Inheritance diagram for VirtualRobot::Robot:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Robot (const std::string &name, const std::string &type="")

	~Robot () override

virtual void	setRootNode (RobotNodePtr node)=0

virtual RobotNodePtr	getRootNode () const =0

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 void	registerRobotNode (RobotNodePtr node)=0

virtual void	deregisterRobotNode (RobotNodePtr node)=0

virtual bool	hasRobotNode (RobotNodePtr node) const =0

virtual bool	hasRobotNode (const std::string &robotNodeName) const =0

virtual RobotNodePtr	getRobotNode (const std::string &robotNodeName) const =0

virtual std::vector< RobotNodePtr >	getRobotNodes () const

virtual std::vector< std::string >	getRobotNodeNames () const

virtual void	getRobotNodes (std::vector< RobotNodePtr > &storeNodes, bool clearVector=true) const =0

virtual void	registerRobotNodeSet (RobotNodeSetPtr nodeSet)=0

virtual void	deregisterRobotNodeSet (RobotNodeSetPtr nodeSet)=0

virtual bool	hasRobotNodeSet (RobotNodeSetPtr nodeSet) const

virtual bool	hasRobotNodeSet (const std::string &name) const =0

virtual RobotNodeSetPtr	getRobotNodeSet (const std::string &nodeSetName) const =0

virtual std::vector< RobotNodeSetPtr >	getRobotNodeSets () const

virtual std::vector< std::string >	getRobotNodeSetNames () const

virtual void	getRobotNodeSets (std::vector< RobotNodeSetPtr > &storeNodeSet) const =0

const NodeMapping &	getNodeMapping () const

virtual void	registerEndEffector (EndEffectorPtr endEffector)=0

virtual bool	hasEndEffector (EndEffectorPtr endEffector) const

virtual bool	hasEndEffector (const std::string &endEffectorName) const =0

virtual EndEffectorPtr	getEndEffector (const std::string &endEffectorName) const =0

virtual std::vector< EndEffectorPtr >	getEndEffectors () const

virtual void	getEndEffectors (std::vector< EndEffectorPtr > &storeEEF) const =0

virtual std::vector< CollisionModelPtr >	getCollisionModels () const

CollisionCheckerPtr	getCollisionChecker () override

virtual void	highlight (VisualizationPtr visualization, bool enable)

int	getNumFaces (bool collisionModel=false) override

virtual void	setGlobalPose (const Eigen::Matrix4f &globalPose, bool applyValues)=0
	Set the global pose of this robot. More...

void	setGlobalPose (const Eigen::Matrix4f &globalPose) 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::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 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

Static Public Attributes
static const RobotPtr	NullPtr {nullptr}

Protected Member Functions
	Robot ()

void	validateNodeMapping (const NodeMapping &nodeMapping) const

void	createVisualizationFromCollisionModels ()

virtual void	applyJointValuesNoLock ()
	It is assumed that the mutex is already set. More...

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::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

Friends
class	RobotIO

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...

Detailed Description

This is the main object defining the kinematic structure of a robot.

See also: RobotIO, RobotNode, RobotNodeSet, EndEffector

Constructor & Destructor Documentation

◆ Robot() [1/2]

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

Constructor

Parameters

name	Specifies the name of this instance.
type	Specifies the type of the robot (e.g. multiple robots of the same type could exists with different names)

◆ ~Robot()

VirtualRobot::Robot::~Robot ( )

overridedefault

◆ Robot() [2/2]

VirtualRobot::Robot::Robot ( )

protecteddefault

Member Function Documentation

◆ applyJointValues()

void VirtualRobot::Robot::applyJointValues ( )

virtual

Update the transformations of all joints

◆ applyJointValuesNoLock()

void VirtualRobot::Robot::applyJointValuesNoLock ( )

protectedvirtual

It is assumed that the mutex is already set.

Can be called internally, when lock is already set.

Reimplemented in VirtualRobot::LocalRobot.

