Inheritance diagram for VirtualRobot::GraspableSensorizedObject:

Public Member Functions
	GraspableSensorizedObject (const std::string &name, VisualizationNodePtr visualization=VisualizationNodePtr(), CollisionModelPtr collisionModel=CollisionModelPtr(), const Physics &p=Physics(), CollisionCheckerPtr colChecker=CollisionCheckerPtr())

bool	initialize (SceneObjectPtr parent=SceneObjectPtr(), const std::vector< SceneObjectPtr > &children=std::vector< SceneObjectPtr >()) override

bool	hasGraspSet (GraspSetPtr graspSet)

bool	hasGraspSet (const std::string &robotType, const std::string &eef)

void	addGraspSet (GraspSetPtr graspSet)

void	includeGraspSet (GraspSetPtr graspSet)
	includeGraspSet More...

GraspSetPtr	getGraspSet (EndEffectorPtr eef)

GraspSetPtr	getGraspSet (const std::string &robotType, const std::string &eefName)

GraspSetPtr	getGraspSet (const std::string &name)

const std::vector< GraspSetPtr > &	getAllGraspSets ()

virtual SensorPtr	getSensor (const std::string &name) const

virtual bool	hasSensor (const std::string &name) const

virtual std::vector< SensorPtr >	getSensors () const

virtual bool	registerSensor (SensorPtr sensor)

void	appendGraspSetsTo (GraspableSensorizedObjectPtr other) const

void	appendSensorsTo (GraspableSensorizedObjectPtr other) const

void	printGrasps () const

Public Member Functions inherited from VirtualRobot::SceneObject
	SceneObject (const std::string &name, VisualizationNodePtr visualization=VisualizationNodePtr(), CollisionModelPtr collisionModel=CollisionModelPtr(), const Physics &p=Physics(), CollisionCheckerPtr colChecker=CollisionCheckerPtr())

virtual	~SceneObject ()

std::string	getName () const

void	setName (const std::string &name)

virtual Eigen::Matrix4f	getGlobalPose () const

virtual Eigen::Vector3f	getGlobalPosition () const

virtual Eigen::Matrix3f	getGlobalOrientation () const

virtual Eigen::Matrix4f	getGlobalPose (const Eigen::Matrix4f &localPose) const

virtual Eigen::Vector3f	getGlobalPosition (const Eigen::Vector3f &localPosition) const

virtual Eigen::Vector3f	getGlobalDirection (const Eigen::Vector3f &localDircetion) const

virtual Eigen::Matrix3f	getGlobalOrientation (const Eigen::Matrix3f &localOrientation) const

virtual void	setGlobalPoseNoChecks (const Eigen::Matrix4f &pose)

virtual void	setGlobalPose (const Eigen::Matrix4f &pose)

virtual CollisionModelPtr	getCollisionModel ()

virtual CollisionCheckerPtr	getCollisionChecker ()

void	setVisualization (VisualizationNodePtr visualization)

void	setCollisionModel (CollisionModelPtr colModel)

virtual VisualizationNodePtr	getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)

virtual void	setUpdateVisualization (bool enable)

bool	getUpdateVisualizationStatus ()

virtual void	setUpdateCollisionModel (bool enable)

bool	getUpdateCollisionModelStatus ()

virtual void	setupVisualization (bool showVisualization, bool showAttachedVisualizations)

virtual void	showCoordinateSystem (bool enable, float scaling=1.0f, std::string *text=NULL, const std::string &visualizationType="")

virtual void	showPhysicsInformation (bool enableCoM, bool enableInertial, VisualizationNodePtr comModel=VisualizationNodePtr())

virtual bool	showCoordinateSystemState ()

virtual void	showBoundingBox (bool enable, bool wireframe=false)

virtual bool	ensureVisualization (const std::string &visualizationType="")

Eigen::Matrix4f	toLocalCoordinateSystem (const Eigen::Matrix4f &poseGlobal) const

Eigen::Vector3f	toLocalCoordinateSystemVec (const Eigen::Vector3f &positionGlobal) const

Eigen::Matrix4f	toGlobalCoordinateSystem (const Eigen::Matrix4f &poseLocal) const

Eigen::Vector3f	toGlobalCoordinateSystemVec (const Eigen::Vector3f &positionLocal) const

Eigen::Matrix4f	getTransformationTo (const SceneObjectPtr otherObject) const

Eigen::Matrix4f	getTransformationFrom (const SceneObjectPtr otherObject) const

Eigen::Matrix4f	transformTo (const SceneObjectPtr otherObject, const Eigen::Matrix4f &poseInOtherCoordSystem)

Eigen::Vector3f	transformTo (const SceneObjectPtr otherObject, const Eigen::Vector3f &positionInOtherCoordSystem)

virtual int	getNumFaces (bool collisionModel=false)

virtual Eigen::Vector3f	getCoMLocal ()

void	setCoMLocal (const Eigen::Vector3f &comLocal)
	Set a new position for the CoM of this bode. More...

virtual Eigen::Vector3f	getCoMGlobal ()

float	getMass () const

void	setMass (float m)

Physics::SimulationType	getSimulationType () const

void	setSimulationType (Physics::SimulationType s)

Eigen::Matrix3f	getInertiaMatrix ()

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Vector3f &shift)
	If the Inertia Matrix is given at the CoM, this function returns the Inertia Matrix at the parallel shifted coordinate system. The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem) More...

