

◆ getShortestPath()

ShortestPath tesseract_scene_graph::SceneGraph::getShortestPath	(	const std::string &	root,
		const std::string &	tip
	)		const

Get the shortest path between two links.

Parameters

root	The base link
tip	The tip link

Returns: The shortest path between the two links

Definition at line 1008 of file graph.cpp.

◆ getSourceLink()

std::shared_ptr< const Link > tesseract_scene_graph::SceneGraph::getSourceLink ( const std::string & joint_name ) const

Get the source link (parent link) for a joint.

Parameters

joint_name The name of the joint

Returns: The source link

Definition at line 805 of file graph.cpp.

◆ getTargetLink()

std::shared_ptr< const Link > tesseract_scene_graph::SceneGraph::getTargetLink ( const std::string & joint_name ) const

Get the target link (child link) for a joint.

Parameters

joint_name The name of the joint

Returns: The target link

Definition at line 812 of file graph.cpp.

◆ getVertex()

SceneGraph::Vertex tesseract_scene_graph::SceneGraph::getVertex ( const std::string & name ) const

Get the graph vertex by name.

Parameters

name	The vertex/link name

Returns: Graph Vertex

Definition at line 1109 of file graph.cpp.

◆ insertSceneGraph() [1/2]

bool tesseract_scene_graph::SceneGraph::insertSceneGraph	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::string &	prefix = `""`
	)

Merge a graph into the current graph.

Parameters

scene_graph	Const ref to the graph to be merged (said graph will be copied)
prefix	string Will prepend to every link and joint of the merged graph

Returns: Return False if any link or joint name collides with current environment, otherwise True Merge a sub-graph into the current environment, considering that the root of the merged graph is attached to the root of the environment by a fixed joint and no displacement. Every joint and link of the sub-graph will be copied into the environment graph. The prefix argument is meant to allow adding multiple copies of the same sub-graph with different names

Definition at line 1158 of file graph.cpp.

◆ insertSceneGraph() [2/2]

bool tesseract_scene_graph::SceneGraph::insertSceneGraph	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_scene_graph::Joint &	joint,
		const std::string &	prefix = `""`
	)

Merge a graph into the current environment.

Parameters

scene_graph	Const ref to the graph to be merged (said graph will be copied)
joint	The joint that connects current environment with the inserted graph
prefix	string Will prepend to every link and joint of the merged graph

Returns: Return False if any link or joint name collides with current environment, otherwise True Merge a sub-graph into the current environment. Every joint and link of the sub-graph will be copied into the environment graph. The prefix argument is meant to allow adding multiple copies of the same sub-graph with different names

Definition at line 1219 of file graph.cpp.

◆ isAcyclic()

bool tesseract_scene_graph::SceneGraph::isAcyclic ( ) const

Determine if the graph contains cycles.

Returns: True if graph is acyclic (no cycles) otherwise false

Definition at line 861 of file graph.cpp.

◆ isCollisionAllowed()

bool tesseract_scene_graph::SceneGraph::isCollisionAllowed	(	const std::string &	link_name1,
		const std::string &	link_name2
	)		const

Check if two links are allowed to be in collision.

Parameters

link_name1	link name
link_name2	link name

Returns: True if the two links are allowed to be in collision, otherwise false

Definition at line 793 of file graph.cpp.

◆ isEmpty()

bool tesseract_scene_graph::SceneGraph::isEmpty ( ) const

Check if the graph is empty.

Returns: True if empty, otherwise false

Definition at line 859 of file graph.cpp.

◆ isTree()

bool tesseract_scene_graph::SceneGraph::isTree ( ) const

Determine if the graph is a tree.

Returns: True if graph is tree otherwise false

Definition at line 879 of file graph.cpp.

◆ load()

template<class Archive >

void tesseract_scene_graph::SceneGraph::load	(	Archive &	ar,
		const unsigned int	version
	)

private

Definition at line 1330 of file graph.cpp.

