Inheritance diagram for VirtualRobot::RobotNodeSet:

Public Types
typedef std::vector< RobotNodePtr >	NodeContainerT

typedef NodeContainerT::iterator	NodeContainerIterT

Public Member Functions
RobotNodeSetPtr	clone (RobotPtr newRobot, const RobotNodePtr newKinematicRoot=RobotNodePtr())

bool	hasRobotNode (const RobotNodePtr &robotNode) const

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

int	getRobotNodeIndex (const RobotNodePtr &robotNode) const

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

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

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

std::vector< float >	getNodeLimitsLo () const

std::vector< float >	getNodeLimitsHi () const

RobotNodePtr	getKinematicRoot () const

void	setKinematicRoot (RobotNodePtr robotNode)

RobotNodePtr	getTCP () const

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

unsigned int	getSize () const override

std::vector< float >	getJointValues () const

Eigen::VectorXf	getJointValuesEigen () const

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

void	getJointValues (Eigen::VectorXf &fillVector) const

void	getJointValues (RobotConfigPtr fillVector) const

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

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

void	respectJointLimits (Eigen::VectorXf &jointValues) const

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

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

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

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

virtual void	setJointValues (const RobotConfigPtr jointValues)

RobotNodePtr &	operator[] (int i)

const RobotNodePtr &	getNode (int i) const

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

auto	begin ()

auto	end ()

auto	begin () const

auto	end () const

unsigned int	size () const

RobotPtr	getRobot ()

bool	isKinematicChain ()

KinematicChainPtr	toKinematicChain ()

virtual void	highlight (VisualizationPtr visualization, bool enable)

virtual int	getNumFaces (bool collisionModel=false)

float	getMaximumExtension ()

Eigen::Vector3f	getCoM ()

float	getMass ()

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

std::string	toXML (int tabs) override

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

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

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

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

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

bool	mirror (const RobotNodeSet &targetNodeSet)

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

virtual	~SceneObjectSet ()

std::string	getName () const

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

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

CollisionCheckerPtr	getCollisionChecker ()

std::vector< CollisionModelPtr >	getCollisionModels ()

std::vector< SceneObjectPtr >	getSceneObjects ()

virtual SceneObjectPtr	getSceneObject (unsigned int nr)

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

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

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

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

ObstaclePtr	createStaticObstacle (const std::string &name)

Static Public Member Functions
static RobotNodeSetPtr	createRobotNodeSet (RobotPtr robot, const std::string &name, const std::vector< std::string > &robotNodeNames, const std::string &kinematicRootName="", const std::string &tcpName="", bool registerToRobot=false)

static RobotNodeSetPtr	createRobotNodeSet (RobotPtr robot, const std::string &name, const std::vector< RobotNodePtr > &robotNodes, const RobotNodePtr kinematicRoot=RobotNodePtr(), const RobotNodePtr tcp=RobotNodePtr(), bool registerToRobot=false)

static RobotNodeSetPtr	createRobotNodeSet (RobotPtr robot, const std::string &name, const std::vector< RobotNodeSetPtr > &robotNodes, const RobotNodePtr kinematicRoot=RobotNodePtr(), const RobotNodePtr tcp=RobotNodePtr(), bool registerToRobot=false)
	Merges the node sets (takes care of only adding each node once) More...

Protected Member Functions
bool	isKinematicRoot (RobotNodePtr robotNode)

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

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

Protected Attributes
NodeContainerT	robotNodes

RobotWeakPtr	robot

RobotNodePtr	kinematicRoot

RobotNodePtr	tcp

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

std::vector< SceneObjectPtr >	sceneObjects

CollisionCheckerPtr	colChecker

Friends
class	RobotFactory

Detailed Description

A RobotNodeSet is a sub-set of RobotNodes of a Robot. Additionally to the list of RobotNodes, a RobotNodeSet holds information about

the kinematic root (the topmost RobotNode of the Robot's kinematic tree that has to be updated in order to update all covered RobotNodes)
the Tool Center point (TCP)

Member Typedef Documentation

◆ NodeContainerIterT

typedef NodeContainerT::iterator VirtualRobot::RobotNodeSet::NodeContainerIterT

◆ NodeContainerT

typedef std::vector<RobotNodePtr> VirtualRobot::RobotNodeSet::NodeContainerT

Constructor & Destructor Documentation

◆ RobotNodeSet()

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

protected

Initialize this set with a vector of RobotNodes.

