#include <state_solver.h>

Inheritance diagram for tesseract_scene_graph::StateSolver:

[legend]

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

using	ConstUPtr = std::unique_ptr< const StateSolver >

using	Ptr = std::shared_ptr< StateSolver >

using	UPtr = std::unique_ptr< StateSolver >

Public Member Functions
virtual StateSolver::UPtr	clone () const =0
	This should clone the object so it may be used in a multi threaded application where each thread would clone the solver. More...

virtual std::vector< std::string >	getActiveJointNames () const =0
	Get the vector of joint names which align with the limits. More...

virtual std::vector< std::string >	getActiveLinkNames () const =0
	Get the vector of active link names. More...

virtual std::string	getBaseLinkName () const =0
	Get the base link name. More...

virtual std::vector< std::string >	getFloatingJointNames () const =0
	Get the vector of floating joint names. More...

virtual Eigen::MatrixXd	getJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const tesseract_common::TransformMap &floating_joint_values={}) const =0
	Get the jacobian of the solver given the joint values. More...

virtual Eigen::MatrixXd	getJacobian (const std::unordered_map< std::string, double > &joint_values, const std::string &link_name, const tesseract_common::TransformMap &floating_joint_values={}) const =0
	Get the jacobian of the scene for a given set or subset of joint values. More...

virtual Eigen::MatrixXd	getJacobian (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const tesseract_common::TransformMap &floating_joint_values={}) const =0

virtual std::vector< std::string >	getJointNames () const =0
	Get the vector of joint names. More...

virtual tesseract_common::KinematicLimits	getLimits () const =0
	Getter for kinematic limits. More...

virtual std::vector< std::string >	getLinkNames () const =0
	Get the vector of link names. More...

virtual Eigen::Isometry3d	getLinkTransform (const std::string &link_name) const =0
	Get the transform corresponding to the link. More...

virtual tesseract_common::VectorIsometry3d	getLinkTransforms () const =0
	Get all of the links transforms. More...

virtual SceneState	getRandomState () const =0
	Get the random state of the environment. More...

virtual Eigen::Isometry3d	getRelativeLinkTransform (const std::string &from_link_name, const std::string &to_link_name) const =0
	Get transform between two links using the current state. More...

virtual SceneState	getState () const =0
	Get the current state of the scene. More...

virtual SceneState	getState (const Eigen::Ref< const Eigen::VectorXd > &joint_values, const tesseract_common::TransformMap &floating_joint_values={}) const =0
	Get the state of the solver given the joint values. More...

virtual SceneState	getState (const std::unordered_map< std::string, double > &joint_values, const tesseract_common::TransformMap &floating_joint_values={}) const =0
	Get the state of the scene for a given set or subset of joint values. More...

virtual SceneState	getState (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const tesseract_common::TransformMap &floating_joint_values={}) const =0

virtual SceneState	getState (const tesseract_common::TransformMap &floating_joint_values) const =0
	Get the state given floating joint values. More...

virtual std::vector< std::string >	getStaticLinkNames () const =0
	Get a vector of static link names in the environment. More...

virtual bool	hasLinkName (const std::string &link_name) const =0
	Check if link name exists. More...

virtual bool	isActiveLinkName (const std::string &link_name) const =0
	Check if link is an active link. More...

StateSolver &	operator= (const StateSolver &)=default

StateSolver &	operator= (StateSolver &&)=default

virtual void	setState (const Eigen::Ref< const Eigen::VectorXd > &joint_values, const tesseract_common::TransformMap &floating_joint_values={})=0
	Set the current state of the solver. More...

virtual void	setState (const std::unordered_map< std::string, double > &joint_values, const tesseract_common::TransformMap &floating_joint_values={})=0
	Set the current state of the solver. More...

virtual void	setState (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const tesseract_common::TransformMap &floating_joint_values={})=0

virtual void	setState (const tesseract_common::TransformMap &floating_joint_values)=0
	Set the current state of the floating joint values. More...

	StateSolver ()=default

	StateSolver (const StateSolver &)=default

	StateSolver (StateSolver &&)=default

virtual	~StateSolver ()=default

Detailed Description

Definition at line 45 of file state_solver.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 49 of file state_solver.h.

◆ ConstUPtr

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

Definition at line 51 of file state_solver.h.

◆ Ptr

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

Definition at line 48 of file state_solver.h.

