#include <environment.h>

Collaboration diagram for tesseract_environment::Environment:

[legend]

Public Types
using	Ptr = std::shared_ptr< Environment >

using	ConstPtr = std::shared_ptr< const Environment >

using	UPtr = std::unique_ptr< Environment >

using	ConstUPtr = std::unique_ptr< const Environment >

Public Member Functions
	Environment ()=default
	Default constructor. More...

virtual	~Environment ()=default

	Environment (const Environment &)=delete

Environment &	operator= (const Environment &)=delete

	Environment (Environment &&)=delete

Environment &	operator= (Environment &&)=delete

bool	init (const Commands &commands)
	Initialize the Environment. More...

bool	init (const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_srdf::SRDFModel::ConstPtr &srdf_model=nullptr)
	Initialize the Environment. More...

bool	init (const std::string &urdf_string, const tesseract_common::ResourceLocator::ConstPtr &locator)

bool	init (const std::string &urdf_string, const std::string &srdf_string, const tesseract_common::ResourceLocator::ConstPtr &locator)

bool	init (const tesseract_common::fs::path &urdf_path, const tesseract_common::ResourceLocator::ConstPtr &locator)

bool	init (const tesseract_common::fs::path &urdf_path, const tesseract_common::fs::path &srdf_path, const tesseract_common::ResourceLocator::ConstPtr &locator)

Environment::UPtr	clone () const
	Clone the environment. More...

bool	reset ()
	reset to initialized state More...

void	clear ()
	clear content and uninitialized More...

bool	isInitialized () const
	check if the environment is initialized More...

int	getRevision () const
	Get the current revision number. More...

Commands	getCommandHistory () const
	Get Environment command history post initialization. More...

bool	applyCommands (const Commands &commands)
	Applies the commands to the environment. More...

bool	applyCommand (Command::ConstPtr command)
	Apply command to the environment. More...

tesseract_scene_graph::SceneGraph::ConstPtr	getSceneGraph () const
	Get the Scene Graph. More...

std::vector< std::string >	getGroupJointNames (const std::string &group_name) const
	Get a groups joint names. More...

tesseract_kinematics::JointGroup::UPtr	getJointGroup (const std::string &group_name) const
	Get a joint group by name. More...

tesseract_kinematics::JointGroup::UPtr	getJointGroup (const std::string &name, const std::vector< std::string > &joint_names) const
	Get a joint group given a vector of joint names. More...

tesseract_kinematics::KinematicGroup::UPtr	getKinematicGroup (const std::string &group_name, std::string ik_solver_name="") const
	Get a kinematic group given group name and solver name. More...

Eigen::Isometry3d	findTCPOffset (const tesseract_common::ManipulatorInfo &manip_info) const
	Find tool center point provided in the manipulator info. More...

void	addFindTCPOffsetCallback (const FindTCPOffsetCallbackFn &fn)
	This allows for user defined callbacks for looking up TCP information. More...

std::vector< FindTCPOffsetCallbackFn >	getFindTCPOffsetCallbacks () const
	This get the current find tcp callbacks stored in the environment. More...

void	addEventCallback (std::size_t hash, const EventCallbackFn &fn)
	Add an event callback function. More...

void	removeEventCallback (std::size_t hash)
	Remove event callbacks. More...

void	clearEventCallbacks ()
	clear all event callbacks More...

std::map< std::size_t, EventCallbackFn >	getEventCallbacks () const
	Get the current event callbacks stored in the environment. More...

void	setResourceLocator (tesseract_common::ResourceLocator::ConstPtr locator)
	Set resource locator for environment. More...

tesseract_common::ResourceLocator::ConstPtr	getResourceLocator () const
	Get the resource locator assigned. More...

void	setName (const std::string &name)
	Give the environment a name. More...

const std::string &	getName () const
	Get the name of the environment. More...

void	setState (const std::unordered_map< std::string, double > &joints)
	Set the current state of the environment. More...

void	setState (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values)

tesseract_scene_graph::SceneState	getState (const std::unordered_map< std::string, double > &joints) const
	Get the state of the environment for a given set or subset of joint values. More...

tesseract_scene_graph::SceneState	getState (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values) const

tesseract_scene_graph::SceneState	getState () const
	Get the current state of the environment. More...

