This holds a state of the scene. More...

#include <scene_state.h>

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

using	ConstUPtr = std::unique_ptr< const SceneState >

using	Ptr = std::shared_ptr< SceneState >

using	UPtr = std::unique_ptr< SceneState >

Public Member Functions
tesseract_common::TransformMap	getFloatingJointValues (const std::vector< std::string > &joint_names) const

Eigen::VectorXd	getJointValues (const std::vector< std::string > &joint_names) const

bool	operator!= (const SceneState &rhs) const

bool	operator== (const SceneState &rhs) const

Public Attributes
tesseract_common::TransformMap	floating_joints
	The floating joint values used for calculating the joint and link transforms. More...

tesseract_common::TransformMap	joint_transforms
	The joint transforms in world coordinate system. More...

std::unordered_map< std::string, double >	joints
	The joint values used for calculating the joint and link transforms. More...

tesseract_common::TransformMap	link_transforms
	The link transforms in world coordinate system. More...

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Friends
class	boost::serialization::access

struct	tesseract_common::Serialization

Detailed Description

This holds a state of the scene.

It provides a way to look up the location of a link/joint in world coordinates system by link/joint name. It is possible to get the joint transform using the child link transform of the joint, but they are both provided for convenience. Also the joint values used to calculated the link/joint transforms is provided.

Definition at line 59 of file scene_state.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 66 of file scene_state.h.

◆ ConstUPtr

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

Definition at line 68 of file scene_state.h.

◆ Ptr

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

Definition at line 65 of file scene_state.h.

◆ UPtr

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

Definition at line 67 of file scene_state.h.

Member Function Documentation

◆ getFloatingJointValues()

tesseract_common::TransformMap tesseract_scene_graph::SceneState::getFloatingJointValues ( const std::vector< std::string > & joint_names ) const

Definition at line 55 of file scene_state.cpp.

◆ getJointValues()

Eigen::VectorXd tesseract_scene_graph::SceneState::getJointValues ( const std::vector< std::string > & joint_names ) const

Definition at line 45 of file scene_state.cpp.

◆ operator!=()

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

Definition at line 79 of file scene_state.cpp.

◆ operator==()

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

Definition at line 64 of file scene_state.cpp.

◆ serialize()

template<class Archive >

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

private

Definition at line 82 of file scene_state.cpp.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 90 of file scene_state.h.

◆ tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 91 of file scene_state.h.

Member Data Documentation

◆ floating_joints

tesseract_common::TransformMap tesseract_scene_graph::SceneState::floating_joints

The floating joint values used for calculating the joint and link transforms.

Definition at line 74 of file scene_state.h.

◆ joint_transforms

tesseract_common::TransformMap tesseract_scene_graph::SceneState::joint_transforms

The joint transforms in world coordinate system.

Definition at line 80 of file scene_state.h.

◆ joints

std::unordered_map<std::string, double> tesseract_scene_graph::SceneState::joints

The joint values used for calculating the joint and link transforms.

Definition at line 71 of file scene_state.h.

◆ link_transforms

tesseract_common::TransformMap tesseract_scene_graph::SceneState::link_transforms

The link transforms in world coordinate system.

Definition at line 77 of file scene_state.h.

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

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Friends