#include <ofkt_nodes.h>

Inheritance diagram for tesseract_scene_graph::OFKTRootNode:

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	OFKTRootNode (std::string link_name)
	This should only be used for the root node of the tree. 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::OFKTBaseNode
void	addChild (OFKTNode *node) override
	Add a child node. 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...

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 113 of file ofkt_nodes.h.

Constructor & Destructor Documentation

◆ OFKTRootNode()

tesseract_scene_graph::OFKTRootNode::OFKTRootNode ( std::string link_name )

This should only be used for the root node of the tree.

Parameters

link_name The link name associated with the node

Definition at line 131 of file ofkt_nodes.cpp.

Member Function Documentation

◆ computeAndStoreLocalTransformation()

void tesseract_scene_graph::OFKTRootNode::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 152 of file ofkt_nodes.cpp.

◆ computeAndStoreWorldTransformation()

void tesseract_scene_graph::OFKTRootNode::computeAndStoreWorldTransformation ( )

overridevirtual

Compute and store the nodes world transformation.

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

Reimplemented from tesseract_scene_graph::OFKTBaseNode.

Definition at line 153 of file ofkt_nodes.cpp.

◆ computeLocalTransformation()

Eigen::Isometry3d tesseract_scene_graph::OFKTRootNode::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 156 of file ofkt_nodes.cpp.

◆ setParent()

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

overridevirtual

Set the parent node.

This should indicate that updateWorldTransformationRequired() = true

Parameters

parent The parent node

Reimplemented from tesseract_scene_graph::OFKTBaseNode.

Definition at line 137 of file ofkt_nodes.cpp.

◆ setStaticTransformation()

void tesseract_scene_graph::OFKTRootNode::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 147 of file ofkt_nodes.cpp.

◆ storeJointValue()

void tesseract_scene_graph::OFKTRootNode::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 142 of file ofkt_nodes.cpp.

◆ updateWorldTransformationRequired()

bool tesseract_scene_graph::OFKTRootNode::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.

Reimplemented from tesseract_scene_graph::OFKTBaseNode.

Definition at line 154 of file ofkt_nodes.cpp.

Friends And Related Function Documentation

◆ OFKTStateSolver

friend class OFKTStateSolver

friend

Definition at line 136 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

◆ OFKTRootNode()

Member Function Documentation

◆ computeAndStoreLocalTransformation()

◆ computeAndStoreWorldTransformation()

◆ computeLocalTransformation()

◆ setParent()

◆ setStaticTransformation()

◆ storeJointValue()

◆ updateWorldTransformationRequired()

Friends And Related Function Documentation

◆ OFKTStateSolver