◆ moveJoint()

bool tesseract_scene_graph::SceneGraph::moveJoint	(	const std::string &	name,
		const std::string &	parent_link
	)

Move joint to new parent link.

Parameters

name	Name of the joint to move
parent_link	Name of parent link to move to

Returns: Returns true if successful, otherwise false.

Definition at line 557 of file graph.cpp.

◆ moveLink()

bool tesseract_scene_graph::SceneGraph::moveLink ( const Joint & joint )

Move link defined by provided joint This deletes all inbound joints on the parent link defined by the joint.

Parameters

joint The joint defining the link move

Returns: Returns true if successful, otherwise false.

Definition at line 408 of file graph.cpp.

◆ operator!=()

bool tesseract_scene_graph::SceneGraph::operator!= ( const SceneGraph & rhs ) const

Definition at line 1319 of file graph.cpp.

◆ operator=() [1/2]

SceneGraph& tesseract_scene_graph::SceneGraph::operator= ( const SceneGraph & other )

delete

◆ operator=() [2/2]

SceneGraph & tesseract_scene_graph::SceneGraph::operator= ( SceneGraph && other )

noexcept

Definition at line 203 of file graph.cpp.

◆ operator==()

bool tesseract_scene_graph::SceneGraph::operator== ( const SceneGraph & rhs ) const

Definition at line 1299 of file graph.cpp.

◆ rebuildLinkAndJointMaps()

void tesseract_scene_graph::SceneGraph::rebuildLinkAndJointMaps ( )

private

The rebuild the link and joint map by extraction information from the graph.

Definition at line 1249 of file graph.cpp.

◆ removeAllowedCollision() [1/2]

void tesseract_scene_graph::SceneGraph::removeAllowedCollision ( const std::string & link_name )

Remove disabled collision for any pair with link_name from allowed collision matrix.

Parameters

link_name Collision object name

Definition at line 789 of file graph.cpp.

◆ removeAllowedCollision() [2/2]

void tesseract_scene_graph::SceneGraph::removeAllowedCollision	(	const std::string &	link_name1,
		const std::string &	link_name2
	)

Remove disabled collision pair from allowed collision matrix.

Parameters

link_name1	Collision object name
link_name2	Collision object name

Definition at line 784 of file graph.cpp.

◆ removeJoint()

bool tesseract_scene_graph::SceneGraph::removeJoint	(	const std::string &	name,
		bool	recursive = `false`
	)

Removes a joint from the graph.

Parameters

name	Name of the joint to be removed
recursive	If true all children are removed if this this is the only joint of the child link

Returns: Return False if a joint does not exists, otherwise true

Definition at line 534 of file graph.cpp.

◆ removeLink()

bool tesseract_scene_graph::SceneGraph::removeLink	(	const std::string &	name,
		bool	recursive = `false`
	)

Removes a link from the graph.

Note: this will remove all inbound and outbound edges

Parameters

name	Name of the link to be removed
recursive	If true all children are removed if it only has a single joint

Returns: Return False if a link does not exists, otherwise true

Definition at line 364 of file graph.cpp.

◆ save()

template<class Archive >

void tesseract_scene_graph::SceneGraph::save	(	Archive &	ar,
		const unsigned int	version
	)		const

private

Definition at line 1322 of file graph.cpp.

◆ saveDOT()

void tesseract_scene_graph::SceneGraph::saveDOT ( const std::string & path ) const

Saves Graph as Graph Description Language (DOT)

Parameters

path	The file path

Definition at line 977 of file graph.cpp.

◆ serialize()

template<class Archive >

void tesseract_scene_graph::SceneGraph::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

Definition at line 1340 of file graph.cpp.

◆ setAllowedCollisionMatrix()

void tesseract_scene_graph::SceneGraph::setAllowedCollisionMatrix ( std::shared_ptr< tesseract_common::AllowedCollisionMatrix > acm )

Set the allowed collision matrix.

Parameters

acm	The allowed collision matrix to assign

Definition at line 772 of file graph.cpp.

