VirtualRobot::LocalRobot Class Reference

Inheritance diagram for VirtualRobot::LocalRobot:

Public Member Functions
	LocalRobot (const std::string &name, const std::string &type="")
	~LocalRobot () override
void	setRootNode (RobotNodePtr node) override
RobotNodePtr	getRootNode () const override
void	registerRobotNode (RobotNodePtr node) override
void	deregisterRobotNode (RobotNodePtr node) override
bool	hasRobotNode (const std::string &robotNodeName) const override
bool	hasRobotNode (RobotNodePtr node) const override
RobotNodePtr	getRobotNode (const std::string &robotNodeName) const override
void	getRobotNodes (std::vector< RobotNodePtr > &storeNodes, bool clearVector=true) const override
void	registerRobotNodeSet (RobotNodeSetPtr nodeSet) override
void	deregisterRobotNodeSet (RobotNodeSetPtr nodeSet) override
bool	hasRobotNodeSet (const std::string &name) const override
RobotNodeSetPtr	getRobotNodeSet (const std::string &nodeSetName) const override
void	getRobotNodeSets (std::vector< RobotNodeSetPtr > &storeNodeSet) const override
void	registerEndEffector (EndEffectorPtr endEffector) override
bool	hasEndEffector (const std::string &endEffectorName) const override
EndEffectorPtr	getEndEffector (const std::string &endEffectorName) const override
void	getEndEffectors (std::vector< EndEffectorPtr > &storeEEF) const override
void	setGlobalPose (const Eigen::Matrix4f &globalPose, bool applyJointValues=true) override
	Set the global pose of this robot. More...
void	setGlobalPose (const Eigen::Matrix4f &globalPose) override
Eigen::Matrix4f	getGlobalPose () const override
Public Member Functions inherited from VirtualRobot::Robot
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Robot (const std::string &name, const std::string &type="")
	~Robot () override
virtual void	applyJointValues ()
virtual void	setThreadsafe (bool)
template<typename T >
std::shared_ptr< T >	getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full, bool sensors=true)
void	showStructure (bool enable, const std::string &type="")
void	showCoordinateSystems (bool enable, const std::string &type="")
void	showPhysicsInformation (bool enableCoM, bool enableInertial, VisualizationNodePtr comModel=VisualizationNodePtr()) override
void	setupVisualization (bool showVisualization, bool showAttachedVisualizations) override
virtual std::string	getName () const
virtual std::string	getType () const
void	setType (const std::string &type)
void	setName (const std::string &name)
void	print (bool printChildren=false, bool printDecoration=true) const override
void	setUpdateVisualization (bool enable) override
void	setUpdateCollisionModel (bool enable) override
std::shared_ptr< Robot >	shared_from_this () const
virtual RobotConfigPtr	getConfig () const
virtual bool	setConfig (RobotConfigPtr c)
virtual std::vector< RobotNodePtr >	getRobotNodes () const
virtual std::vector< std::string >	getRobotNodeNames () const
virtual bool	hasRobotNodeSet (RobotNodeSetPtr nodeSet) const
virtual std::vector< RobotNodeSetPtr >	getRobotNodeSets () const
virtual std::vector< std::string >	getRobotNodeSetNames () const
const NodeMapping &	getNodeMapping () const
virtual bool	hasEndEffector (EndEffectorPtr endEffector) const
virtual std::vector< EndEffectorPtr >	getEndEffectors () const
virtual std::vector< CollisionModelPtr >	getCollisionModels () const
CollisionCheckerPtr	getCollisionChecker () override
virtual void	highlight (VisualizationPtr visualization, bool enable)
int	getNumFaces (bool collisionModel=false) override
virtual Eigen::Matrix4f	getGlobalPoseForRobotNode (const RobotNodePtr &node, const Eigen::Matrix4f &globalPoseNode) const
	Get the global pose of this robot so that the RobotNode node is at pose globalPoseNode. More...
virtual void	setGlobalPoseForRobotNode (const RobotNodePtr &node, const Eigen::Matrix4f &globalPoseNode)
	Set the global pose of this robot so that the RobotNode node is at pose globalPoseNode. More...
virtual Eigen::Matrix4f	getGlobalPositionForRobotNode (const RobotNodePtr &node, const Eigen::Vector3f &globalPositionNode) const
	Get the global position of this robot so that the RobotNode node is at position globalPoseNode. More...
virtual void	setGlobalPositionForRobotNode (const RobotNodePtr &node, const Eigen::Vector3f &globalPositionNode)
	Set the global position of this robot so that the RobotNode node is at position globalPoseNode. More...
Eigen::Vector3f	getCoMLocal () override
	Return center of mass of this robot in local coordinate frame. All RobotNodes of this robot are considered according to their mass. More...
Eigen::Vector3f	getCoMGlobal () override
	Return Center of Mass of this robot in global coordinates. All RobotNodes of this robot are considered according to their mass. More...