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Vector3f &shift, const Eigen::Matrix3f &rotation)

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Matrix4f &transform)

void	setInertiaMatrix (const Eigen::Matrix3f &im)

float	getFriction ()

void	setFriction (float friction)

SceneObject::Physics	getPhysics ()

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

virtual void	print (bool printChildren=false, bool printDecoration=true) const

template<typename T >
std::shared_ptr< T >	getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)

void	highlight (VisualizationPtr visualization, bool enable)

SceneObjectPtr	clone (const std::string &name, CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const

SceneObjectPtr	clone (CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const

virtual bool	attachChild (SceneObjectPtr child)

virtual void	detachChild (SceneObjectPtr child)

virtual bool	hasChild (SceneObjectPtr child, bool recursive=false) const

virtual bool	hasChild (const std::string &childName, bool recursive=false) const

virtual bool	hasParent () const

virtual SceneObjectPtr	getParent () const

virtual std::vector< SceneObjectPtr >	getChildren () const

virtual void	updatePose (bool updateChildren=true)
	Compute the global pose of this object. More...

virtual void	copyPoseFrom (const SceneObjectPtr &other)

virtual bool	saveModelFiles (const std::string &modelPath, bool replaceFilenames)

void	setScaling (float scaling)

float	getScaling ()

bool	reloadVisualizationFromXML (bool useVisAsColModelIfMissing=true)

const std::string &	getVisualizationModelXML () const

Protected Member Functions
	GraspableSensorizedObject ()

std::string	getGraspableSensorizedObjectXML (const std::string &modelPathRelative="models", bool storeSensors=true, int tabs=0)

Protected Member Functions inherited from VirtualRobot::SceneObject
virtual SceneObject *	_clone (const std::string &name, CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const

virtual void	detachedFromParent ()
	Parent detached this object. More...

virtual void	attached (SceneObjectPtr parent)
	Parent attached this object. More...

virtual void	updatePose (const Eigen::Matrix4f &parentPose, bool updateChildren=true)

std::string	getFilenameReplacementVisuModel (const std::string standardExtension=".wrl")

std::string	getFilenameReplacementColModel (const std::string standardExtension=".wrl")

	SceneObject ()

std::string	getSceneObjectXMLString (const std::string &basePath, int tabs, const std::string &modelPathRelative="")
	basic data, used by Obstacle and ManipulationObject More...

virtual bool	initializePhysics ()

Protected Attributes
std::vector< GraspSetPtr >	graspSets

std::vector< SensorPtr >	sensors

Protected Attributes inherited from VirtualRobot::SceneObject
std::string	name

bool	initialized

Eigen::Matrix4f	globalPose

std::vector< SceneObjectPtr >	children

SceneObjectWeakPtr	parent

CollisionModelPtr	collisionModel

std::string	collisionModelXML

VisualizationNodePtr	visualizationModel

std::string	visualizationModelXML

std::filesystem::path	basePath

bool	updateVisualization

bool	updateCollisionModel

Physics	physics

CollisionCheckerPtr	collisionChecker

float	scaling = 1.0f

Additional Inherited Members
Public Types inherited from VirtualRobot::SceneObject
enum	VisualizationType { Full, Collision, CollisionData }

Static Public Member Functions inherited from VirtualRobot::SceneObject
static Eigen::Matrix3f	shiftInertia (const Eigen::Matrix3f inertiaMatrix, const Eigen::Vector3f &shift, float mass)
	The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem) More...

Constructor & Destructor Documentation

◆ GraspableSensorizedObject() [1/2]

VirtualRobot::GraspableSensorizedObject::GraspableSensorizedObject	(	const std::string &	name,
		VisualizationNodePtr	visualization = `VisualizationNodePtr()`,
		CollisionModelPtr	collisionModel = `CollisionModelPtr()`,
		const Physics &	p = `Physics()`,
		CollisionCheckerPtr	colChecker = `CollisionCheckerPtr()`
	)

◆ GraspableSensorizedObject() [2/2]

VirtualRobot::GraspableSensorizedObject::GraspableSensorizedObject ( )

inlineprotected

Member Function Documentation

◆ addGraspSet()

void VirtualRobot::GraspableSensorizedObject::addGraspSet ( GraspSetPtr graspSet )

Appends a grasp set. Note, that only one grasp set per EEF is allowed.

