kinematic_group.cpp File Reference

A kinematic group with forward and inverse kinematics methods. More...

#include <tesseract/common/macros.h>
#include <utility>
#include <console_bridge/console.h>
#include <tesseract/kinematics/kinematic_group.h>
#include <tesseract/kinematics/inverse_kinematics.h>
#include <tesseract/kinematics/utils.h>
#include <tesseract/common/types.h>
#include <tesseract/common/utils.h>
#include <tesseract/scene_graph/graph.h>
#include <tesseract/scene_graph/joint.h>
#include <tesseract/state_solver/state_solver.h>

Functions
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP std::vector< tesseract::common::LinkId >	getLinksInFixedJointKinematicTree (const tesseract::common::LinkId &input_link, const tesseract::scene_graph::SceneGraph &scene_graph)
	Returns the link IDs that comprise a fixed-joint kinematic tree with the input link.

Detailed Description

A kinematic group with forward and inverse kinematics methods.

Author

Levi Armstrong

Date

Aug 20, 2021

Copyright

Copyright (c) 2021, Southwest Research Institute

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

getLinksInFixedJointKinematicTree()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP std::vector< tesseract::common::LinkId > getLinksInFixedJointKinematicTree	(	const tesseract::common::LinkId &	input_link,
		const tesseract::scene_graph::SceneGraph &	scene_graph
	)

Returns the link IDs that comprise a fixed-joint kinematic tree with the input link.

This method first traverses from the input link "up" the scene graph hierarchy, following the link's in-bound joints, to find the input link's highest level parents that are connected to it by fixed joints. Next, it identifies all the fixed-joint children of these highest level parent links. Together, the highest level parent links and their fixed-joint children comprise a set of links (including the input link), between all of which exists a tree of fixed joints. If the link does not have any fixed-joint parents, the link itself will be returned.

Parameters

links
scene_graph

Returns