Inheritance diagram for VirtualRobot::EndEffectorActor:

Data Structures
struct	ActorDefinition

Public Types
enum	CollisionMode { eNone = 0, eActors = 1, eStatic = 2, eAll = 3 }

Public Member Functions
	EndEffectorActor (const std::string &name, const std::vector< ActorDefinition > &a, CollisionCheckerPtr colChecker=CollisionCheckerPtr())

std::vector< ActorDefinition >	getDefinition ()

EndEffectorActorPtr	clone (RobotPtr newRobot)

std::string	getName ()

bool	moveActor (float angle=0.02)

bool	moveActorCheckCollision (EndEffectorPtr eef, EndEffector::ContactInfoVector &storeContacts, SceneObjectSetPtr obstacles=SceneObjectSetPtr(), float angle=0.02)

bool	isColliding (SceneObjectSetPtr obstacles, CollisionMode checkColMode=EndEffectorActor::eAll)

bool	isColliding (EndEffectorPtr eef, SceneObjectSetPtr obstacles, EndEffector::ContactInfoVector &storeContacts, CollisionMode checkColMode=EndEffectorActor::eAll)

bool	isColliding (SceneObjectPtr obstacle, CollisionMode checkColMode=EndEffectorActor::eAll)

bool	isColliding (EndEffectorPtr eef, SceneObjectPtr obstacle, EndEffector::ContactInfoVector &storeContacts, CollisionMode checkColMode=EndEffectorActor::eAll)

bool	isColliding (EndEffectorActorPtr obstacle)

bool	isColliding (EndEffectorPtr eef, EndEffectorActorPtr obstacle, EndEffector::ContactInfoVector &storeContacts)

bool	isColliding (EndEffectorPtr obstacle)

bool	isColliding (EndEffectorPtr eef, EndEffectorPtr obstacle, EndEffector::ContactInfoVector &storeContacts)

std::vector< RobotNodePtr >	getRobotNodes ()

void	print ()

bool	hasNode (RobotNodePtr node)

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 ()

RobotConfigPtr	getConfiguration ()

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

bool	isAtHiLimit () const

bool	isAtLoLimit () const

Member Enumeration Documentation

◆ CollisionMode

enum VirtualRobot::EndEffectorActor::CollisionMode

Enumerator
eNone
eActors
eStatic
eAll

Constructor & Destructor Documentation

◆ EndEffectorActor()

VirtualRobot::EndEffectorActor::EndEffectorActor	(	const std::string &	name,
		const std::vector< ActorDefinition > &	a,
		CollisionCheckerPtr	colChecker = `CollisionCheckerPtr()`
	)

Member Function Documentation

◆ clone()

EndEffectorActorPtr VirtualRobot::EndEffectorActor::clone ( RobotPtr newRobot )

Clones the EndEffectorActor with respect to the given robot. Note that unlike the clone-methods of RobotNodeSet and EndEffector, this method does not register anything with the robot.

◆ getApproximatedLength()

float VirtualRobot::EndEffectorActor::getApproximatedLength ( )

returns an approximation about the length of this eef.

◆ getConfiguration()

VirtualRobot::RobotConfigPtr VirtualRobot::EndEffectorActor::getConfiguration ( )

◆ getDefinition()

std::vector< EndEffectorActor::ActorDefinition > VirtualRobot::EndEffectorActor::getDefinition ( )

◆ getName()

std::string VirtualRobot::EndEffectorActor::getName ( )

◆ getRobotNodes()

std::vector< RobotNodePtr > VirtualRobot::EndEffectorActor::getRobotNodes ( )

◆ hasNode()

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

Check, if node is part of this actor.

◆ isAtHiLimit()

bool VirtualRobot::EndEffectorActor::isAtHiLimit ( ) const

◆ isAtLoLimit()

bool VirtualRobot::EndEffectorActor::isAtLoLimit ( ) const

◆ isColliding() [1/8]

bool VirtualRobot::EndEffectorActor::isColliding	(	SceneObjectSetPtr	obstacles,
		CollisionMode	checkColMode = `EndEffectorActor::eAll`
	)

Checks if the actor collides with one of the given obstacles

◆ isColliding() [2/8]

bool VirtualRobot::EndEffectorActor::isColliding	(	EndEffectorPtr	eef,
		SceneObjectSetPtr	obstacles,
		EndEffector::ContactInfoVector &	storeContacts,
		CollisionMode	checkColMode = `EndEffectorActor::eAll`
	)

◆ isColliding() [3/8]

bool VirtualRobot::EndEffectorActor::isColliding	(	SceneObjectPtr	obstacle,
		CollisionMode	checkColMode = `EndEffectorActor::eAll`
	)

Checks if the actor collides with the given obstacle. checkColMode If set, the collisionMode of the actor's robotNodes is checked against it (e.g. to avoid collision checks with the static part of the eef)

◆ isColliding() [4/8]

bool VirtualRobot::EndEffectorActor::isColliding	(	EndEffectorPtr	eef,
		SceneObjectPtr	obstacle,
		EndEffector::ContactInfoVector &	storeContacts,
		CollisionMode	checkColMode = `EndEffectorActor::eAll`
	)

◆ isColliding() [5/8]

bool VirtualRobot::EndEffectorActor::isColliding ( EndEffectorActorPtr obstacle )

Checks if the actor collides with a given second actor

◆ isColliding() [6/8]

bool VirtualRobot::EndEffectorActor::isColliding	(	EndEffectorPtr	eef,
		EndEffectorActorPtr	obstacle,
		EndEffector::ContactInfoVector &	storeContacts
	)

◆ isColliding() [7/8]

bool VirtualRobot::EndEffectorActor::isColliding ( EndEffectorPtr obstacle )

Checks if the actor collides with a given end effector

◆ isColliding() [8/8]

bool VirtualRobot::EndEffectorActor::isColliding	(	EndEffectorPtr	eef,
		EndEffectorPtr	obstacle,
		EndEffector::ContactInfoVector &	storeContacts
	)

◆ moveActor()

bool VirtualRobot::EndEffectorActor::moveActor ( float angle = 0.02 )

Changes the value of all joints belonging to the actor by angle. Returns true if all joints hit their limit.

◆ moveActorCheckCollision()

bool VirtualRobot::EndEffectorActor::moveActorCheckCollision	(	EndEffectorPtr	eef,
		EndEffector::ContactInfoVector &	storeContacts,
		SceneObjectSetPtr	obstacles = `SceneObjectSetPtr()`,
		float	angle = `0.02`
	)

Changes the value of all joints belonging to the actor by angle while checking every RobotNode for collisions with eef and obstacles.

Parameters

eef	The End effector
storeContacts	In case collisions are detected, the corresponding contact info is stored here.
obstacles	Check collisions with these obstacles.
angle	How far should the eef actor move [rad] Returns true if all joints do either hit their limit or are in collision, e.g. the actor cannot be moved any further.

◆ nodesSufficient()

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

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

◆ print()

void VirtualRobot::EndEffectorActor::print ( )

◆ toXML()

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

virtual

Data Structures

Public Types

Public Member Functions