◆ UPtr

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

Definition at line 50 of file state_solver.h.

Constructor & Destructor Documentation

◆ StateSolver() [1/3]

tesseract_scene_graph::StateSolver::StateSolver ( )

default

◆ ~StateSolver()

virtual tesseract_scene_graph::StateSolver::~StateSolver ( )

virtualdefault

◆ StateSolver() [2/3]

tesseract_scene_graph::StateSolver::StateSolver ( const StateSolver & )

default

◆ StateSolver() [3/3]

tesseract_scene_graph::StateSolver::StateSolver ( StateSolver && )

default

Member Function Documentation

◆ clone()

virtual StateSolver::UPtr tesseract_scene_graph::StateSolver::clone ( ) const

pure virtual

This should clone the object so it may be used in a multi threaded application where each thread would clone the solver.

Returns: A clone of the object.

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getActiveJointNames()

virtual std::vector<std::string> tesseract_scene_graph::StateSolver::getActiveJointNames ( ) const

pure virtual

Get the vector of joint names which align with the limits.

Returns: A vector of joint names

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getActiveLinkNames()

virtual std::vector<std::string> tesseract_scene_graph::StateSolver::getActiveLinkNames ( ) const

pure virtual

Get the vector of active link names.

Returns: A vector of active link names

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getBaseLinkName()

virtual std::string tesseract_scene_graph::StateSolver::getBaseLinkName ( ) const

pure virtual

Get the base link name.

Returns: The base link name

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getFloatingJointNames()

virtual std::vector<std::string> tesseract_scene_graph::StateSolver::getFloatingJointNames ( ) const

pure virtual

Get the vector of floating joint names.

Returns: A vector of joint names

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getJacobian() [1/3]

virtual Eigen::MatrixXd tesseract_scene_graph::StateSolver::getJacobian	(	const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const std::string &	link_name,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)		const

pure virtual

Get the jacobian of the solver given the joint values.

This must be the same size and order as what is returned by getJointNames

Parameters

joint_values	The joint values
link_name	The link name to calculate the jacobian

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getJacobian() [2/3]

virtual Eigen::MatrixXd tesseract_scene_graph::StateSolver::getJacobian	(	const std::unordered_map< std::string, double > &	joint_values,
		const std::string &	link_name,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)		const

pure virtual

Get the jacobian of the scene for a given set or subset of joint values.

This does not return the jacobian based on the provided joint names. It is order based on the order returned from getJointNames

This does not change the internal state of the solver.

Parameters

joints	A map of joint names to joint values to change.
link_name	The link name to calculate the jacobian

Returns: A the state of the environment

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getJacobian() [3/3]

virtual Eigen::MatrixXd tesseract_scene_graph::StateSolver::getJacobian	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const std::string &	link_name,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)		const

pure virtual

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getJointNames()

virtual std::vector<std::string> tesseract_scene_graph::StateSolver::getJointNames ( ) const

pure virtual

Get the vector of joint names.

Returns: A vector of joint names

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getLimits()

virtual tesseract_common::KinematicLimits tesseract_scene_graph::StateSolver::getLimits ( ) const

pure virtual

Getter for kinematic limits.

Returns: The kinematic limits

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getLinkNames()

virtual std::vector<std::string> tesseract_scene_graph::StateSolver::getLinkNames ( ) const

pure virtual

Get the vector of link names.

Returns: A vector of link names

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getLinkTransform()

virtual Eigen::Isometry3d tesseract_scene_graph::StateSolver::getLinkTransform ( const std::string & link_name ) const

pure virtual

Get the transform corresponding to the link.

Returns: Transform and is identity when no transform is available.

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getLinkTransforms()

virtual tesseract_common::VectorIsometry3d tesseract_scene_graph::StateSolver::getLinkTransforms ( ) const

pure virtual

Get all of the links transforms.

Order should be the same as getLinkNames()

Returns: Get a vector of transforms for all links.

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getRandomState()

virtual SceneState tesseract_scene_graph::StateSolver::getRandomState ( ) const

pure virtual

Get the random state of the environment.

Returns: Environment state

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getRelativeLinkTransform()

virtual Eigen::Isometry3d tesseract_scene_graph::StateSolver::getRelativeLinkTransform	(	const std::string &	from_link_name,
		const std::string &	to_link_name
	)		const

pure virtual

Get transform between two links using the current state.

