Inheritance diagram for VirtualRobot::EndEffector:

Data Structures
struct	ContactInfo

Public Types
typedef std::vector< ContactInfo, Eigen::aligned_allocator< ContactInfo > >	ContactInfoVector
	We need an Eigen::aligned_allocator here, otherwise access to a std::vector could crash. More...

Public Member Functions
	EndEffector (const std::string &nameString, const std::vector< EndEffectorActorPtr > &actorsVector, const std::vector< RobotNodePtr > &staticPartVector, RobotNodePtr baseNodePtr, RobotNodePtr tcpNodePtr, RobotNodePtr gcpNodePtr=RobotNodePtr(), std::vector< RobotConfigPtr > preshapes=std::vector< RobotConfigPtr >())

virtual	~EndEffector ()

EndEffectorPtr	clone (RobotPtr newRobot)

std::string	getName ()

std::string	getBaseNodeName ()

std::string	getTcpName ()

RobotNodePtr	getTcp ()

RobotNodePtr	getBase ()

RobotNodePtr	getGCP ()

RobotPtr	getRobot ()

CollisionCheckerPtr	getCollisionChecker ()

std::string	getRobotType ()

void	getActors (std::vector< EndEffectorActorPtr > &actors)

const std::vector< EndEffectorActorPtr > &	getActors ()

void	getStatics (std::vector< RobotNodePtr > &statics)

const std::vector< RobotNodePtr > &	getStatics ()

ContactInfoVector	closeActors (SceneObjectSetPtr obstacles=SceneObjectSetPtr(), float stepSize=0.02, float stepSizeSpeedFactor=1, std::uint64_t steps=0)

ContactInfoVector	closeActors (SceneObjectPtr obstacle, float stepSize=0.02, float stepSizeSpeedFactor=1, std::uint64_t steps=0)

ContactInfoVector	closeActors (std::nullptr_t, float stepSize=0.02, float stepSizeSpeedFactor=1, std::uint64_t steps=0)

ContactInfoVector	closeActors (float stepSize, float stepSizeSpeedFactor=1, std::uint64_t steps=0)

bool	allActorsClosed () const

bool	allActorsOpen () const

void	openActors (SceneObjectSetPtr obstacles=SceneObjectSetPtr(), float stepSize=0.02, float stepSizeSpeedFactor=1)

void	openActors (float stepSize, float stepSizeSpeedFactor)

SceneObjectSetPtr	createSceneObjectSet (CollisionCheckerPtr colChecker=CollisionCheckerPtr())

RobotPtr	createEefRobot (const std::string &newRobotType, const std::string &newRobotName, CollisionCheckerPtr collisionChecker=CollisionCheckerPtr())

void	registerPreshape (RobotConfigPtr preshape)

RobotConfigPtr	getPreshape (const std::string &name)

bool	hasPreshape (const std::string &name)

bool	setPreshape (const std::string &name)

std::vector< std::string >	getPreshapes ()

bool	hasNode (RobotNodePtr node)

void	print ()

RobotConfigPtr	getConfiguration ()

std::vector< RobotNodePtr >	getAllNodes ()
	Return all associated robot nodes. More...

bool	nodesSufficient (std::vector< RobotNodePtr > nodes) const
	Returns true, if nodes (only name strings are checked) are sufficient for building this eef. More...

float	getApproximatedLength ()

virtual std::string	toXML (int ident=1)

int	addStaticPartContacts (SceneObjectPtr obstacle, ContactInfoVector &contacts, const Eigen::Vector3f &approachDirGlobal, float maxDistance=3.0f)

Member Typedef Documentation

◆ ContactInfoVector

typedef std::vector< ContactInfo, Eigen::aligned_allocator<ContactInfo> > VirtualRobot::EndEffector::ContactInfoVector

We need an Eigen::aligned_allocator here, otherwise access to a std::vector could crash.

