Inheritance diagram for VirtualRobot::RobotNode:

Data Structures
struct	JointLimits

Public Types
enum	RobotNodeType { Generic, Joint, Body, Transform }
	Experimental: Additional information about the node. More...

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

Public Member Functions
	RobotNode (RobotWeakPtr rob, const std::string &name, float jointLimitLo, float jointLimitHi, VisualizationNodePtr visualization=nullptr, CollisionModelPtr collisionModel=nullptr, float jointValueOffset=0.0f, const SceneObject::Physics &physics={}, CollisionCheckerPtr colChecker=nullptr, RobotNodeType type=Generic)

	~RobotNode () override

RobotPtr	getRobot () const

void	setJointValue (float q)

void	collectAllRobotNodes (std::vector< RobotNodePtr > &storeNodes)

virtual float	getJointValue () const

void	respectJointLimits (float &jointValue) const

bool	checkJointLimits (float jointValue, bool verbose=false) const

virtual Eigen::Matrix4f	getLocalTransformation ()

template<class T >
auto	getChildren ()

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

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

Eigen::Matrix4f	getGlobalPose () const override

virtual Eigen::Matrix4f	getPoseInRootFrame () const

virtual Eigen::Matrix4f	getPoseInFrame (const RobotNodePtr &frame) const

virtual Eigen::Vector3f	getPositionInRootFrame () const

virtual Eigen::Vector3f	getPositionInFrame (const RobotNodePtr &frame) const

virtual Eigen::Matrix3f	getOrientationInRootFrame () const

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

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

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

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

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

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

float	getJointLimitLo ()

float	getJointLimitHi ()

JointLimits	getJointLimits ()

virtual void	setJointLimits (float lo, float hi)

bool	isJoint () const

virtual bool	isTranslationalJoint () const

virtual bool	isRotationalJoint () const

virtual bool	isHemisphereJoint () const

virtual void	setLimitless (bool limitless)

bool	isLimitless () const

virtual float	getDelta (float target)

virtual void	showStructure (bool enable, const std::string &visualizationType="")

virtual std::vector< RobotNodePtr >	getAllParents (RobotNodeSetPtr rns=RobotNodeSetPtr())

virtual RobotNodePtr	clone (RobotPtr newRobot, bool cloneChildren=true, RobotNodePtr initializeWithParent=RobotNodePtr(), CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f, bool preventCloningMeshesIfScalingIs1=false)

float	getJointValueOffset () const

float	getJointLimitHigh () const

float	getJointLimitLow () const

float	scaleJointValue (float val, float min=-1, float max=1)

float	unscaleJointValue (float val, float min=-1, float max=1)

float	getScaledJointValue (float min=-1, float max=1)

void	setScaledJointValue (float val, float min=-1, float max=1)

void	setScaledJointValueNoUpdate (float val, float min=-1, float max=1)

virtual void	setMaxVelocity (float maxVel)

virtual void	setMaxAcceleration (float maxAcc)

virtual void	setMaxTorque (float maxTo)

float	getMaxVelocity ()

float	getMaxAcceleration ()

float	getMaxTorque ()

RobotNodeType	getType ()

SceneObjectPtr	clone (const std::string &, CollisionCheckerPtr=CollisionCheckerPtr(), float=1.0f) const
	Forbid cloning method from SceneObject. We need to know the new robot for cloning. More...

const DHParameter &	getOptionalDHParameters ()

void	updatePose (bool updateChildren=true) override

void	copyPoseFrom (const SceneObjectPtr &sceneobj) override

void	copyPoseFrom (const RobotNodePtr &other)

virtual void	propagateJointValue (const std::string &jointName, float factor=1.0f)

virtual std::string	toXML (const std::string &basePath, const std::string &modelPathRelative="models", bool storeSensors=true, bool storeModelFiles=true)

void	setLocalTransformation (Eigen::Matrix4f &newLocalTransformation)

virtual void	setJointValueNoUpdate (float q)

bool	getEnforceJointLimits () const

void	setEnforceJointLimits (bool value)

Public Member Functions inherited from VirtualRobot::GraspableSensorizedObject
	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::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 ()

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	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 ()

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 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
virtual void	updateTransformationMatrices ()

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

virtual void	updateVisualizationPose (const Eigen::Matrix4f &globalPose, bool updateChildren=false)

virtual void	updateVisualizationPose (const Eigen::Matrix4f &globalPose, float jointValue, bool updateChildren=false)

virtual void	checkValidRobotNodeType ()
	Checks if nodeType constraints are fulfilled. Otherwise an exception is thrown. Called on initialization. More...