std::chrono::system_clock::time_point	getTimestamp () const
	Last update time. Updated when any change to the environment occurs. More...

std::chrono::system_clock::time_point	getCurrentStateTimestamp () const
	Last update time to current state. Updated only when current state is updated. More...

tesseract_scene_graph::Link::ConstPtr	getLink (const std::string &name) const
	Get a link in the environment. More...

tesseract_scene_graph::Joint::ConstPtr	getJoint (const std::string &name) const
	Get joint by name. More...

tesseract_scene_graph::JointLimits::ConstPtr	getJointLimits (const std::string &joint_name) const
	Gets the limits associated with a joint. More...

bool	getLinkCollisionEnabled (const std::string &name) const
	Get whether a link should be considered during collision checking. More...

bool	getLinkVisibility (const std::string &name) const
	Get a given links visibility setting. More...

tesseract_common::AllowedCollisionMatrix::ConstPtr	getAllowedCollisionMatrix () const
	Get the allowed collision matrix. More...

std::vector< std::string >	getJointNames () const
	Get a vector of joint names in the environment. More...

std::vector< std::string >	getActiveJointNames () const
	Get a vector of active joint names in the environment. More...

Eigen::VectorXd	getCurrentJointValues () const
	Get the current state of the environment. More...

Eigen::VectorXd	getCurrentJointValues (const std::vector< std::string > &joint_names) const
	Get the current joint values for a vector of joints. More...

std::string	getRootLinkName () const
	Get the root link name. More...

std::vector< std::string >	getLinkNames () const
	Get a vector of link names in the environment. More...

std::vector< std::string >	getActiveLinkNames () const
	Get a vector of active link names in the environment. More...

std::vector< std::string >	getActiveLinkNames (const std::vector< std::string > &joint_names) const
	Get a vector of active link names affected by the provided joints in the environment. More...

std::vector< std::string >	getStaticLinkNames () const
	Get a vector of static link names in the environment. More...

std::vector< std::string >	getStaticLinkNames (const std::vector< std::string > &joint_names) const
	Get a vector of static link names not affected by the provided joints in the environment. More...

tesseract_common::VectorIsometry3d	getLinkTransforms () const
	Get all of the links transforms. More...

Eigen::Isometry3d	getLinkTransform (const std::string &link_name) const
	Get the transform corresponding to the link. More...

Eigen::Isometry3d	getRelativeLinkTransform (const std::string &from_link_name, const std::string &to_link_name) const
	Get transform between two links using the current state. More...

tesseract_scene_graph::StateSolver::UPtr	getStateSolver () const
	Returns a clone of the environments state solver. More...

tesseract_srdf::KinematicsInformation	getKinematicsInformation () const
	Get the kinematics information. More...

tesseract_srdf::GroupNames	getGroupNames () const
	Get the available group names. More...

tesseract_common::ContactManagersPluginInfo	getContactManagersPluginInfo () const
	Get the contact managers plugin information. More...

bool	setActiveDiscreteContactManager (const std::string &name)
	Set the active discrete contact manager. More...

tesseract_collision::DiscreteContactManager::UPtr	getDiscreteContactManager () const
	Get a copy of the environments active discrete contact manager. More...

void	clearCachedDiscreteContactManager () const
	Set the cached internal copy of the environments active discrete contact manager not nullptr. More...

tesseract_collision::DiscreteContactManager::UPtr	getDiscreteContactManager (const std::string &name) const
	Get a copy of the environments available discrete contact manager by name. More...

bool	setActiveContinuousContactManager (const std::string &name)
	Set the active continuous contact manager. More...

tesseract_collision::ContinuousContactManager::UPtr	getContinuousContactManager () const
	Get a copy of the environments active continuous contact manager. More...

void	clearCachedContinuousContactManager () const
	Set the cached internal copy of the environments active continuous contact manager not nullptr. More...

tesseract_collision::ContinuousContactManager::UPtr	getContinuousContactManager (const std::string &name) const
	Get a copy of the environments available continuous contact manager by name. More...

tesseract_common::CollisionMarginData	getCollisionMarginData () const
	Get the environment collision margin data. More...

std::shared_lock< std::shared_mutex >	lockRead () const
	Lock the environment when wanting to make multiple reads. More...

bool	operator== (const Environment &rhs) const
	These operators are to facilitate checking serialization but may have value elsewhere. More...

bool	operator!= (const Environment &rhs) const

Protected Member Functions
void	currentStateChanged ()

void	environmentChanged ()

void	triggerCurrentStateChangedCallbacks ()
	Passes a current state changed event to the callbacks. More...

void	triggerEnvironmentChangedCallbacks ()
	Passes a environment changed event to the callbacks. More...

