#include <ofkt_nodes.h>

Inheritance diagram for tesseract_scene_graph::OFKTBaseNode:

[legend]

Public Member Functions
void	addChild (OFKTNode *node) override
	Add a child node. More...

void	computeAndStoreWorldTransformation () override
	Compute and store the nodes world transformation. More...

Eigen::Isometry3d	computeLocalTransformation (double joint_value) const override
	Compute the local tranformation but do not save. More...

const std::vector< const OFKTNode * > &	getChildren () const override
	Get a vector of child nodes associated with this node (Const) More...

std::vector< OFKTNode * > &	getChildren () override
	Get a vector of child nodes associated with this node. More...

const std::string &	getJointName () const override
	Get the joint name associated with the node. More...

double	getJointValue () const override
	Get the current joint value. More...

const std::string &	getLinkName () const override
	Get the link name associated with the node. More...

const Eigen::Isometry3d &	getLocalTransformation () const override
	Get the local transformation: 'L = S * J'. More...

Eigen::Matrix< double, 6, 1 >	getLocalTwist () const override
	Return the twist of the node in its local frame. More...

const OFKTNode *	getParent () const override
	Get the parent node (const) More...

OFKTNode *	getParent () override
	Get the parent node. More...

const Eigen::Isometry3d &	getStaticTransformation () const override
	Get the nodes static transformation. More...

JointType	getType () const override
	Get the type of joint associated with the node. More...

const Eigen::Isometry3d &	getWorldTransformation () const override
	Get the nodes world transformation. More...

bool	hasJointValueChanged () const override
	Indicates that the joint value has changed and that local and world transformation need to be recomputed. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	OFKTBaseNode (JointType type, OFKTNode *parent, std::string link_name)

	OFKTBaseNode (JointType type, OFKTNode *parent, std::string link_name, std::string joint_name, const Eigen::Isometry3d &static_tf)

void	removeChild (const OFKTNode *node) override
	Remove a child node assiciated with this node. More...

void	setParent (OFKTNode *parent) override
	Set the parent node. More...

void	setStaticTransformation (const Eigen::Isometry3d &static_tf) override
	Set the static transformation. More...

void	storeJointValue (double joint_value) override
	Set the nodes joint value if it has one. More...

bool	updateWorldTransformationRequired () const override
	Indicates if an update of the world transformation is required. More...

Public Member Functions inherited from tesseract_scene_graph::OFKTNode
virtual void	computeAndStoreLocalTransformation ()=0
	Compute and save the local transformation 'L = S * J(Joint Value)'. More...

	OFKTNode ()=default

	OFKTNode (const OFKTNode &)=delete

	OFKTNode (OFKTNode &&)=delete

OFKTNode &	operator= (const OFKTNode &)=delete

OFKTNode &	operator= (OFKTNode &&)=delete

virtual	~OFKTNode ()=default

Protected Attributes
std::vector< OFKTNode * >	children_

std::vector< const OFKTNode * >	children_const_

std::string	joint_name_

Eigen::Isometry3d	joint_tf_ { Eigen::Isometry3d::Identity() }

double	joint_value_ { 0 }

bool	joint_value_changed_ { false }

std::string	link_name_

Eigen::Isometry3d	local_tf_ { Eigen::Isometry3d::Identity() }

Eigen::Matrix< double, 6, 1 >	local_twist_ { Eigen::VectorXd::Zero(6) }

OFKTNode *	parent_ { nullptr }

Eigen::Isometry3d	static_tf_ { Eigen::Isometry3d::Identity() }

tesseract_scene_graph::JointType	type_

bool	update_world_required_ { true }

Eigen::Isometry3d	world_tf_ { Eigen::Isometry3d::Identity() }

Friends
class	OFKTStateSolver

Additional Inherited Members
Public Types inherited from tesseract_scene_graph::OFKTNode
using	ConstPtr = std::shared_ptr< const OFKTNode >

using	Ptr = std::shared_ptr< OFKTNode >

using	UPtr = std::unique_ptr< OFKTNode >

Detailed Description

Definition at line 41 of file ofkt_nodes.h.