	RobotNode ()

virtual void	updateTransformationMatrices (const Eigen::Matrix4f &parentPose)

virtual RobotNodePtr	_clone (const RobotPtr newRobot, const VisualizationNodePtr visualizationModel, const CollisionModelPtr collisionModel, CollisionCheckerPtr colChecker, float scaling)=0

SceneObject *	_clone (const std::string &, CollisionCheckerPtr=CollisionCheckerPtr(), float=1.0f) const override

virtual std::string	_toXML (const std::string &modelPath)=0

void	setJointValueNotInitialized (float q)

Protected Member Functions inherited from VirtualRobot::GraspableSensorizedObject
	GraspableSensorizedObject ()

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

Protected Member Functions inherited from VirtualRobot::SceneObject
virtual void	detachedFromParent ()
	Parent detached this object. More...

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

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
float	jointValueOffset

float	jointLimitLo

float	jointLimitHi

bool	enforceJointLimits = true

bool	limitless

DHParameter	optionalDHParameter

float	maxVelocity

float	maxAcceleration
	given in m/s More...

float	maxTorque
	given in m/s^2 More...

Eigen::Matrix4f	localTransformation
	given in Nm More...

std::map< std::string, float >	propagatedJointValues

RobotWeakPtr	robot

RobotNodeType	nodeType

float	jointValue

Protected Attributes inherited from VirtualRobot::GraspableSensorizedObject
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

Friends
class	Robot

class	LocalRobot

class	RobotIO

class	RobotNodeSet

class	RobotConfig

class	RobotFactory

class	RobotNodeActuator

class	ColladaIO

Additional Inherited Members
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

Each RobotNode may consider two transformations: localTransformation: This transformation is fixed. jointTransformation: This is the flexible part of the joint. Here, the jointValue is used to compute the transformation according to the implementation of the joint type.

The visualization (of limb and/or coordinateAxis) is linked to the local coordinate sysytem of this joint: localTransformation*jointTransformation The global pose of this joint is the same: localTransformation*jointTransformation

Member Enumeration Documentation

◆ RobotNodeType

enum VirtualRobot::RobotNode::RobotNodeType

Experimental: Additional information about the node.

Enumerator
Generic
Joint	No constraints.
Body	Only pre-joint transformations allowed (e.g. DH-theta for revolute joints). No visualization/collision models.
Transform	No transformations allowed. Only visualization and/or collision models together with physic information. Only transformations allowed. No joint or model tags.

Constructor & Destructor Documentation

◆ RobotNode() [1/2]

VirtualRobot::RobotNode::RobotNode	(	RobotWeakPtr	rob,
		const std::string &	name,
		float	jointLimitLo,
		float	jointLimitHi,
		VisualizationNodePtr	visualization = `nullptr`,
		CollisionModelPtr	collisionModel = `nullptr`,
		float	jointValueOffset = `0.0f`,
		const SceneObject::Physics &	physics = `{}`,
		CollisionCheckerPtr	colChecker = `nullptr`,
		RobotNodeType	type = `Generic`
	)

Constructor with settings.

◆ ~RobotNode()

VirtualRobot::RobotNode::~RobotNode ( )

override

◆ RobotNode() [2/2]

VirtualRobot::RobotNode::RobotNode ( )

inlineprotected

Member Function Documentation

◆ _clone() [1/2]

virtual RobotNodePtr VirtualRobot::RobotNode::_clone	(	const RobotPtr	newRobot,
		const VisualizationNodePtr	visualizationModel,
		const CollisionModelPtr	collisionModel,
		CollisionCheckerPtr	colChecker,
		float	scaling
	)

protectedpure virtual

Derived classes must implement their clone method here. Passed models are already scaled. Scaling factor should be only used for kinematic computations.