Protected Attributes
bool	initialized_ { false }
	Identifies if the object has been initialized. More...

int	revision_ { 0 }
	This increments when the scene graph is modified. More...

int	init_revision_ { 0 }
	This is the revision number after initialization used when reset is called. More...

Commands	commands_ {}
	The history of commands applied to the environment after initialization. More...

tesseract_scene_graph::SceneGraph::Ptr	scene_graph_ { nullptr }
	Tesseract Scene Graph. More...

tesseract_scene_graph::SceneGraph::ConstPtr	scene_graph_const_ { nullptr }
	Tesseract Scene Graph Const. More...

tesseract_srdf::KinematicsInformation	kinematics_information_
	The kinematics information. More...

tesseract_kinematics::KinematicsPluginFactory	kinematics_factory_
	The kinematics factory. More...

tesseract_scene_graph::SceneState	current_state_
	Current state of the environment. More...

std::chrono::system_clock::time_point	timestamp_ { std::chrono::system_clock::now() }
	Environment timestamp. More...

std::chrono::system_clock::time_point	current_state_timestamp_ { std::chrono::system_clock::now() }
	Current state timestamp. More...

tesseract_scene_graph::MutableStateSolver::UPtr	state_solver_ { nullptr }
	Tesseract State Solver. More...

tesseract_collision::IsContactAllowedFn	is_contact_allowed_fn_
	The function used to determine if two objects are allowed in collision. More...

std::vector< FindTCPOffsetCallbackFn >	find_tcp_cb_ {}
	A vector of user defined callbacks for locating tool center point. More...

std::map< std::size_t, EventCallbackFn >	event_cb_ {}
	A map of user defined event callback functions. More...

tesseract_common::ResourceLocator::ConstPtr	resource_locator_ { nullptr }
	Used when initialized by URDF_STRING, URDF_STRING_SRDF_STRING, URDF_PATH, and URDF_PATH_SRDF_PATH. More...

tesseract_common::ContactManagersPluginInfo	contact_managers_plugin_info_
	The contact manager information. More...

tesseract_collision::ContactManagersPluginFactory	contact_managers_factory_
	The contact managers factory. More...

tesseract_collision::CollisionMarginData	collision_margin_data_
	The collision margin data. More...

tesseract_collision::DiscreteContactManager::UPtr	discrete_manager_ { nullptr }
	The discrete contact manager object. More...

std::shared_mutex	discrete_manager_mutex_

tesseract_collision::ContinuousContactManager::UPtr	continuous_manager_ { nullptr }
	The continuous contact manager object. More...

std::shared_mutex	continuous_manager_mutex_

std::unordered_map< std::string, std::vector< std::string > >	group_joint_names_cache_ {}
	A cache of group joint names to provide faster access. More...

std::shared_mutex	group_joint_names_cache_mutex_

std::unordered_map< std::string, tesseract_kinematics::JointGroup::UPtr >	joint_group_cache_ {}
	A cache of joint groups to provide faster access. More...

std::shared_mutex	joint_group_cache_mutex_

std::map< std::pair< std::string, std::string >, tesseract_kinematics::KinematicGroup::UPtr >	kinematic_group_cache_ {}
	A cache of kinematic groups to provide faster access. More...

std::shared_mutex	kinematic_group_cache_mutex_

std::shared_mutex	mutex_
	The environment can be accessed from multiple threads, need use mutex throughout. More...