◆ clone() [1/2]

VirtualRobot::RobotPtr VirtualRobot::Robot::clone	(	const std::string &	name,
		CollisionCheckerPtr	collisionChecker = `CollisionCheckerPtr()`,
		float	scaling = `1.0f`,
		bool	preventCloningMeshesIfScalingIs1 = `false`
	)

virtual

Clones this robot.

Parameters

name	The new name.
collisionChecker	If set, the returned robot is registered with this col checker, otherwise the CollisionChecker of the original robot is used.
scaling	Scale Can be set to create a scaled version of this robot. Scaling is applied on kinematic, visual, and collision data.

◆ clone() [2/2]

RobotPtr VirtualRobot::Robot::clone	(	CollisionCheckerPtr	collisionChecker = `CollisionCheckerPtr()`,
		float	scaling = `1.0f`,
		bool	preventCloningMeshesIfScalingIs1 = `false`
	)

virtual

◆ cloneScaling()

RobotPtr VirtualRobot::Robot::cloneScaling ( )

virtual

Clones this robot and keeps the current scaling for the robot and each robot node.

◆ createVisualizationFromCollisionModels()

void VirtualRobot::Robot::createVisualizationFromCollisionModels ( )

protected

Goes through all RobotNodes and if no visualization is present: the collision model is checked and in case it owns a visualization it is cloned and used as visualization.

◆ deregisterRobotNode()

virtual void VirtualRobot::Robot::deregisterRobotNode ( RobotNodePtr node )

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ deregisterRobotNodeSet()

virtual void VirtualRobot::Robot::deregisterRobotNodeSet ( RobotNodeSetPtr nodeSet )

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ extractSubPart()

VirtualRobot::RobotPtr VirtualRobot::Robot::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

Extract a sub kinematic from this robot and create a new robot instance.

Parameters

startJoint	The kinematic starts with this RobotNode
newRobotType	The name of the newly created robot type
newRobotName	The name of the newly created robot
cloneRNS	Clone all robot node sets that belong to the original robot and for which the remaining robot nodes of the subPart are sufficient.
cloneEEFs	Clone all end effectors that belong to the original robot and for which the remaining robot nodes of the subPart are sufficient.
collisionChecker	The new robot can be registered to a different collision checker. If not set, the collision checker of the original robot is used.
scaling	Can be set to create a scaled version of this robot. Scaling is applied on kinematic, visual, and collision data.

◆ getBoundingBox()

VirtualRobot::BoundingBox VirtualRobot::Robot::getBoundingBox ( bool collisionModel = true ) const

virtual

The (current) bounding box in global coordinate system.

Parameters

collisionModel Either the collision or the visualization model is considered.

Returns: The bounding box.

◆ getCollisionChecker()

VirtualRobot::CollisionCheckerPtr VirtualRobot::Robot::getCollisionChecker ( )

overridevirtual

Reimplemented from VirtualRobot::SceneObject.

◆ getCollisionModels()

std::vector< CollisionModelPtr > VirtualRobot::Robot::getCollisionModels ( ) const

virtual

◆ getCoMGlobal()

Eigen::Vector3f VirtualRobot::Robot::getCoMGlobal ( )

overridevirtual

Return Center of Mass of this robot in global coordinates. All RobotNodes of this robot are considered according to their mass.

Reimplemented from VirtualRobot::SceneObject.

◆ getCoMLocal()

Eigen::Vector3f VirtualRobot::Robot::getCoMLocal ( )

overridevirtual

Return center of mass of this robot in local coordinate frame. All RobotNodes of this robot are considered according to their mass.

Reimplemented from VirtualRobot::SceneObject.

◆ getConfig()

VirtualRobot::RobotConfigPtr VirtualRobot::Robot::getConfig ( ) const

virtual

get the complete setup of all robot nodes

◆ getEndEffector()

virtual EndEffectorPtr VirtualRobot::Robot::getEndEffector ( const std::string & endEffectorName ) const

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ getEndEffectors() [1/2]

std::vector< EndEffectorPtr > VirtualRobot::Robot::getEndEffectors ( ) const

virtual

◆ getEndEffectors() [2/2]

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

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ getFilename()

std::string VirtualRobot::Robot::getFilename ( ) const

virtual

Retrieve the stored filename.