Parameters

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

Member Function Documentation

◆ addSceneObject()

bool VirtualRobot::RobotNodeSet::addSceneObject ( SceneObjectPtr sceneObject )

overridevirtual

this is forbidden for RobotNodeSets, a call will throw an exception

Reimplemented from VirtualRobot::SceneObjectSet.

◆ addSceneObjects() [1/3]

bool VirtualRobot::RobotNodeSet::addSceneObjects ( SceneObjectSetPtr sceneObjectSet )

overridevirtual

this is forbidden for RobotNodeSets, a call will throw an exception

Reimplemented from VirtualRobot::SceneObjectSet.

◆ addSceneObjects() [2/3]

bool VirtualRobot::RobotNodeSet::addSceneObjects ( RobotNodeSetPtr robotNodeSet )

overridevirtual

this is forbidden for RobotNodeSets, a call will throw an exception

Reimplemented from VirtualRobot::SceneObjectSet.

◆ addSceneObjects() [3/3]

bool VirtualRobot::RobotNodeSet::addSceneObjects ( std::vector< RobotNodePtr > robotNodes )

overridevirtual

this is forbidden for RobotNodeSets, a call will throw an exception

Reimplemented from VirtualRobot::SceneObjectSet.

◆ begin() [1/2]

auto VirtualRobot::RobotNodeSet::begin ( )

inline

◆ begin() [2/2]

auto VirtualRobot::RobotNodeSet::begin ( ) const

inline

◆ checkJointLimits() [1/2]

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

Checks if the jointValues are within the current joint limits.

Parameters

jointValues	A vector of correct size.
verbose	Print information if joint limits are violated.

Returns: True when all given joint values are within joint limits.

◆ checkJointLimits() [2/2]

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

◆ clone()

RobotNodeSetPtr VirtualRobot::RobotNodeSet::clone	(	RobotPtr	newRobot,
		const RobotNodePtr	newKinematicRoot = `RobotNodePtr()`
	)

Registers a copy of this node set with the given robot

◆ createRobotNodeSet() [1/3]

RobotNodeSetPtr VirtualRobot::RobotNodeSet::createRobotNodeSet	(	RobotPtr	robot,
		const std::string &	name,
		const std::vector< std::string > &	robotNodeNames,
		const std::string &	kinematicRootName = `""`,
		const std::string &	tcpName = `""`,
		bool	registerToRobot = `false`
	)

static

Use this method to create and fully initialize an instance of RobotNodeSet.

◆ createRobotNodeSet() [2/3]

RobotNodeSetPtr VirtualRobot::RobotNodeSet::createRobotNodeSet	(	RobotPtr	robot,
		const std::string &	name,
		const std::vector< RobotNodePtr > &	robotNodes,
		const RobotNodePtr	kinematicRoot = `RobotNodePtr()`,
		const RobotNodePtr	tcp = `RobotNodePtr()`,
		bool	registerToRobot = `false`
	)

static

Use this method to create and fully initialize an instance of RobotNodeSet.

◆ createRobotNodeSet() [3/3]

RobotNodeSetPtr VirtualRobot::RobotNodeSet::createRobotNodeSet	(	RobotPtr	robot,
		const std::string &	name,
		const std::vector< RobotNodeSetPtr > &	robotNodes,
		const RobotNodePtr	kinematicRoot = `RobotNodePtr()`,
		const RobotNodePtr	tcp = `RobotNodePtr()`,
		bool	registerToRobot = `false`
	)

static

Merges the node sets (takes care of only adding each node once)

◆ end() [1/2]

auto VirtualRobot::RobotNodeSet::end ( )

inline

◆ end() [2/2]

auto VirtualRobot::RobotNodeSet::end ( ) const

inline

◆ getAllRobotNodes()

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

Returns all nodes.