◆ appendGraspSetsTo()

void VirtualRobot::GraspableSensorizedObject::appendGraspSetsTo ( GraspableSensorizedObjectPtr other ) const

Clones this grasps sets and appends to other

◆ appendSensorsTo()

void VirtualRobot::GraspableSensorizedObject::appendSensorsTo ( GraspableSensorizedObjectPtr other ) const

Clones this sensors and appends to other

◆ getAllGraspSets()

const std::vector< GraspSetPtr > & VirtualRobot::GraspableSensorizedObject::getAllGraspSets ( )

Get grasp set vector

◆ getGraspableSensorizedObjectXML()

std::string VirtualRobot::GraspableSensorizedObject::getGraspableSensorizedObjectXML	(	const std::string &	modelPathRelative = `"models"`,
		bool	storeSensors = `true`,
		int	tabs = `0`
	)

protected

◆ getGraspSet() [1/3]

VirtualRobot::GraspSetPtr VirtualRobot::GraspableSensorizedObject::getGraspSet ( EndEffectorPtr eef )

Get grasp set for the given end effector. In case multiple grasp sets for the eef are present, the first one is returned. An empty GraspSetPtr is returned when no GraspSet for eef is found.

◆ getGraspSet() [2/3]

VirtualRobot::GraspSetPtr VirtualRobot::GraspableSensorizedObject::getGraspSet	(	const std::string &	robotType,
		const std::string &	eefName
	)

Get grasp set for the given robotType and end effector. In case multiple grasp sets for the robot/eef combination are present, the first one is returned. An empty GraspSetPtr is returned when no GraspSet for robot&eef is found.

◆ getGraspSet() [3/3]

VirtualRobot::GraspSetPtr VirtualRobot::GraspableSensorizedObject::getGraspSet ( const std::string & name )

Get grasp set by name.

Parameters

name	The name of the grasp set.

Returns: An empty GraspSetPtr is returned when no GraspSet with the given name is found.

◆ getSensor()

SensorPtr VirtualRobot::GraspableSensorizedObject::getSensor ( const std::string & name ) const

virtual

◆ getSensors()

std::vector< SensorPtr > VirtualRobot::GraspableSensorizedObject::getSensors ( ) const

virtual

◆ hasGraspSet() [1/2]

bool VirtualRobot::GraspableSensorizedObject::hasGraspSet ( GraspSetPtr graspSet )

◆ hasGraspSet() [2/2]

bool VirtualRobot::GraspableSensorizedObject::hasGraspSet	(	const std::string &	robotType,
		const std::string &	eef
	)

◆ hasSensor()

bool VirtualRobot::GraspableSensorizedObject::hasSensor ( const std::string & name ) const

virtual

◆ includeGraspSet()

void VirtualRobot::GraspableSensorizedObject::includeGraspSet ( GraspSetPtr graspSet )

includeGraspSet

Parameters

graspSet

◆ initialize()

bool VirtualRobot::GraspableSensorizedObject::initialize	(	SceneObjectPtr	parent = `SceneObjectPtr()`,
		const std::vector< SceneObjectPtr > &	children = `std::vector<SceneObjectPtr>()`
	)

overridevirtual

Initialize this object. Optionally the parents and children can be specified.

Reimplemented from VirtualRobot::SceneObject.

◆ printGrasps()

void VirtualRobot::GraspableSensorizedObject::printGrasps ( ) const

◆ registerSensor()

bool VirtualRobot::GraspableSensorizedObject::registerSensor ( SensorPtr sensor )

virtual

Field Documentation

◆ graspSets

std::vector< GraspSetPtr > VirtualRobot::GraspableSensorizedObject::graspSets

protected

◆ sensors

std::vector<SensorPtr> VirtualRobot::GraspableSensorizedObject::sensors

protected

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ GraspableSensorizedObject() [1/2]

◆ GraspableSensorizedObject() [2/2]

Member Function Documentation

◆ addGraspSet()

◆ appendGraspSetsTo()

◆ appendSensorsTo()

◆ getAllGraspSets()

◆ getGraspableSensorizedObjectXML()

◆ getGraspSet() [1/3]

◆ getGraspSet() [2/3]

◆ getGraspSet() [3/3]

◆ getSensor()

◆ getSensors()

◆ hasGraspSet() [1/2]

◆ hasGraspSet() [2/2]

◆ hasSensor()

◆ includeGraspSet()

◆ initialize()

◆ printGrasps()

◆ registerSensor()

Field Documentation

◆ graspSets

◆ sensors