virtual float	getMass () const
	Return accumulated mass of this robot. More...
virtual RobotPtr	extractSubPart (RobotNodePtr startJoint, const std::string &newRobotType, const std::string &newRobotName, bool cloneRNS=true, bool cloneEEFs=true, CollisionCheckerPtr collisionChecker=CollisionCheckerPtr(), float scaling=1.0f, bool preventCloningMeshesIfScalingIs1=false)
virtual RobotPtr	clone (const std::string &name, CollisionCheckerPtr collisionChecker=CollisionCheckerPtr(), float scaling=1.0f, bool preventCloningMeshesIfScalingIs1=false)
virtual RobotPtr	clone (CollisionCheckerPtr collisionChecker=CollisionCheckerPtr(), float scaling=1.0f, bool preventCloningMeshesIfScalingIs1=false)
virtual RobotPtr	cloneScaling ()
	Clones this robot and keeps the current scaling for the robot and each robot node. More...
virtual void	setFilename (const std::string &filename)
	Just storing the filename. More...
virtual std::string	getFilename () const
	Retrieve the stored filename. More...
virtual ReadLockPtr	getReadLock ()
virtual WriteLockPtr	getWriteLock ()
virtual void	setJointValue (RobotNodePtr rn, float jointValue)
virtual void	setJointValue (const std::string &nodeName, float jointValue)
virtual void	setJointValues (const std::map< std::string, float > &jointValues)
virtual std::map< std::string, float >	getJointValues () const
virtual void	setJointValues (const std::map< RobotNodePtr, float > &jointValues)
virtual void	setJointValues (RobotNodeSetPtr rns, const std::vector< float > &jointValues)
virtual void	setJointValues (const std::vector< RobotNodePtr > rn, const std::vector< float > &jointValues)
virtual void	setJointValues (RobotNodeSetPtr rns, const Eigen::VectorXf &jointValues)
virtual void	setJointValues (RobotConfigPtr config)
virtual void	setJointValues (RobotNodeSetPtr rns, RobotConfigPtr config)
virtual void	setJointValues (TrajectoryPtr trajectory, float t)
virtual BoundingBox	getBoundingBox (bool collisionModel=true) const
virtual SensorPtr	getSensor (const std::string &name) const
template<class SensorType >
std::shared_ptr< SensorType >	getSensor (const std::string &name) const
virtual std::vector< SensorPtr >	getSensors () const
template<class SensorType >
std::vector< std::shared_ptr< SensorType > >	getSensors () const
virtual std::string	toXML (const std::string &basePath=".", const std::string &modelPath="models", bool storeEEF=true, bool storeRNS=true, bool storeSensors=true, bool storeModelFiles=true) const
float	getScaling () const
void	setScaling (float scaling)
void	inflateCollisionModel (float inflationInMM)
	Inflates the collision models of all robot nodes of this robot. Useful for motion planning with a safety margin. More...
bool	getPropagatingJointValuesEnabled () const
void	setPropagatingJointValuesEnabled (bool enabled)
void	setPassive ()
bool	isPassive () const
void	registerNodeMapping (const NodeMapping &nodeMapping)
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::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 CollisionModelPtr	getCollisionModel ()
void	setVisualization (VisualizationNodePtr visualization)
void	setCollisionModel (CollisionModelPtr colModel)
virtual VisualizationNodePtr	getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)
virtual bool	initialize (SceneObjectPtr parent=SceneObjectPtr(), const std::vector< SceneObjectPtr > &children=std::vector< SceneObjectPtr >())
bool	getUpdateVisualizationStatus ()
bool	getUpdateCollisionModelStatus ()
virtual void	showCoordinateSystem (bool enable, float scaling=1.0f, std::string *text=NULL, const std::string &visualizationType="")
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)
void	setCoMLocal (const Eigen::Vector3f &comLocal)
	Set a new position for the CoM of this bode. More...
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 ()
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
void	applyJointValuesNoLock () override
Protected Member Functions inherited from VirtualRobot::Robot
	Robot ()
void	validateNodeMapping (const NodeMapping &nodeMapping) const
void	createVisualizationFromCollisionModels ()
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
RobotNodePtr	rootNode
std::map< std::string, RobotNodePtr >	robotNodeMap
std::map< std::string, RobotNodeSetPtr >	robotNodeSetMap
std::map< std::string, EndEffectorPtr >	endEffectorMap
Protected Attributes inherited from VirtualRobot::Robot
std::string	filename
std::string	type
bool	updateVisualization
std::recursive_mutex	mutex
bool	use_mutex
bool	propagatingJointValuesEnabled = true
bool	passive {false}
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...
Static Public Attributes inherited from VirtualRobot::Robot
static const RobotPtr	NullPtr {nullptr}

