Main namespace. More...

Classes
struct	KinematicsInformation
	This hold the kinematics information used to create the SRDF and is the data container for the manipulator manager. More...

class	SRDFModel
	Representation of semantic information about the robot. More...

Typedefs
using	ChainGroup = std::vector< std::pair< std::string, std::string > >

using	ChainGroups = std::unordered_map< std::string, ChainGroup >

using	GroupJointStates = std::unordered_map< std::string, GroupsJointStates >

using	GroupNames = std::set< std::string >

using	GroupsJointState = std::unordered_map< std::string, double >

using	GroupsJointStates = std::unordered_map< std::string, GroupsJointState >

using	GroupsTCPs = tesseract_common::AlignedMap< std::string, Eigen::Isometry3d >

using	GroupTCPs = tesseract_common::AlignedMap< std::string, GroupsTCPs >

using	JointGroup = std::vector< std::string >

using	JointGroups = std::unordered_map< std::string, JointGroup >

using	LinkGroup = std::vector< std::string >

using	LinkGroups = std::unordered_map< std::string, LinkGroup >

Functions
bool	compareLinkPairAlphabetically (std::reference_wrapper< const tesseract_common::LinkNamesPair > pair1, std::reference_wrapper< const tesseract_common::LinkNamesPair > pair2)
	Used to sort a pair of strings alphabetically - first by the pair.first and then by pair.second. More...

std::vector< std::reference_wrapper< const tesseract_common::LinkNamesPair > >	getAlphabeticalACMKeys (const tesseract_common::AllowedCollisionEntries &allowed_collision_entries)
	Returns an alphabetically sorted vector of ACM keys (the link pairs) More...

tesseract_common::CalibrationInfo	parseCalibrationConfig (const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_common::ResourceLocator &locator, const tinyxml2::XMLElement *xml_element, const std::array< int, 3 > &version)
	Parse calibration config xml element. More...

std::shared_ptr< tesseract_common::CollisionMarginData >	parseCollisionMargins (const tesseract_scene_graph::SceneGraph &scene_graph, const tinyxml2::XMLElement *srdf_xml, const std::array< int, 3 > &version)
	Parse allowed collisions from srdf xml element. More...

std::filesystem::path	parseConfigFilePath (const tesseract_common::ResourceLocator &locator, const tinyxml2::XMLElement *xml_element, const std::array< int, 3 > &version)
	Parse a config xml element. More...

tesseract_common::ContactManagersPluginInfo	parseContactManagersPluginConfig (const tesseract_common::ResourceLocator &locator, const tinyxml2::XMLElement *xml_element, const std::array< int, 3 > &version)
	Parse contact managers plugin config xml element. More...

tesseract_common::AllowedCollisionMatrix	parseDisabledCollisions (const tesseract_scene_graph::SceneGraph &scene_graph, const tinyxml2::XMLElement *srdf_xml, const std::array< int, 3 > &version)
	Parse allowed collisions from srdf xml element. More...

std::tuple< GroupNames, ChainGroups, JointGroups, LinkGroups >	parseGroups (const tesseract_scene_graph::SceneGraph &scene_graph, const tinyxml2::XMLElement *srdf_xml, const std::array< int, 3 > &version)
	Parse groups from srdf xml element. More...

GroupJointStates	parseGroupStates (const tesseract_scene_graph::SceneGraph &scene_graph, const GroupNames &group_names, const tinyxml2::XMLElement *srdf_xml, const std::array< int, 3 > &version)
	Parse groups states from srdf xml element. More...

GroupTCPs	parseGroupTCPs (const tesseract_scene_graph::SceneGraph &scene_graph, const tinyxml2::XMLElement *srdf_xml, const std::array< int, 3 > &version)
	Parse groups tool center points from srdf xml element. More...

tesseract_common::KinematicsPluginInfo	parseKinematicsPluginConfig (const tesseract_common::ResourceLocator &locator, const tinyxml2::XMLElement *xml_element, const std::array< int, 3 > &version)
	Parse kinematics plugin config xml element. More...

void	processSRDFAllowedCollisions (tesseract_scene_graph::SceneGraph &scene_graph, const SRDFModel &srdf_model)
	Add allowed collisions to the scene graph. More...

Detailed Description

Main namespace.

Typedef Documentation

◆ ChainGroup

using tesseract_srdf::ChainGroup = typedef std::vector<std::pair<std::string, std::string> >

Definition at line 54 of file kinematics_information.h.

