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| KinematicChain (const std::string &name, RobotPtr robot, const std::vector< RobotNodePtr > &robotNodes, RobotNodePtr tcp=RobotNodePtr(), RobotNodePtr kinematicRoot=RobotNodePtr()) |
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| ~KinematicChain () override |
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RobotNodeSetPtr | clone (RobotPtr newRobot, const RobotNodePtr newKinematicRoot=RobotNodePtr()) |
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bool | hasRobotNode (const RobotNodePtr &robotNode) const |
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bool | hasRobotNode (const std::string &nodeName) const |
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int | getRobotNodeIndex (const RobotNodePtr &robotNode) const |
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int | getRobotNodeIndex (const std::string &nodeName) const |
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const std::vector< RobotNodePtr > & | getAllRobotNodes () const |
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std::vector< std::string > | getNodeNames () const |
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std::vector< float > | getNodeLimitsLo () const |
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std::vector< float > | getNodeLimitsHi () const |
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RobotNodePtr | getKinematicRoot () const |
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void | setKinematicRoot (RobotNodePtr robotNode) |
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RobotNodePtr | getTCP () const |
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void | print () const |
| Print out some information. More...
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unsigned int | getSize () const override |
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std::vector< float > | getJointValues () const |
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Eigen::VectorXf | getJointValuesEigen () const |
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void | getJointValues (std::vector< float > &fillVector) const |
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void | getJointValues (Eigen::VectorXf &fillVector) const |
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void | getJointValues (RobotConfigPtr fillVector) const |
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std::map< std::string, float > | getJointValueMap () const |
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void | respectJointLimits (std::vector< float > &jointValues) const |
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void | respectJointLimits (Eigen::VectorXf &jointValues) const |
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bool | checkJointLimits (std::vector< float > &jointValues, bool verbose=false) const |
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bool | checkJointLimits (Eigen::VectorXf &jointValues, bool verbose=false) const |
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virtual void | setJointValues (const std::vector< float > &jointValues) |
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virtual void | setJointValues (const Eigen::VectorXf &jointValues) |
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virtual void | setJointValues (const RobotConfigPtr jointValues) |
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RobotNodePtr & | operator[] (int i) |
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const RobotNodePtr & | getNode (int i) const |
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const RobotNodePtr & | getNode (const std::string &nodeName) const |
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auto | begin () |
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auto | end () |
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auto | begin () const |
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auto | end () const |
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unsigned int | size () const |
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RobotPtr | getRobot () |
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bool | isKinematicChain () |
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KinematicChainPtr | toKinematicChain () |
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virtual void | highlight (VisualizationPtr visualization, bool enable) |
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virtual int | getNumFaces (bool collisionModel=false) |
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float | getMaximumExtension () |
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Eigen::Vector3f | getCoM () |
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float | getMass () |
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bool | nodesSufficient (std::vector< RobotNodePtr > nodes) const |
| Returns true, if nodes (only name strings are checked) are sufficient for building this rns. More...
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std::string | toXML (int tabs) override |
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bool | addSceneObject (SceneObjectPtr sceneObject) override |
| this is forbidden for RobotNodeSets, a call will throw an exception More...
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bool | addSceneObjects (SceneObjectSetPtr sceneObjectSet) override |
| this is forbidden for RobotNodeSets, a call will throw an exception More...
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bool | addSceneObjects (RobotNodeSetPtr robotNodeSet) override |
| this is forbidden for RobotNodeSets, a call will throw an exception More...
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bool | addSceneObjects (std::vector< RobotNodePtr > robotNodes) override |
| this is forbidden for RobotNodeSets, a call will throw an exception More...
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bool | removeSceneObject (SceneObjectPtr sceneObject) override |
| this is forbidden for RobotNodeSets, a call will throw an exception More...
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bool | mirror (const RobotNodeSet &targetNodeSet) |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW | SceneObjectSet (const std::string &name="", CollisionCheckerPtr colChecker=CollisionCheckerPtr()) |
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virtual | ~SceneObjectSet () |
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std::string | getName () const |
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virtual void | addSceneObjects (std::vector< SceneObjectPtr > sceneObjects) |
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virtual void | addSceneObjects (std::vector< ManipulationObjectPtr > sceneObjects) |
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CollisionCheckerPtr | getCollisionChecker () |
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std::vector< CollisionModelPtr > | getCollisionModels () |
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std::vector< SceneObjectPtr > | getSceneObjects () |
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virtual SceneObjectPtr | getSceneObject (unsigned int nr) |
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virtual bool | hasSceneObject (SceneObjectPtr sceneObject) |
| Returns true, if sceneObject is part of this set. More...
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virtual bool | getCurrentSceneObjectConfig (std::map< SceneObjectPtr, Eigen::Matrix4f > &storeConfig) |
| fills the current globalPose of all associated sceneobjects to map. More...
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SceneObjectSetPtr | clone (const std::string &newName="") |
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SceneObjectSetPtr | clone (const std::string &newName, CollisionCheckerPtr newColChecker) |
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ObstaclePtr | createStaticObstacle (const std::string &name) |
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typedef std::vector< RobotNodePtr > | NodeContainerT |
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typedef NodeContainerT::iterator | NodeContainerIterT |
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static RobotNodeSetPtr | createRobotNodeSet (RobotPtr robot, const std::string &name, const std::vector< std::string > &robotNodeNames, const std::string &kinematicRootName="", const std::string &tcpName="", bool registerToRobot=false) |
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static RobotNodeSetPtr | createRobotNodeSet (RobotPtr robot, const std::string &name, const std::vector< RobotNodePtr > &robotNodes, const RobotNodePtr kinematicRoot=RobotNodePtr(), const RobotNodePtr tcp=RobotNodePtr(), bool registerToRobot=false) |
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static RobotNodeSetPtr | createRobotNodeSet (RobotPtr robot, const std::string &name, const std::vector< RobotNodeSetPtr > &robotNodes, const RobotNodePtr kinematicRoot=RobotNodePtr(), const RobotNodePtr tcp=RobotNodePtr(), bool registerToRobot=false) |
| Merges the node sets (takes care of only adding each node once) More...
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bool | isKinematicRoot (RobotNodePtr robotNode) |
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| RobotNodeSet (const std::string &name, RobotWeakPtr robot, const std::vector< RobotNodePtr > &robotNodes, const RobotNodePtr kinematicRoot=RobotNodePtr(), const RobotNodePtr tcp=RobotNodePtr()) |
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void | destroyData () |
| delete all data More...
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A KinematicChain is a RobotNodeSet that fulfills some constraints on the covered RobotNodes. The nodes form a kinematic chain, which means that two successive nodes are uniquely connected in the kinematic tree of the robot. E.g. node i and node i+1 are parent and child or node i+1 is child of a child of node i, etc.
- See also
- RobotNodeSet