◆ getGlobalPoseForRobotNode()

Eigen::Matrix4f VirtualRobot::Robot::getGlobalPoseForRobotNode	(	const RobotNodePtr &	node,
		const Eigen::Matrix4f &	globalPoseNode
	)		const

virtual

Get the global pose of this robot so that the RobotNode node is at pose globalPoseNode.

◆ getGlobalPositionForRobotNode()

Eigen::Matrix4f VirtualRobot::Robot::getGlobalPositionForRobotNode	(	const RobotNodePtr &	node,
		const Eigen::Vector3f &	globalPositionNode
	)		const

virtual

Get the global position of this robot so that the RobotNode node is at position globalPoseNode.

◆ getJointValues()

std::map< std::string, float > VirtualRobot::Robot::getJointValues ( ) const

virtual

◆ getMass()

float VirtualRobot::Robot::getMass ( ) const

virtual

Return accumulated mass of this robot.

◆ getName()

std::string VirtualRobot::Robot::getName ( ) const

virtual

Returns: VirtualRobot::Robot::name

◆ getNodeMapping()

const NodeMapping & VirtualRobot::Robot::getNodeMapping ( ) const

Node mapping

◆ getNumFaces()

int VirtualRobot::Robot::getNumFaces ( bool collisionModel = false )

overridevirtual

get number of faces (i.e. triangles) of this object collisionModel Indicates weather the faces of the collision model or the full model should be returned.

Reimplemented from VirtualRobot::SceneObject.

◆ getPropagatingJointValuesEnabled()

bool VirtualRobot::Robot::getPropagatingJointValuesEnabled ( ) const

◆ getReadLock()

ReadLockPtr VirtualRobot::Robot::getReadLock ( )

virtual

This readlock can be used to protect data access. It locks the mutex until deletion. For internal use. API users will usually not need this functionality since all data access is protected automatically.

Exemplary usage: { ReadLockPtr lock = robot->getReadLock(); now the mutex is locked

access data ...

        } // end of scope -> lock gets deleted and mutex is released automatically

◆ getRobotNode()

virtual RobotNodePtr VirtualRobot::Robot::getRobotNode ( const std::string & robotNodeName ) const

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ getRobotNodeNames()

std::vector< std::string > VirtualRobot::Robot::getRobotNodeNames ( ) const

virtual

◆ getRobotNodes() [1/2]

std::vector< RobotNodePtr > VirtualRobot::Robot::getRobotNodes ( ) const

virtual

◆ getRobotNodes() [2/2]

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

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ getRobotNodeSet()

virtual RobotNodeSetPtr VirtualRobot::Robot::getRobotNodeSet ( const std::string & nodeSetName ) const

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ getRobotNodeSetNames()

std::vector< std::string > VirtualRobot::Robot::getRobotNodeSetNames ( ) const

virtual

◆ getRobotNodeSets() [1/2]

std::vector< RobotNodeSetPtr > VirtualRobot::Robot::getRobotNodeSets ( ) const

virtual

◆ getRobotNodeSets() [2/2]

virtual void VirtualRobot::Robot::getRobotNodeSets ( std::vector< RobotNodeSetPtr > & storeNodeSet ) const

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ getRootNode()

virtual RobotNodePtr VirtualRobot::Robot::getRootNode ( ) const

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ getScaling()

float VirtualRobot::Robot::getScaling ( ) const

◆ getSensor() [1/2]

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

virtual

Returns the sensor with the given name.

◆ getSensor() [2/2]

template<class SensorType >

std::shared_ptr<SensorType> VirtualRobot::Robot::getSensor ( const std::string & name ) const

inline

◆ getSensors() [1/2]

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

virtual

Returns all sensors that are defined within this robot.