◆ setLinkCollisionEnabled()

void tesseract_scene_graph::SceneGraph::setLinkCollisionEnabled	(	const std::string &	name,
		bool	enabled
	)

Set whether a link should be considered during collision checking.

Parameters

enabled True if should be considered during collision checking, otherwise false

Definition at line 446 of file graph.cpp.

◆ setLinkVisibility()

void tesseract_scene_graph::SceneGraph::setLinkVisibility	(	const std::string &	name,
		bool	visibility
	)

Set a links visibility.

Parameters

visibility True if should be visible, otherwise false

Definition at line 432 of file graph.cpp.

◆ setName()

void tesseract_scene_graph::SceneGraph::setName ( const std::string & name )

Sets the graph name.

Parameters

name	The name of the graph

Definition at line 246 of file graph.cpp.

◆ setRoot()

bool tesseract_scene_graph::SceneGraph::setRoot ( const std::string & name )

Sets the root link name (aka. World Coordinate Frame)

Parameters

name	The name of the link

Returns: Return False if a link does not exists, otherwise true

Definition at line 256 of file graph.cpp.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 608 of file graph.h.

◆ tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 609 of file graph.h.

Member Data Documentation

◆ acm_

std::shared_ptr<tesseract_common::AllowedCollisionMatrix> tesseract_scene_graph::SceneGraph::acm_

private

Definition at line 593 of file graph.h.

◆ joint_map_

std::unordered_map<std::string, std::pair<std::shared_ptr<Joint>, Edge> > tesseract_scene_graph::SceneGraph::joint_map_

private

Definition at line 592 of file graph.h.

◆ link_map_

std::unordered_map<std::string, std::pair<std::shared_ptr<Link>, Vertex> > tesseract_scene_graph::SceneGraph::link_map_

private

Definition at line 591 of file graph.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Edge

◆ Ptr

◆ UPtr

◆ Vertex

Constructor & Destructor Documentation

◆ SceneGraph() [1/3]

◆ ~SceneGraph()

◆ SceneGraph() [2/3]

◆ SceneGraph() [3/3]

Member Function Documentation

◆ addAllowedCollision()

◆ addJoint()

◆ addJointHelper()

◆ addLink() [1/2]

◆ addLink() [2/2]

◆ addLinkHelper()

◆ changeJointAccelerationLimits()

◆ changeJointJerkLimits()

◆ changeJointLimits()

◆ changeJointOrigin()

◆ changeJointPositionLimits()

◆ changeJointVelocityLimits()

◆ clear()

◆ clearAllowedCollisions()

◆ clone()

◆ getActiveJoints()

◆ getAdjacencyMap()

◆ getAdjacentLinkNames()

◆ getAllowedCollisionMatrix() [1/2]

◆ getAllowedCollisionMatrix() [2/2]

◆ getEdge()

◆ getInboundJoints()

◆ getInvAdjacentLinkNames()

◆ getJoint()

◆ getJointChildrenNames() [1/2]

◆ getJointChildrenNames() [2/2]

◆ getJointLimits()

◆ getJoints()

◆ getLeafLinks()

◆ getLink()

◆ getLinkChildrenHelper()

◆ getLinkChildrenNames()

◆ getLinkCollisionEnabled()

◆ getLinks()

◆ getLinkVisibility()

◆ getName()

◆ getOutboundJoints()

◆ getRoot()

◆ getShortestPath()

◆ getSourceLink()

◆ getTargetLink()

◆ getVertex()

◆ insertSceneGraph() [1/2]

◆ insertSceneGraph() [2/2]

◆ isAcyclic()

◆ isCollisionAllowed()

◆ isEmpty()

◆ isTree()

◆ load()

◆ moveJoint()

◆ moveLink()

◆ operator!=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ rebuildLinkAndJointMaps()

◆ removeAllowedCollision() [1/2]

◆ removeAllowedCollision() [2/2]

◆ removeJoint()

◆ removeLink()