Constructor & Destructor Documentation

◆ EndEffector()

VirtualRobot::EndEffector::EndEffector	(	const std::string &	nameString,
		const std::vector< EndEffectorActorPtr > &	actorsVector,
		const std::vector< RobotNodePtr > &	staticPartVector,
		RobotNodePtr	baseNodePtr,
		RobotNodePtr	tcpNodePtr,
		RobotNodePtr	gcpNodePtr = `RobotNodePtr()`,
		std::vector< RobotConfigPtr >	preshapes = `std::vector< RobotConfigPtr >()`
	)

◆ ~EndEffector()

VirtualRobot::EndEffector::~EndEffector ( )

virtualdefault

Member Function Documentation

◆ addStaticPartContacts()

int VirtualRobot::EndEffector::addStaticPartContacts	(	SceneObjectPtr	obstacle,
		EndEffector::ContactInfoVector &	contacts,
		const Eigen::Vector3f &	approachDirGlobal,
		float	maxDistance = `3.0f`
	)

◆ allActorsClosed()

bool VirtualRobot::EndEffector::allActorsClosed ( ) const

◆ allActorsOpen()

bool VirtualRobot::EndEffector::allActorsOpen ( ) const

◆ clone()

EndEffectorPtr VirtualRobot::EndEffector::clone ( RobotPtr newRobot )

Clones this eef and performs all necessary registrations. (Be careful: no need to call registerEEF with newly created eef, since this is already done)

◆ closeActors() [1/4]

EndEffector::ContactInfoVector VirtualRobot::EndEffector::closeActors	(	SceneObjectSetPtr	obstacles = `SceneObjectSetPtr()`,
		float	stepSize = `0.02`,
		float	stepSizeSpeedFactor = `1`,
		std::uint64_t	steps = `0`
	)

Closes each actor until a joint limit is hit or a collision occurred. This method is intended for gripper or hand-like end-effectors.

◆ closeActors() [2/4]

ContactInfoVector VirtualRobot::EndEffector::closeActors	(	SceneObjectPtr	obstacle,
		float	stepSize = `0.02`,
		float	stepSizeSpeedFactor = `1`,
		std::uint64_t	steps = `0`
	)

◆ closeActors() [3/4]

EndEffector::ContactInfoVector VirtualRobot::EndEffector::closeActors	(	std::nullptr_t	,
		float	stepSize = `0.02`,
		float	stepSizeSpeedFactor = `1`,
		std::uint64_t	steps = `0`
	)

◆ closeActors() [4/4]

EndEffector::ContactInfoVector VirtualRobot::EndEffector::closeActors	(	float	stepSize,
		float	stepSizeSpeedFactor = `1`,
		std::uint64_t	steps = `0`
	)

◆ createEefRobot()

VirtualRobot::RobotPtr VirtualRobot::EndEffector::createEefRobot	(	const std::string &	newRobotType,
		const std::string &	newRobotName,
		CollisionCheckerPtr	collisionChecker = `CollisionCheckerPtr()`
	)

Construct a robot that consists only of this eef. All corresponding robot nodes with visualization and collision models are cloned. The resulting robot will have one end effector defined which is identical to this object.

◆ createSceneObjectSet()

VirtualRobot::SceneObjectSetPtr VirtualRobot::EndEffector::createSceneObjectSet ( CollisionCheckerPtr colChecker = CollisionCheckerPtr() )

Build a SceneObjectSet that covers all RobotNodes of this EndEffector.

Note: The set can be used for collision detection, e.g. to check if the eef is in collision with an obstacle.

◆ getActors() [1/2]

void VirtualRobot::EndEffector::getActors ( std::vector< EndEffectorActorPtr > & actors )

◆ getActors() [2/2]

const std::vector< EndEffectorActorPtr > & VirtualRobot::EndEffector::getActors ( )

◆ getAllNodes()

std::vector< RobotNodePtr > VirtualRobot::EndEffector::getAllNodes ( )

Return all associated robot nodes.