Parameters

from_link_name	The link name the transform should be relative to
to_link_name	The link name to get transform

Returns: The relative transform = inv(Transform(from_link_name)) * Transform(to_link_name)

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getState() [1/5]

virtual SceneState tesseract_scene_graph::StateSolver::getState ( ) const

pure virtual

Get the current state of the scene.

Returns: The current state

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getState() [2/5]

virtual SceneState tesseract_scene_graph::StateSolver::getState	(	const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)		const

pure virtual

Get the state of the solver given the joint values.

This must be the same size and order as what is returned by getJointNames

Parameters

joint_values	The joint values
floating_joint_values	The floating joint origin transform

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getState() [3/5]

virtual SceneState tesseract_scene_graph::StateSolver::getState	(	const std::unordered_map< std::string, double > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)		const

pure virtual

Get the state of the scene for a given set or subset of joint values.

This does not change the internal state of the solver.

Parameters

joints	A map of joint names to joint values to change.
floating_joint_values	The floating joint origin transform

Returns: A the state of the environment

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getState() [4/5]

virtual SceneState tesseract_scene_graph::StateSolver::getState	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)		const

pure virtual

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getState() [5/5]

virtual SceneState tesseract_scene_graph::StateSolver::getState ( const tesseract_common::TransformMap & floating_joint_values ) const

pure virtual

Get the state given floating joint values.

Parameters

floating_joint_values The floating joint values to leverage

Returns: A the state of the environment

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ getStaticLinkNames()

virtual std::vector<std::string> tesseract_scene_graph::StateSolver::getStaticLinkNames ( ) const

pure virtual

Get a vector of static link names in the environment.

Returns: A vector of static link names

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ hasLinkName()

virtual bool tesseract_scene_graph::StateSolver::hasLinkName ( const std::string & link_name ) const

pure virtual

Check if link name exists.

Parameters

link_name The link name to check for

Returns: True if it exists, otherwise false

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ isActiveLinkName()

virtual bool tesseract_scene_graph::StateSolver::isActiveLinkName ( const std::string & link_name ) const

pure virtual

Check if link is an active link.

Parameters

link_name The link name to check

Returns: True if active, otherwise false

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ operator=() [1/2]

StateSolver& tesseract_scene_graph::StateSolver::operator= ( const StateSolver & )

default

◆ operator=() [2/2]

StateSolver& tesseract_scene_graph::StateSolver::operator= ( StateSolver && )

default

◆ setState() [1/4]

virtual void tesseract_scene_graph::StateSolver::setState	(	const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)

pure virtual

Set the current state of the solver.

This must be the same size and order as what is returned by getJointNames

Parameters

joint_values The joint values

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ setState() [2/4]

virtual void tesseract_scene_graph::StateSolver::setState	(	const std::unordered_map< std::string, double > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)

pure virtual

Set the current state of the solver.

After updating the current state these function must call currentStateChanged() which will update the contact managers transforms

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ setState() [3/4]

virtual void tesseract_scene_graph::StateSolver::setState	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)

pure virtual

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

◆ setState() [4/4]

virtual void tesseract_scene_graph::StateSolver::setState ( const tesseract_common::TransformMap & floating_joint_values )

pure virtual

Set the current state of the floating joint values.

Parameters

floating_joint_values The floating joint values to set

Implemented in tesseract_scene_graph::OFKTStateSolver, and tesseract_scene_graph::KDLStateSolver.

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

state_solver.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ StateSolver() [1/3]

◆ ~StateSolver()

◆ StateSolver() [2/3]

◆ StateSolver() [3/3]

Member Function Documentation

◆ clone()

◆ getActiveJointNames()

◆ getActiveLinkNames()

◆ getBaseLinkName()

◆ getFloatingJointNames()

◆ getJacobian() [1/3]

◆ getJacobian() [2/3]

◆ getJacobian() [3/3]

◆ getJointNames()

◆ getLimits()

◆ getLinkNames()

◆ getLinkTransform()

◆ getLinkTransforms()

◆ getRandomState()

◆ getRelativeLinkTransform()

◆ getState() [1/5]

◆ getState() [2/5]

◆ getState() [3/5]

◆ getState() [4/5]

◆ getState() [5/5]

◆ getStaticLinkNames()

◆ hasLinkName()

◆ isActiveLinkName()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setState() [1/4]

◆ setState() [2/4]

◆ setState() [3/4]

◆ setState() [4/4]