◆ getSensors() [2/2]

template<class SensorType >

std::vector<std::shared_ptr<SensorType> > VirtualRobot::Robot::getSensors ( ) const

inline

◆ getType()

std::string VirtualRobot::Robot::getType ( ) const

virtual

Returns: VirtualRobot::Robot::type

◆ getVisualization()

template<typename T >

std::shared_ptr< T > VirtualRobot::Robot::getVisualization	(	SceneObject::VisualizationType	visuType = `SceneObject::Full`,
		bool	sensors = `true`
	)

Retrieve a visualization in the given format.

Parameters

visuType	The visualization type (Full or Collision model)
sensors	Add sensors models to the visualization. Example usage: std::shared_ptr<VirtualRobot::CoinVisualization> visualization = robot->getVisualization<CoinVisualization>(); SoNode* visualisationNode = NULL; if (visualization) visualisationNode = visualization->getCoinVisualization();

This method collects all visualization nodes and creates a new Visualization subclass which is given by the template parameter T. T must be a subclass of VirtualRobot::Visualization. A compile time error is thrown if a different class type is used as template argument.

◆ getWriteLock()

WriteLockPtr VirtualRobot::Robot::getWriteLock ( )

virtual

This writelock can be used to protect data access. It locks the mutex until deletion. For internal use. API users will usually not need this functionality since all data access is protected automatically.

Exemplary usage: { WriteLockPtr lock = robot->getWriteLock(); now the mutex is locked

access data ...

        } // end of scope -> lock gets deleted and mutex is released automatically

◆ hasEndEffector() [1/2]

bool VirtualRobot::Robot::hasEndEffector ( EndEffectorPtr endEffector ) const

virtual

Returns: true if instance of VirtualRobot::Robot contains a reference to endEffector and false otherwise

◆ hasEndEffector() [2/2]

virtual bool VirtualRobot::Robot::hasEndEffector ( const std::string & endEffectorName ) const

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ hasRobotNode() [1/2]

virtual bool VirtualRobot::Robot::hasRobotNode ( RobotNodePtr node ) const

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ hasRobotNode() [2/2]

virtual bool VirtualRobot::Robot::hasRobotNode ( const std::string & robotNodeName ) const

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ hasRobotNodeSet() [1/2]

bool VirtualRobot::Robot::hasRobotNodeSet ( RobotNodeSetPtr nodeSet ) const

virtual

◆ hasRobotNodeSet() [2/2]

virtual bool VirtualRobot::Robot::hasRobotNodeSet ( const std::string & name ) const

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ highlight()

void VirtualRobot::Robot::highlight	(	VisualizationPtr	visualization,
		bool	enable
	)

virtual

Convenient method for highlighting the visualization of this robot. It is automatically checked whether the collision model or the full model is part of the visualization.

Parameters

visualization	The visualization for which the highlighting should be performed.
enable	On or off

◆ inflateCollisionModel()

void VirtualRobot::Robot::inflateCollisionModel ( float inflationInMM )

Inflates the collision models of all robot nodes of this robot. Useful for motion planning with a safety margin.

Parameters

inflationInMM The collision model is inflated by this value. This value is absolute to the original collision model. Repetitive inflation with the same value has no effect.

◆ isPassive()

bool VirtualRobot::Robot::isPassive ( ) const

inline

◆ print()

void VirtualRobot::Robot::print	(	bool	printChildren = `false`,
		bool	printDecoration = `true`
	)		const

overridevirtual

Print status information.

Reimplemented from VirtualRobot::SceneObject.

◆ registerEndEffector()

virtual void VirtualRobot::Robot::registerEndEffector ( EndEffectorPtr endEffector )

pure virtual

Implemented in VirtualRobot::LocalRobot.

◆ registerNodeMapping()

void VirtualRobot::Robot::registerNodeMapping ( const NodeMapping & nodeMapping )

◆ registerRobotNode()

virtual void VirtualRobot::Robot::registerRobotNode ( RobotNodePtr node )

pure virtual

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

Implemented in VirtualRobot::LocalRobot.