◆ ChainGroups

using tesseract_srdf::ChainGroups = typedef std::unordered_map<std::string, ChainGroup>

Definition at line 55 of file kinematics_information.h.

◆ GroupJointStates

using tesseract_srdf::GroupJointStates = typedef std::unordered_map<std::string, GroupsJointStates>

Definition at line 51 of file kinematics_information.h.

◆ GroupNames

using tesseract_srdf::GroupNames = typedef std::set<std::string>

Definition at line 60 of file kinematics_information.h.

◆ GroupsJointState

using tesseract_srdf::GroupsJointState = typedef std::unordered_map<std::string, double>

Definition at line 49 of file kinematics_information.h.

◆ GroupsJointStates

using tesseract_srdf::GroupsJointStates = typedef std::unordered_map<std::string, GroupsJointState>

Definition at line 50 of file kinematics_information.h.

◆ GroupsTCPs

using tesseract_srdf::GroupsTCPs = typedef tesseract_common::AlignedMap<std::string, Eigen::Isometry3d>

Definition at line 52 of file kinematics_information.h.

◆ GroupTCPs

using tesseract_srdf::GroupTCPs = typedef tesseract_common::AlignedMap<std::string, GroupsTCPs>

Definition at line 53 of file kinematics_information.h.

◆ JointGroup

using tesseract_srdf::JointGroup = typedef std::vector<std::string>

Definition at line 56 of file kinematics_information.h.

◆ JointGroups

using tesseract_srdf::JointGroups = typedef std::unordered_map<std::string, JointGroup>

Definition at line 57 of file kinematics_information.h.

◆ LinkGroup

using tesseract_srdf::LinkGroup = typedef std::vector<std::string>

Definition at line 58 of file kinematics_information.h.

◆ LinkGroups

using tesseract_srdf::LinkGroups = typedef std::unordered_map<std::string, LinkGroup>

Definition at line 59 of file kinematics_information.h.

Function Documentation

◆ compareLinkPairAlphabetically()

bool tesseract_srdf::compareLinkPairAlphabetically	(	std::reference_wrapper< const tesseract_common::LinkNamesPair >	pair1,
		std::reference_wrapper< const tesseract_common::LinkNamesPair >	pair2
	)

Used to sort a pair of strings alphabetically - first by the pair.first and then by pair.second.

Parameters

pair1	First pair of strings
pair2	Second pair of strings

Returns: True if pair1 should go before pair2 (is closer to A)

Definition at line 39 of file utils.cpp.

◆ getAlphabeticalACMKeys()

std::vector< std::reference_wrapper< const tesseract_common::LinkNamesPair > > tesseract_srdf::getAlphabeticalACMKeys ( const tesseract_common::AllowedCollisionEntries & allowed_collision_entries )

Returns an alphabetically sorted vector of ACM keys (the link pairs)

Parameters

allowed_collision_entries Entries to be sorted

Returns: An alphabetically sorted vector of ACM keys (the link pairs)

Definition at line 53 of file utils.cpp.

◆ parseCalibrationConfig()

tesseract_common::CalibrationInfo tesseract_srdf::parseCalibrationConfig	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_common::ResourceLocator &	locator,
		const tinyxml2::XMLElement *	xml_element,
		const std::array< int, 3 > &	version
	)

Parse calibration config xml element.

Parameters

scene_graph	The scene graph
locator	The locator used to process the file name URL
xml_element	The xml element to process
version	The SRDF version

Returns: The calibration information

Definition at line 65 of file configs.cpp.

◆ parseCollisionMargins()

tesseract_common::CollisionMarginData::Ptr tesseract_srdf::parseCollisionMargins	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tinyxml2::XMLElement *	srdf_xml,
		const std::array< int, 3 > &	version
	)

Parse allowed collisions from srdf xml element.

Parameters

scene_graph	The tesseract scene graph
srdf_xml	The xml element to parse
version	The srdf version number

Returns: Allowed Collision Matrix

Definition at line 41 of file collision_margins.cpp.

◆ parseConfigFilePath()

std::filesystem::path tesseract_srdf::parseConfigFilePath	(	const tesseract_common::ResourceLocator &	locator,
		const tinyxml2::XMLElement *	xml_element,
		const std::array< int, 3 > &	version
	)

Parse a config xml element.