Implemented in VirtualRobot::RobotNodeHemisphere, VirtualRobot::RobotNodeRevolute, VirtualRobot::RobotNodePrismatic, and VirtualRobot::RobotNodeFixed.

◆ _clone() [2/2]

SceneObject* VirtualRobot::RobotNode::_clone	(	const std::string &	,
		CollisionCheckerPtr	= `CollisionCheckerPtr()`,
		float	= `1.0f`
	)		const

inlineoverrideprotectedvirtual

Reimplemented from VirtualRobot::SceneObject.

◆ _toXML()

virtual std::string VirtualRobot::RobotNode::_toXML ( const std::string & modelPath )

protectedpure virtual

Derived classes add custom XML tags here

Implemented in VirtualRobot::RobotNodeHemisphere, VirtualRobot::RobotNodePrismatic, VirtualRobot::RobotNodeRevolute, and VirtualRobot::RobotNodeFixed.

◆ checkJointLimits()

bool VirtualRobot::RobotNode::checkJointLimits	(	float	jointValue,
		bool	verbose = `false`
	)		const

Checks if jointValue is within joint limits. If verbose is set a warning is printed.

◆ checkValidRobotNodeType()

void VirtualRobot::RobotNode::checkValidRobotNodeType ( )

protectedvirtual

Checks if nodeType constraints are fulfilled. Otherwise an exception is thrown. Called on initialization.

Reimplemented in VirtualRobot::RobotNodeHemisphere, VirtualRobot::RobotNodeRevolute, VirtualRobot::RobotNodePrismatic, and VirtualRobot::RobotNodeFixed.

◆ clone() [1/2]

RobotNodePtr VirtualRobot::RobotNode::clone	(	RobotPtr	newRobot,
		bool	cloneChildren = `true`,
		RobotNodePtr	initializeWithParent = `RobotNodePtr()`,
		CollisionCheckerPtr	colChecker = `CollisionCheckerPtr()`,
		float	scaling = `1.0f`,
		bool	preventCloningMeshesIfScalingIs1 = `false`
	)

virtual

Clone this RobotNode.

Parameters

newRobot	The newly created RobotNode belongs to newRobot.
cloneChildren	If true, all children are cloned (and their children, etc).
initializeWithParent	If given, the RobotNode is initialized with this parent.
colChecker	Must only be set if the cloned RobotNode should be registered to a different collision checker instance.
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]

SceneObjectPtr VirtualRobot::RobotNode::clone	(	const std::string &	,
		CollisionCheckerPtr	= `CollisionCheckerPtr()`,
		float	= `1.0f`
	)		const

inline

Forbid cloning method from SceneObject. We need to know the new robot for cloning.

◆ collectAllRobotNodes()

void VirtualRobot::RobotNode::collectAllRobotNodes ( std::vector< RobotNodePtr > & storeNodes )

All children and their children (and so on) are collected. The current instance is also added.

◆ copyPoseFrom() [1/2]

void VirtualRobot::RobotNode::copyPoseFrom ( const SceneObjectPtr & sceneobj )

overridevirtual

Reimplemented from VirtualRobot::SceneObject.

◆ copyPoseFrom() [2/2]

void VirtualRobot::RobotNode::copyPoseFrom ( const RobotNodePtr & other )

◆ getAllParents()

std::vector< RobotNodePtr > VirtualRobot::RobotNode::getAllParents ( RobotNodeSetPtr rns = RobotNodeSetPtr() )

virtual

Find all robot nodes whose movements affect this RobotNode

Parameters

rns	If set, the search is limited to the rns.

◆ getChildren()

template<class T >

auto VirtualRobot::RobotNode::getChildren ( )

inline

◆ getDelta()

float VirtualRobot::RobotNode::getDelta ( float target )

virtual

Parameters

target the target joint value in [rad]

Returns: the signed distance between current and target joint values in [rad]. If the given target value violates joint limits or this robotnode is not a joint, 0.0f is returned instead.