◆ registerRobotNodeSet()

virtual void VirtualRobot::Robot::registerRobotNodeSet ( RobotNodeSetPtr nodeSet )

pure virtual

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

Implemented in VirtualRobot::LocalRobot.

◆ setConfig()

bool VirtualRobot::Robot::setConfig ( RobotConfigPtr c )

virtual

Sets the configuration according to the RobotNodes, defined in c. All other nodes are not affected.

◆ setFilename()

void VirtualRobot::Robot::setFilename ( const std::string & filename )

virtual

Just storing the filename.

◆ setGlobalPose() [1/2]

virtual void VirtualRobot::Robot::setGlobalPose	(	const Eigen::Matrix4f &	globalPose,
		bool	applyValues
	)

pure virtual

Set the global pose of this robot.

Implemented in VirtualRobot::LocalRobot.

◆ setGlobalPose() [2/2]

void VirtualRobot::Robot::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::SceneObject.

Reimplemented in VirtualRobot::LocalRobot.

◆ setGlobalPoseForRobotNode()

void VirtualRobot::Robot::setGlobalPoseForRobotNode	(	const RobotNodePtr &	node,
		const Eigen::Matrix4f &	globalPoseNode
	)

virtual

Set the global pose of this robot so that the RobotNode node is at pose globalPoseNode.

◆ setGlobalPositionForRobotNode()

void VirtualRobot::Robot::setGlobalPositionForRobotNode	(	const RobotNodePtr &	node,
		const Eigen::Vector3f &	globalPositionNode
	)

virtual

Set the global position of this robot so that the RobotNode node is at position globalPoseNode.

◆ setJointValue() [1/2]

void VirtualRobot::Robot::setJointValue	(	RobotNodePtr	rn,
		float	jointValue
	)

virtual

Set a joint value [rad]. The internal matrices and visualizations are updated accordingly. If you intend to update multiple joints, use setJointValues for faster access.

◆ setJointValue() [2/2]

void VirtualRobot::Robot::setJointValue	(	const std::string &	nodeName,
		float	jointValue
	)

virtual

Set a joint value [rad]. The internal matrices and visualizations are updated accordingly. If you intend to update multiple joints, use setJointValues for faster access.

◆ setJointValues() [1/8]

void VirtualRobot::Robot::setJointValues ( const std::map< std::string, float > & jointValues )

virtual

Set joint values [rad]. The complete robot is updated to apply the new joint values.

Parameters

jointValues A map containing RobotNode names with according values.

◆ setJointValues() [2/8]

void VirtualRobot::Robot::setJointValues ( const std::map< RobotNodePtr, float > & jointValues )

virtual

Set joint values [rad]. The complete robot is updated to apply the new joint values.

Parameters

jointValues A map containing RobotNodes with according values.

◆ setJointValues() [3/8]

void VirtualRobot::Robot::setJointValues	(	RobotNodeSetPtr	rns,
		const std::vector< float > &	jointValues
	)

virtual

Set joint values [rad]. The subpart of the robot, defined by the start joint (kinematicRoot) of rns, is updated to apply the new joint values.

Parameters

rns	The RobotNodeSet defines the joints
jointValues	A vector with joint values, size must be equal to rns.

◆ setJointValues() [4/8]

void VirtualRobot::Robot::setJointValues	(	const std::vector< RobotNodePtr >	rn,
		const std::vector< float > &	jointValues
	)

virtual

Set joint values [rad]. The complete robot is updated to apply the new joint values.

Parameters

rn	The RobotNodes
jointValues	A vector with joint values, size must be equal to rn.

◆ setJointValues() [5/8]

void VirtualRobot::Robot::setJointValues	(	RobotNodeSetPtr	rns,
		const Eigen::VectorXf &	jointValues
	)

virtual

Set joint values [rad]. The subpart of the robot, defined by the start joint (kinematicRoot) of rns, is updated to apply the new joint values.