Constructor & Destructor Documentation

LocalRobot()

VirtualRobot::LocalRobot::LocalRobot	(	const std::string &	name,
		const std::string &	type = ""
	)

~LocalRobot()

VirtualRobot::LocalRobot::~LocalRobot ( )

override

Member Function Documentation

applyJointValuesNoLock()

void VirtualRobot::LocalRobot::applyJointValuesNoLock ( )

overrideprotectedvirtual

Can be called internally, when lock is already set.

Reimplemented from VirtualRobot::Robot.

deregisterRobotNode()

void VirtualRobot::LocalRobot::deregisterRobotNode ( RobotNodePtr  node )

overridevirtual

Implements VirtualRobot::Robot.

deregisterRobotNodeSet()

void VirtualRobot::LocalRobot::deregisterRobotNodeSet ( RobotNodeSetPtr  nodeSet )

overridevirtual

Implements VirtualRobot::Robot.

getEndEffector()

EndEffectorPtr VirtualRobot::LocalRobot::getEndEffector ( const std::string &  endEffectorName ) const

overridevirtual

Returns

reference to endeffector with name endEffectorName or Null-Pointer otherwise

Implements VirtualRobot::Robot.

getEndEffectors()

void VirtualRobot::LocalRobot::getEndEffectors ( std::vector< EndEffectorPtr > &  storeEEF ) const

overridevirtual

This method stores all endeffectors belonging to the robot in storeEEF. If there are no registered endeffectors storeEEF will be empty.

Implements VirtualRobot::Robot.

getGlobalPose()

Eigen::Matrix4f VirtualRobot::LocalRobot::getGlobalPose ( ) const

overridevirtual

The global pose defines the position of the object in the world. For non-joint objects it is identical with the visualization frame.

Reimplemented from VirtualRobot::SceneObject.

getRobotNode()

RobotNodePtr VirtualRobot::LocalRobot::getRobotNode ( const std::string &  robotNodeName ) const

overridevirtual

Implements VirtualRobot::Robot.

getRobotNodes()

void VirtualRobot::LocalRobot::getRobotNodes ( std::vector< RobotNodePtr > &  storeNodes, bool  clearVector = true  ) const

overridevirtual

This method stores all nodes belonging to the robot in storeNodes. If there are no registered nodes storeNodes will be empty.