◆ getDirectionInRootFrame()

Eigen::Vector3f VirtualRobot::RobotNode::getDirectionInRootFrame ( const Eigen::Vector3f & localPosition ) const

virtual

◆ getEnforceJointLimits()

bool VirtualRobot::RobotNode::getEnforceJointLimits ( ) const

◆ getGlobalPose()

Eigen::Matrix4f VirtualRobot::RobotNode::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.

◆ getJointLimitHi()

float VirtualRobot::RobotNode::getJointLimitHi ( )

◆ getJointLimitHigh()

float VirtualRobot::RobotNode::getJointLimitHigh ( ) const

inline

◆ getJointLimitLo()

float VirtualRobot::RobotNode::getJointLimitLo ( )

◆ getJointLimitLow()

float VirtualRobot::RobotNode::getJointLimitLow ( ) const

inline

◆ getJointLimits()

JointLimits VirtualRobot::RobotNode::getJointLimits ( )

inline

◆ getJointValue()

float VirtualRobot::RobotNode::getJointValue ( ) const

virtual

◆ getJointValueOffset()

float VirtualRobot::RobotNode::getJointValueOffset ( ) const

inline

◆ getLocalTransformation()

virtual Eigen::Matrix4f VirtualRobot::RobotNode::getLocalTransformation ( )

inlinevirtual

The preJoint/preVisualization transformation. This transformation is applied before the joint and the visualization.

◆ getMaxAcceleration()

float VirtualRobot::RobotNode::getMaxAcceleration ( )

Maximum acceleration in rad/s^2 or m/s^2. Returns -1.0f if no maxium value is set.

◆ getMaxTorque()

float VirtualRobot::RobotNode::getMaxTorque ( )

Maximum acceleration in Nm. Returns -1.0f if no maxium value is set.

◆ getMaxVelocity()

float VirtualRobot::RobotNode::getMaxVelocity ( )

Maximum velocity in rad/s or m/s. Returns -1.0f if no maxium value is set.

◆ getOptionalDHParameters()

const DHParameter& VirtualRobot::RobotNode::getOptionalDHParameters ( )

inline

When joint was created via DH parameters, they can be accessed here.

◆ getOrientationInRootFrame() [1/2]

Eigen::Matrix3f VirtualRobot::RobotNode::getOrientationInRootFrame ( ) const

virtual

◆ getOrientationInRootFrame() [2/2]

Eigen::Matrix3f VirtualRobot::RobotNode::getOrientationInRootFrame ( const Eigen::Matrix3f & localOrientation ) const

virtual

◆ getPoseInFrame()

Eigen::Matrix4f VirtualRobot::RobotNode::getPoseInFrame ( const RobotNodePtr & frame ) const

virtual

◆ getPoseInRootFrame() [1/2]

Eigen::Matrix4f VirtualRobot::RobotNode::getPoseInRootFrame ( ) const

virtual

The pose of this node in the root coordinate system of the robot.

Returns: The pose in root frame

◆ getPoseInRootFrame() [2/2]

Eigen::Matrix4f VirtualRobot::RobotNode::getPoseInRootFrame ( const Eigen::Matrix4f & localPose ) const

virtual

◆ getPositionInFrame()

Eigen::Vector3f VirtualRobot::RobotNode::getPositionInFrame ( const RobotNodePtr & frame ) const

virtual

◆ getPositionInRootFrame() [1/2]

Eigen::Vector3f VirtualRobot::RobotNode::getPositionInRootFrame ( ) const

virtual

The position of this node in the root coordinate system of the robot.

Returns: The position in root frame

◆ getPositionInRootFrame() [2/2]

Eigen::Vector3f VirtualRobot::RobotNode::getPositionInRootFrame ( const Eigen::Vector3f & localPosition ) const

virtual

◆ getRobot()

RobotPtr VirtualRobot::RobotNode::getRobot ( ) const

◆ getScaledJointValue()

float VirtualRobot::RobotNode::getScaledJointValue	(	float	min = `-1`,
		float	max = `1`
	)

inline

◆ getType()

RobotNode::RobotNodeType VirtualRobot::RobotNode::getType ( )

◆ initialize()

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

overridevirtual

Initialize robot node. Here pointers to robot and children are created from names. Be sure all children are created and registered to robot before calling initialize. Usually RobotFactory manages the initialization.