◆ getApproximatedLength()

float VirtualRobot::EndEffector::getApproximatedLength ( )

returns an approximation about the length of this eef.

◆ getBase()

VirtualRobot::RobotNodePtr VirtualRobot::EndEffector::getBase ( )

◆ getBaseNodeName()

std::string VirtualRobot::EndEffector::getBaseNodeName ( )

Return name of Base RobotNode.

◆ getCollisionChecker()

VirtualRobot::CollisionCheckerPtr VirtualRobot::EndEffector::getCollisionChecker ( )

◆ getConfiguration()

VirtualRobot::RobotConfigPtr VirtualRobot::EndEffector::getConfiguration ( )

Return current configuration as robot config.

◆ getGCP()

VirtualRobot::RobotNodePtr VirtualRobot::EndEffector::getGCP ( )

Returns the grasp center point. If it was not defined, the TCP is returned.

◆ getName()

std::string VirtualRobot::EndEffector::getName ( )

◆ getPreshape()

VirtualRobot::RobotConfigPtr VirtualRobot::EndEffector::getPreshape ( const std::string & name )

◆ getPreshapes()

std::vector< std::string > VirtualRobot::EndEffector::getPreshapes ( )

Returns vector of all registered preshape names.

◆ getRobot()

VirtualRobot::RobotPtr VirtualRobot::EndEffector::getRobot ( )

Return associated robot

◆ getRobotType()

std::string VirtualRobot::EndEffector::getRobotType ( )

Return the type of the associated robot

◆ getStatics() [1/2]

void VirtualRobot::EndEffector::getStatics ( std::vector< RobotNodePtr > & statics )

◆ getStatics() [2/2]

const std::vector< RobotNodePtr > & VirtualRobot::EndEffector::getStatics ( )

◆ getTcp()

VirtualRobot::RobotNodePtr VirtualRobot::EndEffector::getTcp ( )

◆ getTcpName()

std::string VirtualRobot::EndEffector::getTcpName ( )

Return name of TCP RobotNode.

◆ hasNode()

bool VirtualRobot::EndEffector::hasNode ( RobotNodePtr node )

Check, if node is part of this eef.

◆ hasPreshape()

bool VirtualRobot::EndEffector::hasPreshape ( const std::string & name )

◆ nodesSufficient()

bool VirtualRobot::EndEffector::nodesSufficient ( std::vector< RobotNodePtr > nodes ) const

Returns true, if nodes (only name strings are checked) are sufficient for building this eef.

◆ openActors() [1/2]

void VirtualRobot::EndEffector::openActors	(	SceneObjectSetPtr	obstacles = `SceneObjectSetPtr()`,
		float	stepSize = `0.02`,
		float	stepSizeSpeedFactor = `1`
	)

Opens each actor until a joint limit is hit or a collision occurred. This method is intended for hand-like end-effectors. Note that the same effect can be realized by calling closeActors with a negative step size

◆ openActors() [2/2]

void VirtualRobot::EndEffector::openActors	(	float	stepSize,
		float	stepSizeSpeedFactor
	)

inline

◆ print()

void VirtualRobot::EndEffector::print ( )

◆ registerPreshape()

void VirtualRobot::EndEffector::registerPreshape ( RobotConfigPtr preshape )

Register a preshape to this EEF. An exception is thrown if preshape covers joints that are not part of this eef. If there is already a preshape with name preshape->getName(), it is replaced.

◆ setPreshape()

bool VirtualRobot::EndEffector::setPreshape ( const std::string & name )

Set joints of this eef to preshape with given name.

Parameters

name	The name of the registered preshape.

Returns: false if preshape was not registered, otherwise true

◆ toXML()

std::string VirtualRobot::EndEffector::toXML ( int ident = 1 )

virtual

Creates an XML string of this EEF.

Data Structures

Public Types

Public Member Functions