Parameters

rns	The RobotNodeSet defines the joints
jointValues	A vector with joint values, size must be equal to rns.

◆ setJointValues() [6/8]

void VirtualRobot::Robot::setJointValues ( RobotConfigPtr config )

virtual

Set joint values [rad]. The complete robot is updated to apply the new joint values.

Parameters

config The RobotConfig defines the RobotNodes and joint values.

◆ setJointValues() [7/8]

void VirtualRobot::Robot::setJointValues	(	RobotNodeSetPtr	rns,
		RobotConfigPtr	config
	)

virtual

Set joint values [rad]. Only those joints in config are affected which are present in rns. The subpart of the robot, defined by the start joint (kinematicRoot) of rns, is updated to apply the new joint values.

Parameters

rns	Only joints in this rns are updated.
config	The RobotConfig defines the RobotNodes and joint values.

◆ setJointValues() [8/8]

void VirtualRobot::Robot::setJointValues	(	TrajectoryPtr	trajectory,
		float	t
	)

virtual

Apply configuration of trajectory at time t

Parameters

trajectory	The trajectory
t	The time (0<=t<=1)

◆ setName()

void VirtualRobot::Robot::setName ( const std::string & name )

◆ setPassive()

void VirtualRobot::Robot::setPassive ( )

inline

◆ setPropagatingJointValuesEnabled()

void VirtualRobot::Robot::setPropagatingJointValuesEnabled ( bool enabled )

◆ setRootNode()

virtual void VirtualRobot::Robot::setRootNode ( RobotNodePtr node )

pure virtual

The root node is the first RobotNode of this robot.

Implemented in VirtualRobot::LocalRobot.

◆ setScaling()

void VirtualRobot::Robot::setScaling ( float scaling )

◆ setThreadsafe()

void VirtualRobot::Robot::setThreadsafe ( bool flag )

virtual

Configures the robot to threadsafe or not. Per default the robot is threadsafe, i.e., updating the robot state and reading the Poses from the nodes is mutual exclusive. This feature can be turned off, however, in order to be make data access faster in single threaded applications.

◆ setType()

void VirtualRobot::Robot::setType ( const std::string & type )

◆ setUpdateCollisionModel()

void VirtualRobot::Robot::setUpdateCollisionModel ( bool enable )

overridevirtual

Reimplemented from VirtualRobot::SceneObject.

◆ setUpdateVisualization()

void VirtualRobot::Robot::setUpdateVisualization ( bool enable )

overridevirtual

Enables/Disables the visualization updates of collision model and visualization model.

Reimplemented from VirtualRobot::SceneObject.

◆ setupVisualization()

void VirtualRobot::Robot::setupVisualization	(	bool	showVisualization,
		bool	showAttachedVisualizations
	)

overridevirtual

Setup the full model visualization.

Parameters

showVisualization	If false, the visualization is disabled.
showAttachedVisualizations	If false, the visualization of any attached optional visualizations is disabled.

Reimplemented from VirtualRobot::SceneObject.

◆ shared_from_this()

std::shared_ptr< Robot > VirtualRobot::Robot::shared_from_this ( ) const

◆ showCoordinateSystems()

void VirtualRobot::Robot::showCoordinateSystems	(	bool	enable,
		const std::string &	type = `""`
	)

Shows the coordinate systems of the robot nodes

◆ showPhysicsInformation()

void VirtualRobot::Robot::showPhysicsInformation	(	bool	enableCoM,
		bool	enableInertial,
		VisualizationNodePtr	comModel = `VisualizationNodePtr()`
	)

overridevirtual

Display some physics debugging information. enableCoM If true, the center of mass is shown (if given). If a comModel is given it is used for visualization, otherwise a standrad marker is shown. enableInertial If true, a visualization of the inertial matrix is shown (if given). comModel If set, this visualization is used to display the CoM location. If not set, a standard marker is used.

Reimplemented from VirtualRobot::SceneObject.

