factory_utils.h File Reference

Shared YAML-parsing helpers for kinematics plugin factories. More...

#include <tesseract/common/macros.h>
#include <map>
#include <string>
#include <vector>
#include <Eigen/Core>
#include <yaml-cpp/yaml.h>
#include <tesseract/common/types.h>
#include <tesseract/scene_graph/fwd.h>

Classes
struct	tesseract::kinematics::JointSampleSpec
	One joint's sampling discretisation, as parsed from a "*_sample_resolution" entry. More...
struct	tesseract::kinematics::SampleGridConfig
	A sampled chain's per-joint discretisation, ordered to match that chain's joint order. More...

Functions
std::map< tesseract::common::JointId, JointSampleSpec >	tesseract::kinematics::parseSampleResolutionMap (const YAML::Node &sample_res_node, const tesseract::scene_graph::SceneGraph &scene_graph, const std::string &block_label)
	Parse a "*_sample_resolution" sequence into a joint id -> discretisation map.
SampleGridConfig	tesseract::kinematics::toSampleGridConfig (const std::map< tesseract::common::JointId, JointSampleSpec > &sample_res_map, const std::vector< tesseract::common::JointId > &joint_ids, const std::string &block_label)
	Reorder a parseSampleResolutionMap() result onto a chain's joint order, producing the range/resolution pair that buildSampleGrid() consumes.

Detailed Description

Shared YAML-parsing helpers for kinematics plugin factories.

Author

Roelof Oomen

Date

May 1, 2026

Copyright

Copyright (c) 2026

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Function Documentation

parseSampleResolutionMap()

std::map< tesseract::common::JointId, JointSampleSpec > tesseract::kinematics::parseSampleResolutionMap	(	const YAML::Node &	sample_res_node,
		const tesseract::scene_graph::SceneGraph &	scene_graph,
		const std::string &	block_label
	)

Parse a "*_sample_resolution" sequence into a joint id -> discretisation map.

Each entry decodes as a PositionerSampleResolution, which supplies name and value and leaves min/max optional. This function applies the parts that need the scene graph: joint limits as the [min, max] defaults, and validation that [min, max] lies within the joint's full limits and is non-empty. A CONTINUOUS joint is unbounded: it defaults to [-pi, pi], accepts any ordered explicit range, and needs no limits.

Feed the result to toSampleGridConfig() once the sampled chain's joint order is known.

Parameters

sample_res_node	The YAML sequence node, e.g. config.at("tool_sample_resolution").getValue().
scene_graph	Used to look up each joint's limits.
block_label	Name of the config block, quoted into error messages (e.g. "tool_sample_resolution"). The reporting factory's identity is supplied by whoever catches, so it is not repeated here.

Exceptions

std::runtime_error

on any of the malformed-input or out-of-range conditions above.

toSampleGridConfig()

SampleGridConfig tesseract::kinematics::toSampleGridConfig	(	const std::map< tesseract::common::JointId, JointSampleSpec > &	sample_res_map,
		const std::vector< tesseract::common::JointId > &	joint_ids,
		const std::string &	block_label
	)

Reorder a parseSampleResolutionMap() result onto a chain's joint order, producing the range/resolution pair that buildSampleGrid() consumes.

Parameters

sample_res_map	Output of parseSampleResolutionMap().
joint_ids	Joint order of the sampled chain, from its forward kinematics.
block_label	Name of the config block, quoted into error messages.

Exceptions

std::runtime_error

if the map does not describe exactly joint_ids.