VirtualRobot::RobotFactory Class Reference

Data Structures
struct	robotNodeDef
struct	robotStructureDef

Static Public Member Functions
static RobotPtr	createRobot (const std::string &name, const std::string &type="")
static bool	initializeRobot (RobotPtr robot, std::vector< RobotNodePtr > &robotNodes, std::map< RobotNodePtr, std::vector< std::string > > childrenMap, RobotNodePtr rootNode)
static RobotPtr	clone (RobotPtr robot, const std::string &name, CollisionCheckerPtr collisionChecker=CollisionCheckerPtr(), float scaling=1.0f)
static RobotPtr	cloneSubSet (RobotPtr robot, RobotNodeSetPtr rns, const std::string &name)
static RobotPtr	cloneUniteSubsets (RobotPtr robot, const std::string &name, std::vector< std::string > uniteWithAllChildren)
static RobotPtr	cloneInversed (RobotPtr robot, const std::string &newRootName, bool cloneRNS=true, bool cloneEEF=true)
static RobotPtr	cloneChangeStructure (RobotPtr robot, robotStructureDef &newStructure)
static RobotPtr	cloneChangeStructure (RobotPtr robot, const std::string &startNode, const std::string &endNode)
static bool	attach (RobotPtr robot, SceneObjectPtr o, RobotNodePtr rn, const Eigen::Matrix4f &transformation)
	attach Attach an object to a robot. The object is cloned. More...
static bool	detach (RobotPtr robot, RobotNodePtr rn)

Protected Member Functions
	RobotFactory ()
virtual	~RobotFactory ()

Static Protected Member Functions
static RobotNodePtr	createUnitedRobotNode (RobotPtr robot, const std::vector< RobotNodePtr > &nodes, RobotNodePtr parent, RobotNodePtr parentClone, const Eigen::Matrix4f &trafo, const std::vector< SensorPtr > &sensors)
static RobotNodePtr	accumulateTransformations (RobotPtr robot, RobotNodePtr nodeA, RobotNodePtr nodeAClone, RobotNodePtr nodeB, Eigen::Matrix4f &storeTrafo)
static void	getChildNodes (RobotNodePtr nodeA, RobotNodePtr nodeExclude, std::vector< RobotNodePtr > &appendNodes)
static void	getChildSensorNodes (RobotNodePtr nodeA, RobotNodePtr nodeExclude, std::vector< SensorPtr > &appendNodes)
static void	cloneRecursiveUnite (RobotPtr robot, RobotNodePtr currentNode, RobotNodePtr currentNodeClone, std::vector< std::string > uniteWithAllChildren)

Constructor & Destructor Documentation

RobotFactory()

VirtualRobot::RobotFactory::RobotFactory ( )

protecteddefault

~RobotFactory()

VirtualRobot::RobotFactory::~RobotFactory ( )

protectedvirtualdefault

Member Function Documentation

accumulateTransformations()

RobotNodePtr VirtualRobot::RobotFactory::accumulateTransformations ( RobotPtr  robot, RobotNodePtr  nodeA, RobotNodePtr  nodeAClone, RobotNodePtr  nodeB, Eigen::Matrix4f &  storeTrafo  )

staticprotected

attach()

bool VirtualRobot::RobotFactory::attach ( RobotPtr  robot, SceneObjectPtr  o, RobotNodePtr  rn, const Eigen::Matrix4f &  transformation  )

static

attach Attach an object to a robot. The object is cloned.

Parameters

robot
o	The object and its visualization model is cloned
rn	The robot node to which the object should be attached
transformation	The RN to object transformation

Returns

true on succes

clone()

RobotPtr VirtualRobot::RobotFactory::clone ( RobotPtr  robot, const std::string &  name, CollisionCheckerPtr  collisionChecker = CollisionCheckerPtr(), float  scaling = 1.0f  )

static

Clones the robot.