◆ showStructure()

void VirtualRobot::Robot::showStructure	(	bool	enable,
		const std::string &	type = `""`
	)

Shows the structure of the robot

◆ toXML()

std::string VirtualRobot::Robot::toXML	(	const std::string &	basePath = `"."`,
		const std::string &	modelPath = `"models"`,
		bool	storeEEF = `true`,
		bool	storeRNS = `true`,
		bool	storeSensors = `true`,
		bool	storeModelFiles = `true`
	)		const

virtual

Creates an XML string that defines the complete robot. Filenames of all visualization models are set to modelPath/RobotNodeName_visu and/or modelPath/RobotNodeName_colmodel.

See also: RobotIO::saveXML.

◆ validateNodeMapping()

void VirtualRobot::Robot::validateNodeMapping ( const NodeMapping & nodeMapping ) const

protected

Friends And Related Function Documentation

◆ RobotIO

friend class RobotIO

friend

Field Documentation

◆ filename

std::string VirtualRobot::Robot::filename

protected

◆ mutex

std::recursive_mutex VirtualRobot::Robot::mutex

mutableprotected

◆ NullPtr

const RobotPtr VirtualRobot::Robot::NullPtr {nullptr}

static

◆ passive

bool VirtualRobot::Robot::passive {false}

protected

◆ propagatingJointValuesEnabled

bool VirtualRobot::Robot::propagatingJointValuesEnabled = true

protected

◆ type

std::string VirtualRobot::Robot::type

protected

◆ updateVisualization

bool VirtualRobot::Robot::updateVisualization

protected

◆ use_mutex

bool VirtualRobot::Robot::use_mutex

protected

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Robot() [1/2]

◆ ~Robot()

◆ Robot() [2/2]

Member Function Documentation

◆ applyJointValues()

◆ applyJointValuesNoLock()

◆ clone() [1/2]

◆ clone() [2/2]

◆ cloneScaling()

◆ createVisualizationFromCollisionModels()

◆ deregisterRobotNode()

◆ deregisterRobotNodeSet()

◆ extractSubPart()

◆ getBoundingBox()

◆ getCollisionChecker()

◆ getCollisionModels()

◆ getCoMGlobal()

◆ getCoMLocal()

◆ getConfig()

◆ getEndEffector()

◆ getEndEffectors() [1/2]

◆ getEndEffectors() [2/2]

◆ getFilename()

◆ getGlobalPoseForRobotNode()

◆ getGlobalPositionForRobotNode()

◆ getJointValues()

◆ getMass()

◆ getName()

◆ getNodeMapping()

◆ getNumFaces()

◆ getPropagatingJointValuesEnabled()

◆ getReadLock()

◆ getRobotNode()

◆ getRobotNodeNames()

◆ getRobotNodes() [1/2]

◆ getRobotNodes() [2/2]

◆ getRobotNodeSet()

◆ getRobotNodeSetNames()

◆ getRobotNodeSets() [1/2]

◆ getRobotNodeSets() [2/2]

◆ getRootNode()

◆ getScaling()

◆ getSensor() [1/2]

◆ getSensor() [2/2]

◆ getSensors() [1/2]

◆ getSensors() [2/2]

◆ getType()

◆ getVisualization()

◆ getWriteLock()

◆ hasEndEffector() [1/2]

◆ hasEndEffector() [2/2]

◆ hasRobotNode() [1/2]

◆ hasRobotNode() [2/2]

◆ hasRobotNodeSet() [1/2]

◆ hasRobotNodeSet() [2/2]

◆ highlight()

◆ inflateCollisionModel()

◆ isPassive()

◆ print()

◆ registerEndEffector()

◆ registerNodeMapping()

◆ registerRobotNode()

◆ registerRobotNodeSet()

◆ setConfig()

◆ setFilename()

◆ setGlobalPose() [1/2]

◆ setGlobalPose() [2/2]

◆ setGlobalPoseForRobotNode()

◆ setGlobalPositionForRobotNode()

◆ setJointValue() [1/2]

◆ setJointValue() [2/2]

◆ setJointValues() [1/8]