Inheritance diagram for VirtualRobot::KinematicChain:

Public Member Functions
	KinematicChain (const std::string &name, RobotPtr robot, const std::vector< RobotNodePtr > &robotNodes, RobotNodePtr tcp=RobotNodePtr(), RobotNodePtr kinematicRoot=RobotNodePtr())

	~KinematicChain () override

Public Member Functions inherited from VirtualRobot::RobotNodeSet
RobotNodeSetPtr	clone (RobotPtr newRobot, const RobotNodePtr newKinematicRoot=RobotNodePtr())

bool	hasRobotNode (const RobotNodePtr &robotNode) const

bool	hasRobotNode (const std::string &nodeName) const

int	getRobotNodeIndex (const RobotNodePtr &robotNode) const

int	getRobotNodeIndex (const std::string &nodeName) const

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

std::vector< std::string >	getNodeNames () const

std::vector< float >	getNodeLimitsLo () const

std::vector< float >	getNodeLimitsHi () const

RobotNodePtr	getKinematicRoot () const

void	setKinematicRoot (RobotNodePtr robotNode)

RobotNodePtr	getTCP () const

void	print () const
	Print out some information. More...

unsigned int	getSize () const override

std::vector< float >	getJointValues () const

Eigen::VectorXf	getJointValuesEigen () const

void	getJointValues (std::vector< float > &fillVector) const

void	getJointValues (Eigen::VectorXf &fillVector) const

void	getJointValues (RobotConfigPtr fillVector) const

std::map< std::string, float >	getJointValueMap () const

void	respectJointLimits (std::vector< float > &jointValues) const

void	respectJointLimits (Eigen::VectorXf &jointValues) const

bool	checkJointLimits (std::vector< float > &jointValues, bool verbose=false) const

bool	checkJointLimits (Eigen::VectorXf &jointValues, bool verbose=false) const

virtual void	setJointValues (const std::vector< float > &jointValues)

virtual void	setJointValues (const Eigen::VectorXf &jointValues)

virtual void	setJointValues (const RobotConfigPtr jointValues)

RobotNodePtr &	operator[] (int i)

const RobotNodePtr &	getNode (int i) const

const RobotNodePtr &	getNode (const std::string &nodeName) const

auto	begin ()

auto	end ()

auto	begin () const

auto	end () const

unsigned int	size () const

RobotPtr	getRobot ()

bool	isKinematicChain ()

KinematicChainPtr	toKinematicChain ()

virtual void	highlight (VisualizationPtr visualization, bool enable)

virtual int	getNumFaces (bool collisionModel=false)

float	getMaximumExtension ()

Eigen::Vector3f	getCoM ()

float	getMass ()

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

std::string	toXML (int tabs) override

bool	addSceneObject (SceneObjectPtr sceneObject) override
	this is forbidden for RobotNodeSets, a call will throw an exception More...

bool	addSceneObjects (SceneObjectSetPtr sceneObjectSet) override
	this is forbidden for RobotNodeSets, a call will throw an exception More...

bool	addSceneObjects (RobotNodeSetPtr robotNodeSet) override
	this is forbidden for RobotNodeSets, a call will throw an exception More...

bool	addSceneObjects (std::vector< RobotNodePtr > robotNodes) override
	this is forbidden for RobotNodeSets, a call will throw an exception More...

bool	removeSceneObject (SceneObjectPtr sceneObject) override
	this is forbidden for RobotNodeSets, a call will throw an exception More...

bool	mirror (const RobotNodeSet &targetNodeSet)

Public Member Functions inherited from VirtualRobot::SceneObjectSet
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SceneObjectSet (const std::string &name="", CollisionCheckerPtr colChecker=CollisionCheckerPtr())

virtual	~SceneObjectSet ()

std::string	getName () const

virtual void	addSceneObjects (std::vector< SceneObjectPtr > sceneObjects)

virtual void	addSceneObjects (std::vector< ManipulationObjectPtr > sceneObjects)

CollisionCheckerPtr	getCollisionChecker ()

std::vector< CollisionModelPtr >	getCollisionModels ()

std::vector< SceneObjectPtr >	getSceneObjects ()

virtual SceneObjectPtr	getSceneObject (unsigned int nr)

virtual bool	hasSceneObject (SceneObjectPtr sceneObject)
	Returns true, if sceneObject is part of this set. More...

virtual bool	getCurrentSceneObjectConfig (std::map< SceneObjectPtr, Eigen::Matrix4f > &storeConfig)
	fills the current globalPose of all associated sceneobjects to map. More...

SceneObjectSetPtr	clone (const std::string &newName="")

SceneObjectSetPtr	clone (const std::string &newName, CollisionCheckerPtr newColChecker)

ObstaclePtr	createStaticObstacle (const std::string &name)

Protected Attributes
RobotNodePtr	kinematicRoot

Protected Attributes inherited from VirtualRobot::RobotNodeSet
NodeContainerT	robotNodes

RobotWeakPtr	robot

RobotNodePtr	kinematicRoot

RobotNodePtr	tcp

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

std::vector< SceneObjectPtr >	sceneObjects

CollisionCheckerPtr	colChecker

Friends
class	RobotFactory

Additional Inherited Members
Public Types inherited from VirtualRobot::RobotNodeSet
typedef std::vector< RobotNodePtr >	NodeContainerT

typedef NodeContainerT::iterator	NodeContainerIterT

Static Public Member Functions inherited from VirtualRobot::RobotNodeSet
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)

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)

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...

Protected Member Functions inherited from VirtualRobot::RobotNodeSet
bool	isKinematicRoot (RobotNodePtr robotNode)

	RobotNodeSet (const std::string &name, RobotWeakPtr robot, const std::vector< RobotNodePtr > &robotNodes, const RobotNodePtr kinematicRoot=RobotNodePtr(), const RobotNodePtr tcp=RobotNodePtr())

Protected Member Functions inherited from VirtualRobot::SceneObjectSet
void	destroyData ()
	delete all data More...

Detailed Description

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

Constructor & Destructor Documentation

◆ KinematicChain()

VirtualRobot::KinematicChain::KinematicChain	(	const std::string &	name,
		RobotPtr	robot,
		const std::vector< RobotNodePtr > &	robotNodes,
		RobotNodePtr	tcp = `RobotNodePtr()`,
		RobotNodePtr	kinematicRoot = `RobotNodePtr()`
	)

Initialize this set with a vector of RobotNodes. The nodes have to be ordered: node[i] must be parent or grandparent or.. of node[i+1]

Parameters

name	The name of this kinematic chain.
robotNodes	A set of robot nodes.
tcp	This specifies the TCP node of the robot's kinematic tree. tcp does not have to be a node of this set. If not given, the last entry of robotNodes is used.
kinematicRoot	This specifies the first node of the robot's kinematic tree to be used for updating all members of this set. kinematicRoot does not have to be a node of this set. If not given, the first entry of robotNodes is used.

◆ ~KinematicChain()

VirtualRobot::KinematicChain::~KinematicChain ( )

overridedefault

Friends And Related Function Documentation

◆ RobotFactory

friend class RobotFactory

friend

Field Documentation

◆ kinematicRoot

RobotNodePtr VirtualRobot::KinematicChain::kinematicRoot

protected

Public Member Functions

Protected Attributes

Friends

Additional Inherited Members