◆ getCoM()

Eigen::Vector3f VirtualRobot::RobotNodeSet::getCoM ( )

Return center of mass of this node set.

◆ getJointValueMap()

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

◆ getJointValues() [1/4]

std::vector< float > VirtualRobot::RobotNodeSet::getJointValues ( ) const

◆ getJointValues() [2/4]

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

◆ getJointValues() [3/4]

void VirtualRobot::RobotNodeSet::getJointValues ( Eigen::VectorXf & fillVector ) const

◆ getJointValues() [4/4]

void VirtualRobot::RobotNodeSet::getJointValues ( RobotConfigPtr fillVector ) const

◆ getJointValuesEigen()

Eigen::VectorXf VirtualRobot::RobotNodeSet::getJointValuesEigen ( ) const

◆ getKinematicRoot()

RobotNodePtr VirtualRobot::RobotNodeSet::getKinematicRoot ( ) const

Returns the topmost node of the robot's kinematic tree to be used for updating all members of this set. This node is usually defined in the RobotNodeSet's XML definition.

◆ getMass()

float VirtualRobot::RobotNodeSet::getMass ( )

Return accumulated mass of this node set.

◆ getMaximumExtension()

float VirtualRobot::RobotNodeSet::getMaximumExtension ( )

Compute an upper bound of the extension of the kinematic chain formed by this RobotNodeSet. This is done by summing the distances between all succeeding RobotNodes of this set.

◆ getNode() [1/2]

const RobotNodePtr & VirtualRobot::RobotNodeSet::getNode ( int i ) const

◆ getNode() [2/2]

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

◆ getNodeLimitsHi()

std::vector< float > VirtualRobot::RobotNodeSet::getNodeLimitsHi ( ) const

◆ getNodeLimitsLo()

std::vector< float > VirtualRobot::RobotNodeSet::getNodeLimitsLo ( ) const

◆ getNodeNames()

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

◆ getNumFaces()

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

virtual

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.

◆ getRobot()

RobotPtr VirtualRobot::RobotNodeSet::getRobot ( )

◆ getRobotNodeIndex() [1/2]

int VirtualRobot::RobotNodeSet::getRobotNodeIndex ( const RobotNodePtr & robotNode ) const

◆ getRobotNodeIndex() [2/2]

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

◆ getSize()

unsigned int VirtualRobot::RobotNodeSet::getSize ( ) const

overridevirtual

The number of associated robot nodes.

Reimplemented from VirtualRobot::SceneObjectSet.

◆ getTCP()

RobotNodePtr VirtualRobot::RobotNodeSet::getTCP ( ) const

Returns the TCP.

◆ hasRobotNode() [1/2]

bool VirtualRobot::RobotNodeSet::hasRobotNode ( const RobotNodePtr & robotNode ) const

◆ hasRobotNode() [2/2]

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

◆ highlight()

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

virtual

Convenient method for highlighting the visualization of this node. 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	Set or unset highlighting.

◆ isKinematicChain()

bool VirtualRobot::RobotNodeSet::isKinematicChain ( )

Checks if this set of robot nodes form a valid kinematic chain.

◆ isKinematicRoot()

bool VirtualRobot::RobotNodeSet::isKinematicRoot ( RobotNodePtr robotNode )

protected

Tests if the given robot node is a valid kinematic root

◆ mirror()

bool VirtualRobot::RobotNodeSet::mirror ( const RobotNodeSet & targetNodeSet )

◆ nodesSufficient()

bool VirtualRobot::RobotNodeSet::nodesSufficient ( std::vector< RobotNodePtr > nodes ) const

Returns true, if nodes (only name strings are checked) are sufficient for building this rns.

◆ operator[]()

RobotNodePtr & VirtualRobot::RobotNodeSet::operator[] ( int i )

◆ print()

void VirtualRobot::RobotNodeSet::print ( ) const

Print out some information.

◆ removeSceneObject()

bool VirtualRobot::RobotNodeSet::removeSceneObject ( SceneObjectPtr sceneObject )

overridevirtual

this is forbidden for RobotNodeSets, a call will throw an exception

Reimplemented from VirtualRobot::SceneObjectSet.