Private Member Functions
bool	removeLinkHelper (const std::string &name)

bool	setActiveDiscreteContactManagerHelper (const std::string &name)

bool	setActiveContinuousContactManagerHelper (const std::string &name)

tesseract_collision::DiscreteContactManager::UPtr	getDiscreteContactManagerHelper (const std::string &name) const

tesseract_collision::ContinuousContactManager::UPtr	getContinuousContactManagerHelper (const std::string &name) const

bool	initHelper (const Commands &commands)

bool	applyCommandsHelper (const Commands &commands)
	Apply Command Helper which does not lock. More...

bool	applyAddCommand (AddLinkCommand::ConstPtr cmd)

bool	applyMoveLinkCommand (const MoveLinkCommand::ConstPtr &cmd)

bool	applyMoveJointCommand (const MoveJointCommand::ConstPtr &cmd)

bool	applyRemoveLinkCommand (const RemoveLinkCommand::ConstPtr &cmd)

bool	applyRemoveJointCommand (const RemoveJointCommand::ConstPtr &cmd)

bool	applyReplaceJointCommand (const ReplaceJointCommand::ConstPtr &cmd)

bool	applyChangeLinkOriginCommand (const ChangeLinkOriginCommand::ConstPtr &cmd)

bool	applyChangeJointOriginCommand (const ChangeJointOriginCommand::ConstPtr &cmd)

bool	applyChangeLinkCollisionEnabledCommand (const ChangeLinkCollisionEnabledCommand::ConstPtr &cmd)

bool	applyChangeLinkVisibilityCommand (const ChangeLinkVisibilityCommand::ConstPtr &cmd)

bool	applyModifyAllowedCollisionsCommand (const ModifyAllowedCollisionsCommand::ConstPtr &cmd)

bool	applyRemoveAllowedCollisionLinkCommand (const RemoveAllowedCollisionLinkCommand::ConstPtr &cmd)

bool	applyAddSceneGraphCommand (AddSceneGraphCommand::ConstPtr cmd)

bool	applyChangeJointPositionLimitsCommand (const ChangeJointPositionLimitsCommand::ConstPtr &cmd)

bool	applyChangeJointVelocityLimitsCommand (const ChangeJointVelocityLimitsCommand::ConstPtr &cmd)

bool	applyChangeJointAccelerationLimitsCommand (const ChangeJointAccelerationLimitsCommand::ConstPtr &cmd)

bool	applyAddKinematicsInformationCommand (const AddKinematicsInformationCommand::ConstPtr &cmd)

bool	applyChangeCollisionMarginsCommand (const ChangeCollisionMarginsCommand::ConstPtr &cmd)

bool	applyAddContactManagersPluginInfoCommand (const AddContactManagersPluginInfoCommand::ConstPtr &cmd)

bool	applySetActiveContinuousContactManagerCommand (const SetActiveContinuousContactManagerCommand::ConstPtr &cmd)

bool	applySetActiveDiscreteContactManagerCommand (const SetActiveDiscreteContactManagerCommand::ConstPtr &cmd)

template<class Archive >
void	save (Archive &ar, const unsigned int version) const

template<class Archive >
void	load (Archive &ar, const unsigned int version)

template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Static Private Member Functions
static void	getCollisionObject (tesseract_collision::CollisionShapesConst &shapes, tesseract_common::VectorIsometry3d &shape_poses, const tesseract_scene_graph::Link &link)

static Commands	getInitCommands (const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_srdf::SRDFModel::ConstPtr &srdf_model=nullptr)

Friends
class	boost::serialization::access

Member Typedef Documentation

◆ ConstPtr

using tesseract_environment::Environment::ConstPtr = std::shared_ptr<const Environment>

◆ ConstUPtr

using tesseract_environment::Environment::ConstUPtr = std::unique_ptr<const Environment>

◆ Ptr

using tesseract_environment::Environment::Ptr = std::shared_ptr<Environment>

◆ UPtr

using tesseract_environment::Environment::UPtr = std::unique_ptr<Environment>

Constructor & Destructor Documentation

◆ Environment() [1/3]

tesseract_environment::Environment::Environment ( )

default

Default constructor.

◆ ~Environment()

virtual tesseract_environment::Environment::~Environment ( )

virtualdefault

◆ Environment() [2/3]

tesseract_environment::Environment::Environment ( const Environment & )

delete

◆ Environment() [3/3]

tesseract_environment::Environment::Environment ( Environment && )

delete

Member Function Documentation

◆ addEventCallback()

void tesseract_environment::Environment::addEventCallback	(	std::size_t	hash,
		const EventCallbackFn &	fn
	)

Add an event callback function.