Constructor & Destructor Documentation

◆ OFKTBaseNode() [1/2]

tesseract_scene_graph::OFKTBaseNode::OFKTBaseNode	(	JointType	type,
		OFKTNode *	parent,
		std::string	link_name
	)

Definition at line 41 of file ofkt_nodes.cpp.

◆ OFKTBaseNode() [2/2]

tesseract_scene_graph::OFKTBaseNode::OFKTBaseNode	(	JointType	type,
		OFKTNode *	parent,
		std::string	link_name,
		std::string	joint_name,
		const Eigen::Isometry3d &	static_tf
	)

Definition at line 46 of file ofkt_nodes.cpp.

Member Function Documentation

◆ addChild()

void tesseract_scene_graph::OFKTBaseNode::addChild ( OFKTNode * node )

overridevirtual

Add a child node.

Parameters

node	The node which is a child of this node

Implements tesseract_scene_graph::OFKTNode.

Definition at line 112 of file ofkt_nodes.cpp.

◆ computeAndStoreWorldTransformation()

void tesseract_scene_graph::OFKTBaseNode::computeAndStoreWorldTransformation ( )

overridevirtual

Compute and store the nodes world transformation.

This should reset the flag such that updateWorldTransformationRequired() returns false

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTRootNode.

Definition at line 102 of file ofkt_nodes.cpp.

◆ computeLocalTransformation()

Eigen::Isometry3d tesseract_scene_graph::OFKTBaseNode::computeLocalTransformation ( double joint_value ) const

overridevirtual

Compute the local tranformation but do not save.

This provides a const method for computing the local transform.

Parameters

joint_value The joint value for calculating the local transformation

Returns: The local transformation for the provided joint value

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTPrismaticNode, tesseract_scene_graph::OFKTContinuousNode, tesseract_scene_graph::OFKTRevoluteNode, tesseract_scene_graph::OFKTFloatingNode, tesseract_scene_graph::OFKTFixedNode, and tesseract_scene_graph::OFKTRootNode.

Definition at line 96 of file ofkt_nodes.cpp.

◆ getChildren() [1/2]

const std::vector<const OFKTNode*>& tesseract_scene_graph::OFKTBaseNode::getChildren ( ) const

overridevirtual

Get a vector of child nodes associated with this node (Const)

Returns: A vector of child nodes

Implements tesseract_scene_graph::OFKTNode.

◆ getChildren() [2/2]

const std::vector< const OFKTNode * > & tesseract_scene_graph::OFKTBaseNode::getChildren ( )

overridevirtual

Get a vector of child nodes associated with this node.

Returns: A vector of child nodes

Implements tesseract_scene_graph::OFKTNode.

Definition at line 124 of file ofkt_nodes.cpp.

◆ getJointName()

const std::string & tesseract_scene_graph::OFKTBaseNode::getJointName ( ) const

overridevirtual

Get the joint name associated with the node.

Returns: The link name

Implements tesseract_scene_graph::OFKTNode.

Definition at line 71 of file ofkt_nodes.cpp.

◆ getJointValue()

double tesseract_scene_graph::OFKTBaseNode::getJointValue ( ) const

overridevirtual

Get the current joint value.

Returns: The current joint value

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTFloatingNode, and tesseract_scene_graph::OFKTFixedNode.

Definition at line 82 of file ofkt_nodes.cpp.

◆ getLinkName()

const std::string & tesseract_scene_graph::OFKTBaseNode::getLinkName ( ) const

overridevirtual

Get the link name associated with the node.

Returns: The link name

Implements tesseract_scene_graph::OFKTNode.

Definition at line 70 of file ofkt_nodes.cpp.

◆ getLocalTransformation()

const Eigen::Isometry3d & tesseract_scene_graph::OFKTBaseNode::getLocalTransformation ( ) const

overridevirtual

Get the local transformation: 'L = S * J'.

Returns: The nodes local transformation

Implements tesseract_scene_graph::OFKTNode.

Definition at line 94 of file ofkt_nodes.cpp.

◆ getLocalTwist()

Eigen::Matrix< double, 6, 1 > tesseract_scene_graph::OFKTBaseNode::getLocalTwist ( ) const

overridevirtual

Return the twist of the node in its local frame.