◆ respectJointLimits() [1/2]

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

Cut

◆ respectJointLimits() [2/2]

void VirtualRobot::RobotNodeSet::respectJointLimits ( Eigen::VectorXf & jointValues ) const

◆ setJointValues() [1/3]

void VirtualRobot::RobotNodeSet::setJointValues ( 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

jointValues A vector with joint values, size must be equal to number of joints in this RobotNodeSet.

◆ setJointValues() [2/3]

void VirtualRobot::RobotNodeSet::setJointValues ( 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

jointValues A vector with joint values, size must be equal to number of joints in this RobotNodeSet.

◆ setJointValues() [3/3]

void VirtualRobot::RobotNodeSet::setJointValues ( const RobotConfigPtr jointValues )

virtual

Set joints that are within the given RobotConfig. Joints of this NodeSet that are not stored in jointValues remain untouched.

◆ setKinematicRoot()

void VirtualRobot::RobotNodeSet::setKinematicRoot ( RobotNodePtr robotNode )

◆ size()

unsigned int VirtualRobot::RobotNodeSet::size ( ) const

inline

◆ toKinematicChain()

KinematicChainPtr VirtualRobot::RobotNodeSet::toKinematicChain ( )

◆ toXML()

std::string VirtualRobot::RobotNodeSet::toXML ( int tabs )

overridevirtual

Reimplemented from VirtualRobot::SceneObjectSet.

Friends And Related Function Documentation

◆ RobotFactory

friend class RobotFactory

friend

Field Documentation

◆ kinematicRoot

RobotNodePtr VirtualRobot::RobotNodeSet::kinematicRoot

protected

◆ robot

RobotWeakPtr VirtualRobot::RobotNodeSet::robot

protected

◆ robotNodes

NodeContainerT VirtualRobot::RobotNodeSet::robotNodes

protected

◆ tcp

RobotNodePtr VirtualRobot::RobotNodeSet::tcp

protected

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ NodeContainerIterT

◆ NodeContainerT

Constructor & Destructor Documentation

◆ RobotNodeSet()

Member Function Documentation

◆ addSceneObject()

◆ addSceneObjects() [1/3]

◆ addSceneObjects() [2/3]

◆ addSceneObjects() [3/3]

◆ begin() [1/2]

◆ begin() [2/2]

◆ checkJointLimits() [1/2]

◆ checkJointLimits() [2/2]

◆ clone()

◆ createRobotNodeSet() [1/3]

◆ createRobotNodeSet() [2/3]

◆ createRobotNodeSet() [3/3]

◆ end() [1/2]

◆ end() [2/2]

◆ getAllRobotNodes()

◆ getCoM()

◆ getJointValueMap()

◆ getJointValues() [1/4]

◆ getJointValues() [2/4]

◆ getJointValues() [3/4]

◆ getJointValues() [4/4]

◆ getJointValuesEigen()

◆ getKinematicRoot()

◆ getMass()

◆ getMaximumExtension()

◆ getNode() [1/2]

◆ getNode() [2/2]

◆ getNodeLimitsHi()

◆ getNodeLimitsLo()

◆ getNodeNames()

◆ getNumFaces()

◆ getRobot()

◆ getRobotNodeIndex() [1/2]

◆ getRobotNodeIndex() [2/2]

◆ getSize()

◆ getTCP()

◆ hasRobotNode() [1/2]

◆ hasRobotNode() [2/2]

◆ highlight()

◆ isKinematicChain()

◆ isKinematicRoot()

◆ mirror()

◆ nodesSufficient()

◆ operator[]()

◆ print()

◆ removeSceneObject()

◆ respectJointLimits() [1/2]

◆ respectJointLimits() [2/2]

◆ setJointValues() [1/3]

◆ setJointValues() [2/3]

◆ setJointValues() [3/3]

◆ setKinematicRoot()

◆ size()

◆ toKinematicChain()

◆ toXML()

Friends And Related Function Documentation

◆ RobotFactory

Field Documentation

◆ kinematicRoot

◆ robot

◆ robotNodes

◆ tcp