Reimplemented from VirtualRobot::SceneObject.

Reimplemented in VirtualRobot::RobotNodeHemisphere, VirtualRobot::RobotNodePrismatic, VirtualRobot::RobotNodeFixed, and VirtualRobot::RobotNodeRevolute.

◆ isHemisphereJoint()

bool VirtualRobot::RobotNode::isHemisphereJoint ( ) const

virtual

Reimplemented in VirtualRobot::RobotNodeHemisphere.

◆ isJoint()

bool VirtualRobot::RobotNode::isJoint ( ) const

◆ isLimitless()

bool VirtualRobot::RobotNode::isLimitless ( ) const

◆ isRotationalJoint()

bool VirtualRobot::RobotNode::isRotationalJoint ( ) const

virtual

Reimplemented in VirtualRobot::RobotNodeRevolute.

◆ isTranslationalJoint()

bool VirtualRobot::RobotNode::isTranslationalJoint ( ) const

virtual

Reimplemented in VirtualRobot::RobotNodePrismatic.

◆ print()

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

overridevirtual

Print status information.

Reimplemented from VirtualRobot::SceneObject.

Reimplemented in VirtualRobot::RobotNodeHemisphere, VirtualRobot::RobotNodePrismatic, VirtualRobot::RobotNodeFixed, and VirtualRobot::RobotNodeRevolute.

◆ propagateJointValue()

void VirtualRobot::RobotNode::propagateJointValue	(	const std::string &	jointName,
		float	factor = `1.0f`
	)

virtual

Automatically propagate the joint value to another joint.

Parameters

jointName	The name of the other joint. must be part of the same robot.
factor	The propagated joint value is scaled according to this value.

◆ respectJointLimits()

void VirtualRobot::RobotNode::respectJointLimits ( float & jointValue ) const

Checks if jointValue is within joint limits. If not jointValue is adjusted.

◆ scaleJointValue()

float VirtualRobot::RobotNode::scaleJointValue	(	float	val,
		float	min = `-1`,
		float	max = `1`
	)

inline

◆ setEnforceJointLimits()

void VirtualRobot::RobotNode::setEnforceJointLimits ( bool value )

◆ setGlobalPose()

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

overridevirtual

Calling this method will cause an exception, since RobotNodes are controlled via joint values.

Reimplemented from VirtualRobot::SceneObject.

◆ setJointLimits()

void VirtualRobot::RobotNode::setJointLimits	(	float	lo,
		float	hi
	)

virtual

Set joint limits [rad].

◆ setJointValue()

void VirtualRobot::RobotNode::setJointValue ( float q )

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

◆ setJointValueNotInitialized()

void VirtualRobot::RobotNode::setJointValueNotInitialized ( float q )

protected

◆ setJointValueNoUpdate()

void VirtualRobot::RobotNode::setJointValueNoUpdate ( float q )

virtual

Set the joint value without updating the internal matrices. After setting all jointvalues the transformations are calculated by calling applyJointValues() This method is used when multiple joints should be updated at once. Access by RobotNodeSets, Robots or RobotConfigs must be protected by a WriteLock.

Parameters

q	The joint value [rad] eventually clamped to limits.

◆ setLimitless()

void VirtualRobot::RobotNode::setLimitless ( bool limitless )

virtual

Parameters

limitless wheter this node has joint limits or not.

◆ setLocalTransformation()

void VirtualRobot::RobotNode::setLocalTransformation ( Eigen::Matrix4f & newLocalTransformation )

Set the local transformation matrix that is used in this node.

◆ setMaxAcceleration()

void VirtualRobot::RobotNode::setMaxAcceleration ( float maxAcc )

virtual

Set maximum acceleration pf this joint in rad/s^2 or m/s^2. To disbale max. acceleration set to -1.0f.

◆ setMaxTorque()

void VirtualRobot::RobotNode::setMaxTorque ( float maxTo )

virtual

Set maximum torque pf this joint in Nm. To disbale max. torque set to -1.0f.

◆ setMaxVelocity()

void VirtualRobot::RobotNode::setMaxVelocity ( float maxVel )

virtual

Set maximum velocity of this joint in rad/s or m/s. To disbale max. velocity set to -1.0f.