Returns: The node twist

Implements tesseract_scene_graph::OFKTNode.

Definition at line 110 of file ofkt_nodes.cpp.

◆ getParent() [1/2]

const OFKTNode* tesseract_scene_graph::OFKTBaseNode::getParent ( ) const

overridevirtual

Get the parent node (const)

Returns: The parent node

Implements tesseract_scene_graph::OFKTNode.

◆ getParent() [2/2]

const OFKTNode * tesseract_scene_graph::OFKTBaseNode::getParent ( )

overridevirtual

Get the parent node.

Returns: The parent node

Implements tesseract_scene_graph::OFKTNode.

Definition at line 67 of file ofkt_nodes.cpp.

◆ getStaticTransformation()

const Eigen::Isometry3d & tesseract_scene_graph::OFKTBaseNode::getStaticTransformation ( ) const

overridevirtual

Get the nodes static transformation.

Returns: The static transformation

Implements tesseract_scene_graph::OFKTNode.

Definition at line 93 of file ofkt_nodes.cpp.

◆ getType()

tesseract_scene_graph::JointType tesseract_scene_graph::OFKTBaseNode::getType ( ) const

overridevirtual

Get the type of joint associated with the node.

Returns: The Joint Type

Implements tesseract_scene_graph::OFKTNode.

Definition at line 60 of file ofkt_nodes.cpp.

◆ getWorldTransformation()

const Eigen::Isometry3d & tesseract_scene_graph::OFKTBaseNode::getWorldTransformation ( ) const

overridevirtual

Get the nodes world transformation.

Returns: The nodes world transformation

Implements tesseract_scene_graph::OFKTNode.

Definition at line 107 of file ofkt_nodes.cpp.

◆ hasJointValueChanged()

bool tesseract_scene_graph::OFKTBaseNode::hasJointValueChanged ( ) const

overridevirtual

Indicates that the joint value has changed and that local and world transformation need to be recomputed.

Returns: If true, local and world transformation need to be recompute

Implements tesseract_scene_graph::OFKTNode.

Definition at line 84 of file ofkt_nodes.cpp.

◆ removeChild()

void tesseract_scene_graph::OFKTBaseNode::removeChild ( const OFKTNode * node )

overridevirtual

Remove a child node assiciated with this node.

Parameters

node	The child node to be removed

Implements tesseract_scene_graph::OFKTNode.

Definition at line 118 of file ofkt_nodes.cpp.

◆ setParent()

void tesseract_scene_graph::OFKTBaseNode::setParent ( OFKTNode * parent )

overridevirtual

Set the parent node.

This should indicate that updateWorldTransformationRequired() = true

Parameters

parent The parent node

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTRootNode.

Definition at line 62 of file ofkt_nodes.cpp.

◆ setStaticTransformation()

void tesseract_scene_graph::OFKTBaseNode::setStaticTransformation ( const Eigen::Isometry3d & static_tf )

overridevirtual

Set the static transformation.

This should recompute the local transformation and updateWorldTransformationRequired() = true.

Parameters

static_tf The new static transformation

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTFloatingNode, tesseract_scene_graph::OFKTFixedNode, and tesseract_scene_graph::OFKTRootNode.

Definition at line 86 of file ofkt_nodes.cpp.

◆ storeJointValue()

void tesseract_scene_graph::OFKTBaseNode::storeJointValue ( double joint_value )

overridevirtual

Set the nodes joint value if it has one.

This should indicate hasJointValueChanged() = true

Parameters

joint_value The joint value

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTRevoluteNode, tesseract_scene_graph::OFKTFloatingNode, tesseract_scene_graph::OFKTFixedNode, and tesseract_scene_graph::OFKTRootNode.

Definition at line 73 of file ofkt_nodes.cpp.

◆ updateWorldTransformationRequired()

bool tesseract_scene_graph::OFKTBaseNode::updateWorldTransformationRequired ( ) const

overridevirtual

Indicates if an update of the world transformation is required.

This should get set to true when either of the following happen.

If setParent() was called
If setStaticTransformation() was called

Note: setJointValue() is not handle here because that is captured by hasJointValueChanged()

Returns: If true, the world transformation need to be recalculated.

