Inheritance diagram for VirtualRobot::RobotNodeHemisphere:

Data Structures
struct	First

struct	JointMath

struct	Second

struct	XmlInfo

Public Types
enum	Role { Role::FIRST, Role::SECOND }

Public Types inherited from VirtualRobot::RobotNode
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
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RobotNodeHemisphere (RobotWeakPtr rob, const std::string &name, float jointLimitLo, float jointLimitHi, const Eigen::Matrix4f &preJointTransform, const Eigen::Vector3f &axis, VisualizationNodePtr visualization=nullptr, CollisionModelPtr collisionModel=nullptr, float jointValueOffset=0.0f, const SceneObject::Physics &p={}, CollisionCheckerPtr colChecker=nullptr, RobotNodeType type=Generic)

	RobotNodeHemisphere (RobotWeakPtr rob, const std::string &name, float jointLimitLo, float jointLimitHi, float a, float d, float alpha, float theta, VisualizationNodePtr visualization=nullptr, CollisionModelPtr collisionModel=nullptr, float jointValueOffset=0.0f, const SceneObject::Physics &p={}, CollisionCheckerPtr colChecker={}, RobotNodeType type=Generic)

	~RobotNodeHemisphere () override

void	setXmlInfo (const XmlInfo &info)

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

void	print (bool printChildren=false, bool printDecoration=true) const override
	Print status information. More...

bool	isHemisphereJoint () const override

Public Member Functions inherited from 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)

	~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 ()

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

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 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

Static Public Member Functions
static Role	RoleFromString (const std::string &string)

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...

Protected Member Functions
	RobotNodeHemisphere ()

std::string	_toXML (const std::string &modelPath) override
	Derived classes add custom XML tags here. More...

void	checkValidRobotNodeType () override

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

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

Protected Member Functions inherited from VirtualRobot::RobotNode
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)

	RobotNode ()

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

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
std::optional< First >	first

std::optional< Second >	second

Protected Attributes inherited from VirtualRobot::RobotNode
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	RobotFactory

Member Enumeration Documentation

◆ Role

enum VirtualRobot::RobotNodeHemisphere::Role

strong

Enumerator
FIRST
SECOND

Constructor & Destructor Documentation

◆ RobotNodeHemisphere() [1/3]

VirtualRobot::RobotNodeHemisphere::RobotNodeHemisphere	(	RobotWeakPtr	rob,
		const std::string &	name,
		float	jointLimitLo,
		float	jointLimitHi,
		const Eigen::Matrix4f &	preJointTransform,
		const Eigen::Vector3f &	axis,
		VisualizationNodePtr	visualization = `nullptr`,
		CollisionModelPtr	collisionModel = `nullptr`,
		float	jointValueOffset = `0.0f`,
		const SceneObject::Physics &	p = `{}`,
		CollisionCheckerPtr	colChecker = `nullptr`,
		RobotNodeType	type = `Generic`
	)

Parameters

rob	The robot
name	The name
jointLimitLo	lower joint limit
jointLimitHi	upper joint limit
preJointTransform	This transformation is applied before the translation of the joint is done
axis	The rotation axis (in local joint coord system)
visualization	A visualization model
collisionModel	A collision model
jointValueOffset	An offset that is internally added to the joint value
p	physics information
colChecker	A collision checker instance (if not set, the global col checker is used)

◆ RobotNodeHemisphere() [2/3]

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

Parameters

rob	The robot
name	The name
jointLimitLo	lower joint limit
jointLimitHi	upper joint limit
a	dh paramters
d	dh paramters
alpha	dh paramters
theta	dh paramters
visualization	A visualization model
collisionModel	A collision model
jointValueOffset	An offset that is internally added to the joint value
p	physics information
colChecker	A collision checker instance (if not set, the global col checker is used)

◆ ~RobotNodeHemisphere()

VirtualRobot::RobotNodeHemisphere::~RobotNodeHemisphere ( )

overridedefault

◆ RobotNodeHemisphere() [3/3]

VirtualRobot::RobotNodeHemisphere::RobotNodeHemisphere ( )

protected

Member Function Documentation

◆ _clone()

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

overrideprotectedvirtual

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

Implements VirtualRobot::RobotNode.

◆ _toXML()

std::string VirtualRobot::RobotNodeHemisphere::_toXML ( const std::string & modelPath )

overrideprotectedvirtual

Derived classes add custom XML tags here.

Implements VirtualRobot::RobotNode.

◆ checkValidRobotNodeType()

void VirtualRobot::RobotNodeHemisphere::checkValidRobotNodeType ( )

overrideprotectedvirtual

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

Reimplemented from VirtualRobot::RobotNode.

◆ initialize()

bool VirtualRobot::RobotNodeHemisphere::initialize	(	SceneObjectPtr	parent = `nullptr`,
		const std::vector< SceneObjectPtr > &	children = `{}`
	)

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::RobotNode.

◆ isHemisphereJoint()

bool VirtualRobot::RobotNodeHemisphere::isHemisphereJoint ( ) const

overridevirtual

Reimplemented from VirtualRobot::RobotNode.

◆ print()

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

overridevirtual

Print status information.

Reimplemented from VirtualRobot::RobotNode.

◆ RoleFromString()

RobotNodeHemisphere::Role VirtualRobot::RobotNodeHemisphere::RoleFromString ( const std::string & string )

static

◆ setXmlInfo()

void VirtualRobot::RobotNodeHemisphere::setXmlInfo ( const XmlInfo & info )

◆ updateTransformationMatrices()

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

overrideprotectedvirtual

Reimplemented from VirtualRobot::RobotNode.

Friends And Related Function Documentation

◆ RobotFactory

friend class RobotFactory

friend

Field Documentation

◆ first

std::optional<First> VirtualRobot::RobotNodeHemisphere::first

protected

◆ second

std::optional<Second> VirtualRobot::RobotNodeHemisphere::second

protected

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Enumeration Documentation

◆ Role

Constructor & Destructor Documentation

◆ RobotNodeHemisphere() [1/3]

◆ RobotNodeHemisphere() [2/3]

◆ ~RobotNodeHemisphere()

◆ RobotNodeHemisphere() [3/3]

Member Function Documentation

◆ _clone()

◆ _toXML()

◆ checkValidRobotNodeType()

◆ initialize()

◆ isHemisphereJoint()

◆ print()

◆ RoleFromString()

◆ setXmlInfo()

◆ updateTransformationMatrices()

Friends And Related Function Documentation

◆ RobotFactory

Field Documentation

◆ first

◆ second