Implements VirtualRobot::Robot.

getRobotNodeSet()

RobotNodeSetPtr VirtualRobot::LocalRobot::getRobotNodeSet ( const std::string &  nodeSetName ) const

overridevirtual

Implements VirtualRobot::Robot.

getRobotNodeSets()

void VirtualRobot::LocalRobot::getRobotNodeSets ( std::vector< RobotNodeSetPtr > &  storeNodeSets ) const

overridevirtual

This method stores all endeffectors belonging to the robot in storeEEF. If there are no registered endeffectors storeEEF will be empty.

Implements VirtualRobot::Robot.

getRootNode()

RobotNodePtr VirtualRobot::LocalRobot::getRootNode ( ) const

overridevirtual

This method returns a reference to Robot::rootNode;

Implements VirtualRobot::Robot.

hasEndEffector()

bool VirtualRobot::LocalRobot::hasEndEffector ( const std::string &  endEffectorName ) const

overridevirtual

Returns

true if instance of VirtualRobot::Robot contains an endeffector with name endEffectorName and false otherwise

Implements VirtualRobot::Robot.

hasRobotNode() [1/2]

bool VirtualRobot::LocalRobot::hasRobotNode ( const std::string &  robotNodeName ) const

overridevirtual

Implements VirtualRobot::Robot.

hasRobotNode() [2/2]

bool VirtualRobot::LocalRobot::hasRobotNode ( RobotNodePtr  node ) const

overridevirtual

Implements VirtualRobot::Robot.

hasRobotNodeSet()

bool VirtualRobot::LocalRobot::hasRobotNodeSet ( const std::string &  name ) const

overridevirtual

Implements VirtualRobot::Robot.

registerEndEffector()

void VirtualRobot::LocalRobot::registerEndEffector ( EndEffectorPtr  endEffector )

overridevirtual

This method registers endEffector with the current VirtualRobot::Robot instance. It throws an exception if a VirtualRobot::EndEffector with the same name has already been registered.

Implements VirtualRobot::Robot.

registerRobotNode()

void VirtualRobot::LocalRobot::registerRobotNode ( RobotNodePtr  node )

overridevirtual

This method is automatically called in RobotNode's initialization routine.

Implements VirtualRobot::Robot.

registerRobotNodeSet()

void VirtualRobot::LocalRobot::registerRobotNodeSet ( RobotNodeSetPtr  nodeSet )

overridevirtual

This method is automatically called in RobotNodeSet's initialization routine.

Implements VirtualRobot::Robot.

setGlobalPose() [1/2]

void VirtualRobot::LocalRobot::setGlobalPose ( const Eigen::Matrix4f &  globalPose, bool  applyValues = true  )

overridevirtual

Set the global pose of this robot.

Implements VirtualRobot::Robot.

setGlobalPose() [2/2]

void VirtualRobot::LocalRobot::setGlobalPose ( const Eigen::Matrix4f &  pose )

overridevirtual

Update the pose of this object. The visualization and collision models are updated accordingly.

Parameters

pose	The new pose of this object

Reimplemented from VirtualRobot::Robot.

setRootNode()

void VirtualRobot::LocalRobot::setRootNode ( RobotNodePtr  node )

overridevirtual

The root node is the first RobotNode of this robot.

Implements VirtualRobot::Robot.

Field Documentation

endEffectorMap

std::map< std::string, EndEffectorPtr > VirtualRobot::LocalRobot::endEffectorMap

protected

robotNodeMap

std::map< std::string, RobotNodePtr > VirtualRobot::LocalRobot::robotNodeMap

protected

robotNodeSetMap

std::map< std::string, RobotNodeSetPtr > VirtualRobot::LocalRobot::robotNodeSetMap

protected

rootNode

RobotNodePtr VirtualRobot::LocalRobot::rootNode

protected