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTRootNode.

Definition at line 108 of file ofkt_nodes.cpp.

Friends And Related Function Documentation

◆ OFKTStateSolver

friend class OFKTStateSolver

friend

Definition at line 107 of file ofkt_nodes.h.

Member Data Documentation

◆ children_

std::vector<OFKTNode*> tesseract_scene_graph::OFKTBaseNode::children_

protected

Definition at line 102 of file ofkt_nodes.h.

◆ children_const_

std::vector<const OFKTNode*> tesseract_scene_graph::OFKTBaseNode::children_const_

protected

Definition at line 103 of file ofkt_nodes.h.

◆ joint_name_

std::string tesseract_scene_graph::OFKTBaseNode::joint_name_

protected

Definition at line 92 of file ofkt_nodes.h.

◆ joint_tf_

Eigen::Isometry3d tesseract_scene_graph::OFKTBaseNode::joint_tf_ { Eigen::Isometry3d::Identity() }

protected

Definition at line 94 of file ofkt_nodes.h.

◆ joint_value_

double tesseract_scene_graph::OFKTBaseNode::joint_value_ { 0 }

protected

Definition at line 99 of file ofkt_nodes.h.

◆ joint_value_changed_

bool tesseract_scene_graph::OFKTBaseNode::joint_value_changed_ { false }

protected

Definition at line 100 of file ofkt_nodes.h.

◆ link_name_

std::string tesseract_scene_graph::OFKTBaseNode::link_name_

protected

Definition at line 91 of file ofkt_nodes.h.

◆ local_tf_

Eigen::Isometry3d tesseract_scene_graph::OFKTBaseNode::local_tf_ { Eigen::Isometry3d::Identity() }

protected

Definition at line 95 of file ofkt_nodes.h.

◆ local_twist_

Eigen::Matrix<double, 6, 1> tesseract_scene_graph::OFKTBaseNode::local_twist_ { Eigen::VectorXd::Zero(6) }

protected

Definition at line 97 of file ofkt_nodes.h.

◆ parent_

OFKTNode* tesseract_scene_graph::OFKTBaseNode::parent_ { nullptr }

protected

Definition at line 90 of file ofkt_nodes.h.

◆ static_tf_

Eigen::Isometry3d tesseract_scene_graph::OFKTBaseNode::static_tf_ { Eigen::Isometry3d::Identity() }

protected

Definition at line 93 of file ofkt_nodes.h.

◆ type_

tesseract_scene_graph::JointType tesseract_scene_graph::OFKTBaseNode::type_

protected

Definition at line 89 of file ofkt_nodes.h.

◆ update_world_required_

bool tesseract_scene_graph::OFKTBaseNode::update_world_required_ { true }

protected

Definition at line 105 of file ofkt_nodes.h.

◆ world_tf_

Eigen::Isometry3d tesseract_scene_graph::OFKTBaseNode::world_tf_ { Eigen::Isometry3d::Identity() }

protected

Definition at line 96 of file ofkt_nodes.h.

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

Public Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OFKTBaseNode() [1/2]

◆ OFKTBaseNode() [2/2]

Member Function Documentation

◆ addChild()

◆ computeAndStoreWorldTransformation()

◆ computeLocalTransformation()

◆ getChildren() [1/2]

◆ getChildren() [2/2]

◆ getJointName()

◆ getJointValue()

◆ getLinkName()

◆ getLocalTransformation()

◆ getLocalTwist()

◆ getParent() [1/2]

◆ getParent() [2/2]

◆ getStaticTransformation()

◆ getType()

◆ getWorldTransformation()

◆ hasJointValueChanged()

◆ removeChild()

◆ setParent()

◆ setStaticTransformation()

◆ storeJointValue()

◆ updateWorldTransformationRequired()

Friends And Related Function Documentation

◆ OFKTStateSolver

Member Data Documentation

◆ children_

◆ children_const_

◆ joint_name_

◆ joint_tf_

◆ joint_value_

◆ joint_value_changed_

◆ link_name_

◆ local_tf_

◆ local_twist_

◆ parent_

◆ static_tf_

◆ type_

◆ update_world_required_

◆ world_tf_