◆ setScaledJointValue()

void VirtualRobot::RobotNode::setScaledJointValue	(	float	val,
		float	min = `-1`,
		float	max = `1`
	)

inline

◆ setScaledJointValueNoUpdate()

void VirtualRobot::RobotNode::setScaledJointValueNoUpdate	(	float	val,
		float	min = `-1`,
		float	max = `1`
	)

inline

◆ showCoordinateSystem()

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

overridevirtual

Display the coordinate system of this RobotNode. This is the global pose of it's visualization. enable Show or hide coordinate system scaling Size of coordinate system text Text to display at coordinate system. If not given, the name of this robot node will be displayed. izationType This option is only needed when the current robot node does not yet own a visualization. Then a visualziationNode has to be built and the visualizationType specifies which type of visualization should be used. If not given, the first registered visaulizationfactory is used.

Reimplemented from VirtualRobot::SceneObject.

◆ showStructure()

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

virtual

Visualize the structure of this RobotNode. enable Show or hide the structure visualization visualizationType This option is only needed when the current robot node does not yet own a visualization. Then a visualziationNode has to be build and the visualizationType specifies which type of visualization should be used. If not given, the first registered visaulizationfactory is used.

◆ toXML()

std::string VirtualRobot::RobotNode::toXML	(	const std::string &	basePath,
		const std::string &	modelPathRelative = `"models"`,
		bool	storeSensors = `true`,
		bool	storeModelFiles = `true`
	)

virtual

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

See also: RobotIO::saveXML.

◆ unscaleJointValue()

float VirtualRobot::RobotNode::unscaleJointValue	(	float	val,
		float	min = `-1`,
		float	max = `1`
	)

inline

◆ updatePose() [1/2]

void VirtualRobot::RobotNode::updatePose ( bool updateChildren = true )

overridevirtual

Compute/Update the transformations of this joint and all child joints. Therefore the parent is queried for its pose. This method is called by the robot in order to update the pose matrices.

Reimplemented from VirtualRobot::SceneObject.

◆ updatePose() [2/2]

void VirtualRobot::RobotNode::updatePose	(	const Eigen::Matrix4f &	parentPose,
		bool	updateChildren = `true`
	)

overrideprotectedvirtual

Update the pose according to parent

Reimplemented from VirtualRobot::SceneObject.

◆ updateTransformationMatrices() [1/2]

void VirtualRobot::RobotNode::updateTransformationMatrices ( )

protectedvirtual

Queries parent for global pose and updates visualization accordingly

◆ updateTransformationMatrices() [2/2]

void VirtualRobot::RobotNode::updateTransformationMatrices ( const Eigen::Matrix4f & parentPose )

protectedvirtual

Reimplemented in VirtualRobot::RobotNodeHemisphere, VirtualRobot::RobotNodeRevolute, VirtualRobot::RobotNodePrismatic, and VirtualRobot::RobotNodeFixed.

◆ updateVisualizationPose() [1/2]

void VirtualRobot::RobotNode::updateVisualizationPose	(	const Eigen::Matrix4f &	globalPose,
		bool	updateChildren = `false`
	)

protectedvirtual

Can be called by a RobotNodeActuator in order to set the pose of the visualization, which means that the preJointTransform is ignored and the pose of the visualization can be set directly. This is useful, if the node is actuated externally, i.e. via a physics engine. todo: Protect such updates by a mutex.

Parameters

globalPose	The new global pose. The joint value is not determined from this pose. The RobotNodeActuator is responsible for setting the corresponding joint value
updateChildren	Usually it is assumed that all RobotNodes are updated this way (updateChildren=false). If not, the children poses can be updated according to this node.

Reimplemented in VirtualRobot::RobotNodeRevolute, and VirtualRobot::RobotNodePrismatic.

