#include <ofkt_nodes.h>

Inheritance diagram for tesseract_scene_graph::OFKTFloatingNode:

Public Member Functions
void	computeAndStoreLocalTransformation () override
	Compute and save the local transformation 'L = S * J(Joint Value)'. More...

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

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	OFKTFloatingNode (OFKTNode *parent, std::string link_name, std::string joint_name, const Eigen::Isometry3d &static_tf)

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...

Public Member Functions inherited from tesseract_scene_graph::OFKTBaseNode
void	addChild (OFKTNode *node) override
	Add a child node. More...

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

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...

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

Public Member Functions inherited from tesseract_scene_graph::OFKTNode
	OFKTNode ()=default

	OFKTNode (const OFKTNode &)=delete

	OFKTNode (OFKTNode &&)=delete

OFKTNode &	operator= (const OFKTNode &)=delete

OFKTNode &	operator= (OFKTNode &&)=delete

virtual	~OFKTNode ()=default

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 >

Protected Attributes inherited from tesseract_scene_graph::OFKTBaseNode
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() }

Detailed Description

Definition at line 164 of file ofkt_nodes.h.

Constructor & Destructor Documentation

◆ OFKTFloatingNode()

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

Definition at line 195 of file ofkt_nodes.cpp.

Member Function Documentation

◆ computeAndStoreLocalTransformation()

void tesseract_scene_graph::OFKTFloatingNode::computeAndStoreLocalTransformation ( )

overridevirtual

Compute and save the local transformation 'L = S * J(Joint Value)'.

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

Implements tesseract_scene_graph::OFKTNode.

Definition at line 225 of file ofkt_nodes.cpp.

◆ computeLocalTransformation()

Eigen::Isometry3d tesseract_scene_graph::OFKTFloatingNode::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

Reimplemented from tesseract_scene_graph::OFKTBaseNode.

Definition at line 227 of file ofkt_nodes.cpp.

◆ getJointValue()

double tesseract_scene_graph::OFKTFloatingNode::getJointValue ( ) const

overridevirtual

Get the current joint value.

Returns: The current joint value

Reimplemented from tesseract_scene_graph::OFKTBaseNode.

Definition at line 213 of file ofkt_nodes.cpp.

◆ setStaticTransformation()

void tesseract_scene_graph::OFKTFloatingNode::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

Reimplemented from tesseract_scene_graph::OFKTBaseNode.

Definition at line 218 of file ofkt_nodes.cpp.

◆ storeJointValue()

void tesseract_scene_graph::OFKTFloatingNode::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

Reimplemented from tesseract_scene_graph::OFKTBaseNode.

Definition at line 208 of file ofkt_nodes.cpp.

Friends And Related Function Documentation

◆ OFKTStateSolver

friend class OFKTStateSolver

friend

Definition at line 180 of file ofkt_nodes.h.

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

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OFKTFloatingNode()

Member Function Documentation

◆ computeAndStoreLocalTransformation()

◆ computeLocalTransformation()

◆ getJointValue()

◆ setStaticTransformation()

◆ storeJointValue()

Friends And Related Function Documentation

◆ OFKTStateSolver