It expects the element to have the attribute 'filename'

Parameters

locator	The locator used to process the file name URL
xml_element	The xml element to process
version	The SRDF version

Returns: The extracted file path

Definition at line 41 of file configs.cpp.

◆ parseContactManagersPluginConfig()

tesseract_common::ContactManagersPluginInfo tesseract_srdf::parseContactManagersPluginConfig	(	const tesseract_common::ResourceLocator &	locator,
		const tinyxml2::XMLElement *	xml_element,
		const std::array< int, 3 > &	version
	)

Parse contact managers plugin config xml element.

Parameters

locator	The locator used to process the file name URL
xml_element	The xml element to process
version	The SRDF version

Returns: The contact managers plugin information

Definition at line 123 of file configs.cpp.

◆ parseDisabledCollisions()

tesseract_common::AllowedCollisionMatrix tesseract_srdf::parseDisabledCollisions	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tinyxml2::XMLElement *	srdf_xml,
		const std::array< int, 3 > &	version
	)

Parse allowed collisions from srdf xml element.

Parameters

scene_graph	The tesseract scene graph
srdf_xml	The xml element to parse
version	The srdf version number

Returns: Allowed Collision Matrix

Definition at line 40 of file disabled_collisions.cpp.

◆ parseGroups()

std::tuple< GroupNames, ChainGroups, JointGroups, LinkGroups > tesseract_srdf::parseGroups	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tinyxml2::XMLElement *	srdf_xml,
		const std::array< int, 3 > &	version
	)

Parse groups from srdf xml element.

Parameters

scene_graph	The tesseract scene graph
srdf_xml	The xml element to parse
version	The srdf version number

Returns: GroupNames, ChainGroups, JointGroups, LinkGroups

Definition at line 40 of file groups.cpp.

◆ parseGroupStates()

GroupJointStates tesseract_srdf::parseGroupStates	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const GroupNames &	group_names,
		const tinyxml2::XMLElement *	srdf_xml,
		const std::array< int, 3 > &	version
	)

Parse groups states from srdf xml element.

Parameters

scene_graph	The tesseract scene graph
srdf_xml	The xml element to parse
version	The srdf version number

Returns: Group states

Definition at line 38 of file group_states.cpp.

◆ parseGroupTCPs()

GroupTCPs tesseract_srdf::parseGroupTCPs	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tinyxml2::XMLElement *	srdf_xml,
		const std::array< int, 3 > &	version
	)

Parse groups tool center points from srdf xml element.

Parameters

scene_graph	The tesseract scene graph
srdf_xml	The xml element to parse
version	The srdf version number

Returns: Group Tool Center Points

Definition at line 47 of file group_tool_center_points.cpp.

◆ parseKinematicsPluginConfig()

tesseract_common::KinematicsPluginInfo tesseract_srdf::parseKinematicsPluginConfig	(	const tesseract_common::ResourceLocator &	locator,
		const tinyxml2::XMLElement *	xml_element,
		const std::array< int, 3 > &	version
	)

Parse kinematics plugin config xml element.

Parameters

locator	The locator used to process the file name URL
xml_element	The xml element to process
version	The SRDF version

Returns: The kinematics plugin information

Definition at line 98 of file configs.cpp.

◆ processSRDFAllowedCollisions()

void tesseract_srdf::processSRDFAllowedCollisions	(	tesseract_scene_graph::SceneGraph &	scene_graph,
		const SRDFModel &	srdf_model
	)

Add allowed collisions to the scene graph.

Parameters

scene_graph	The scene graph to add allowed collisions data
srdf_model	The srdf model to extract allowed collisions

Definition at line 33 of file utils.cpp.

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ ChainGroup

◆ ChainGroups

◆ GroupJointStates

◆ GroupNames

◆ GroupsJointState

◆ GroupsJointStates

◆ GroupsTCPs

◆ GroupTCPs

◆ JointGroup

◆ JointGroups

◆ LinkGroup

◆ LinkGroups

Function Documentation

◆ compareLinkPairAlphabetically()

◆ getAlphabeticalACMKeys()

◆ parseCalibrationConfig()

◆ parseCollisionMargins()

◆ parseConfigFilePath()

◆ parseContactManagersPluginConfig()

◆ parseDisabledCollisions()

◆ parseGroups()

◆ parseGroupStates()

◆ parseGroupTCPs()

◆ parseKinematicsPluginConfig()

◆ processSRDFAllowedCollisions()