◆ updateVisualizationPose() [2/2]

void VirtualRobot::RobotNode::updateVisualizationPose	(	const Eigen::Matrix4f &	globalPose,
		float	jointValue,
		bool	updateChildren = `false`
	)

protectedvirtual

Friends And Related Function Documentation

◆ ColladaIO

friend class ColladaIO

friend

◆ LocalRobot

friend class LocalRobot

friend

◆ Robot

friend class Robot

friend

◆ RobotConfig

friend class RobotConfig

friend

◆ RobotFactory

friend class RobotFactory

friend

◆ RobotIO

friend class RobotIO

friend

◆ RobotNodeActuator

friend class RobotNodeActuator

friend

◆ RobotNodeSet

friend class RobotNodeSet

friend

Field Documentation

◆ enforceJointLimits

bool VirtualRobot::RobotNode::enforceJointLimits = true

protected

◆ jointLimitHi

float VirtualRobot::RobotNode::jointLimitHi

protected

◆ jointLimitLo

float VirtualRobot::RobotNode::jointLimitLo

protected

◆ jointValue

float VirtualRobot::RobotNode::jointValue

protected

◆ jointValueOffset

float VirtualRobot::RobotNode::jointValueOffset

protected

◆ limitless

bool VirtualRobot::RobotNode::limitless

protected

◆ localTransformation

Eigen::Matrix4f VirtualRobot::RobotNode::localTransformation

protected

given in Nm

◆ maxAcceleration

float VirtualRobot::RobotNode::maxAcceleration

protected

given in m/s

◆ maxTorque

float VirtualRobot::RobotNode::maxTorque

protected

given in m/s^2

◆ maxVelocity

float VirtualRobot::RobotNode::maxVelocity

protected

◆ nodeType

RobotNodeType VirtualRobot::RobotNode::nodeType

protected

◆ optionalDHParameter

DHParameter VirtualRobot::RobotNode::optionalDHParameter

protected

◆ propagatedJointValues

std::map< std::string, float > VirtualRobot::RobotNode::propagatedJointValues

protected

◆ robot

RobotWeakPtr VirtualRobot::RobotNode::robot

protected

Data Structures

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ RobotNodeType

Constructor & Destructor Documentation

◆ RobotNode() [1/2]

◆ ~RobotNode()

◆ RobotNode() [2/2]

Member Function Documentation

◆ _clone() [1/2]

◆ _clone() [2/2]

◆ _toXML()

◆ checkJointLimits()

◆ checkValidRobotNodeType()

◆ clone() [1/2]

◆ clone() [2/2]

◆ collectAllRobotNodes()

◆ copyPoseFrom() [1/2]

◆ copyPoseFrom() [2/2]

◆ getAllParents()

◆ getChildren()

◆ getDelta()

◆ getDirectionInRootFrame()

◆ getEnforceJointLimits()

◆ getGlobalPose()

◆ getJointLimitHi()

◆ getJointLimitHigh()

◆ getJointLimitLo()

◆ getJointLimitLow()

◆ getJointLimits()

◆ getJointValue()

◆ getJointValueOffset()

◆ getLocalTransformation()

◆ getMaxAcceleration()

◆ getMaxTorque()

◆ getMaxVelocity()

◆ getOptionalDHParameters()

◆ getOrientationInRootFrame() [1/2]

◆ getOrientationInRootFrame() [2/2]

◆ getPoseInFrame()

◆ getPoseInRootFrame() [1/2]

◆ getPoseInRootFrame() [2/2]

◆ getPositionInFrame()

◆ getPositionInRootFrame() [1/2]

◆ getPositionInRootFrame() [2/2]

◆ getRobot()

◆ getScaledJointValue()

◆ getType()

◆ initialize()

◆ isHemisphereJoint()

◆ isJoint()

◆ isLimitless()

◆ isRotationalJoint()

◆ isTranslationalJoint()

◆ print()

◆ propagateJointValue()

◆ respectJointLimits()

◆ scaleJointValue()

◆ setEnforceJointLimits()

◆ setGlobalPose()

◆ setJointLimits()

◆ setJointValue()

◆ setJointValueNotInitialized()

◆ setJointValueNoUpdate()

◆ setLimitless()

◆ setLocalTransformation()

◆ setMaxAcceleration()

◆ setMaxTorque()

◆ setMaxVelocity()

◆ setScaledJointValue()

◆ setScaledJointValueNoUpdate()

◆ showCoordinateSystem()

◆ showStructure()

◆ toXML()