Parameters

robot	The robot to clone
name	The new name
collisionChecker	Optional: A collision checker to which the robot should be registered. If not set, the collision checker of the input robot is used.
scaling	Scale the resulting robot.

cloneChangeStructure() [1/2]

RobotPtr VirtualRobot::RobotFactory::cloneChangeStructure ( RobotPtr  robot, robotStructureDef &  newStructure  )

static

Chenge the structure of the clone according to the given defintion.

cloneChangeStructure() [2/2]

RobotPtr VirtualRobot::RobotFactory::cloneChangeStructure ( RobotPtr  robot, const std::string &  startNode, const std::string &  endNode  )

static

Clone kinematic chain and reverse direction.

Parameters

startNode	Name of the start node of the original kinematic chain.
endNode	Name of the end node of the original kinematic chain. Will be the new root.

cloneInversed()

RobotPtr VirtualRobot::RobotFactory::cloneInversed ( RobotPtr  robot, const std::string &  newRootName, bool  cloneRNS = true, bool  cloneEEF = true  )

static

Creates a clone with changed structure, so that the given robot node is the new root of the resulting kinematic tree.

cloneRecursiveUnite()

void VirtualRobot::RobotFactory::cloneRecursiveUnite ( RobotPtr  robot, RobotNodePtr  currentNode, RobotNodePtr  currentNodeClone, std::vector< std::string >  uniteWithAllChildren  )

staticprotected

cloneSubSet()

RobotPtr VirtualRobot::RobotFactory::cloneSubSet ( RobotPtr  robot, RobotNodeSetPtr  rns, const std::string &  name  )

static

Clones the robot, but only leave the defined joints active. ALl other joints are accumulated and set to one model which is fixed (may result in faster updates)

Parameters

robot	The robot to clone
rns	The robot node set of active joints. The joints must be given as an ordered set, i.e. node i must be located before node i+1 in the kinematic structure of the robot.
name	The new name

cloneUniteSubsets()

RobotPtr VirtualRobot::RobotFactory::cloneUniteSubsets ( RobotPtr  robot, const std::string &  name, std::vector< std::string >  uniteWithAllChildren  )

static

Creates a robot clone with reduced structure.

Parameters

robot	The robot to clone.
uniteWithAllChildren	List of RobotNodeNames. Each listed robot ndoe is united with all of its children to one fixed RobotNode. This means that all related coordinate systems and joints will not be present in the clone. The visualizations are united.

createRobot()

RobotPtr VirtualRobot::RobotFactory::createRobot ( const std::string &  name, const std::string &  type = ""  )

static

Creates an empty robot.

createUnitedRobotNode()

RobotNodePtr VirtualRobot::RobotFactory::createUnitedRobotNode ( RobotPtr  robot, const std::vector< RobotNodePtr > &  nodes, RobotNodePtr  parent, RobotNodePtr  parentClone, const Eigen::Matrix4f &  trafo, const std::vector< SensorPtr > &  sensors  )

staticprotected

detach()

bool VirtualRobot::RobotFactory::detach ( RobotPtr  robot, RobotNodePtr  rn  )

static

getChildNodes()

void VirtualRobot::RobotFactory::getChildNodes ( RobotNodePtr  nodeA, RobotNodePtr  nodeExclude, std::vector< RobotNodePtr > &  appendNodes  )

staticprotected

getChildSensorNodes()

void VirtualRobot::RobotFactory::getChildSensorNodes ( RobotNodePtr  nodeA, RobotNodePtr  nodeExclude, std::vector< SensorPtr > &  appendNodes  )

staticprotected

initializeRobot()

bool VirtualRobot::RobotFactory::initializeRobot ( RobotPtr  robot, std::vector< RobotNodePtr > &  robotNodes, std::map< RobotNodePtr, std::vector< std::string > >  childrenMap, RobotNodePtr  rootNode  )

static

Initializes Robot and all RobotNodes.

Parameters

robotNodes	All nodes of the robot. Must contain rootNode.
childrenMap	Parent-child relations are built according to this data.
rootNode	The root.