When these get called they are protected by a unique lock internally so if the callback is a long event it can impact performance.

Note: These do not get cloned or serialized

Parameters

hash	The id associated with the callback to allow removal. It is recommended to use std::hash<Object*>{}(this) to associate the callback with the class it associated with.
fn	User defined callback function which gets called for different event triggers

◆ addFindTCPOffsetCallback()

void tesseract_environment::Environment::addFindTCPOffsetCallback ( const FindTCPOffsetCallbackFn & fn )

This allows for user defined callbacks for looking up TCP information.

Parameters

fn	User defined callback function for locating TCP information

◆ applyAddCommand()

bool tesseract_environment::Environment::applyAddCommand ( AddLinkCommand::ConstPtr cmd )

private

◆ applyAddContactManagersPluginInfoCommand()

bool tesseract_environment::Environment::applyAddContactManagersPluginInfoCommand ( const AddContactManagersPluginInfoCommand::ConstPtr & cmd )

private

◆ applyAddKinematicsInformationCommand()

bool tesseract_environment::Environment::applyAddKinematicsInformationCommand ( const AddKinematicsInformationCommand::ConstPtr & cmd )

private

◆ applyAddSceneGraphCommand()

bool tesseract_environment::Environment::applyAddSceneGraphCommand ( AddSceneGraphCommand::ConstPtr cmd )

private

◆ applyChangeCollisionMarginsCommand()

bool tesseract_environment::Environment::applyChangeCollisionMarginsCommand ( const ChangeCollisionMarginsCommand::ConstPtr & cmd )

private

◆ applyChangeJointAccelerationLimitsCommand()

bool tesseract_environment::Environment::applyChangeJointAccelerationLimitsCommand ( const ChangeJointAccelerationLimitsCommand::ConstPtr & cmd )

private

◆ applyChangeJointOriginCommand()

bool tesseract_environment::Environment::applyChangeJointOriginCommand ( const ChangeJointOriginCommand::ConstPtr & cmd )

private

◆ applyChangeJointPositionLimitsCommand()

bool tesseract_environment::Environment::applyChangeJointPositionLimitsCommand ( const ChangeJointPositionLimitsCommand::ConstPtr & cmd )

private

◆ applyChangeJointVelocityLimitsCommand()

bool tesseract_environment::Environment::applyChangeJointVelocityLimitsCommand ( const ChangeJointVelocityLimitsCommand::ConstPtr & cmd )

private

◆ applyChangeLinkCollisionEnabledCommand()

bool tesseract_environment::Environment::applyChangeLinkCollisionEnabledCommand ( const ChangeLinkCollisionEnabledCommand::ConstPtr & cmd )

private

◆ applyChangeLinkOriginCommand()

bool tesseract_environment::Environment::applyChangeLinkOriginCommand ( const ChangeLinkOriginCommand::ConstPtr & cmd )

private

◆ applyChangeLinkVisibilityCommand()

bool tesseract_environment::Environment::applyChangeLinkVisibilityCommand ( const ChangeLinkVisibilityCommand::ConstPtr & cmd )

private

◆ applyCommand()

bool tesseract_environment::Environment::applyCommand ( Command::ConstPtr command )

Apply command to the environment.

Parameters

command Command to be applied to the environment

Returns: true if successful. If returned false, then the command have not been applied. Some type of Command are not checked for success

◆ applyCommands()

bool tesseract_environment::Environment::applyCommands ( const Commands & commands )

Applies the commands to the environment.

Parameters

commands Commands to be applied to the environment

Returns: true if successful. If returned false, then only a partial set of commands have been applied. Call getCommandHistory to check. Some commands are not checked for success

◆ applyCommandsHelper()

bool tesseract_environment::Environment::applyCommandsHelper ( const Commands & commands )

private

Apply Command Helper which does not lock.

◆ applyModifyAllowedCollisionsCommand()

bool tesseract_environment::Environment::applyModifyAllowedCollisionsCommand ( const ModifyAllowedCollisionsCommand::ConstPtr & cmd )

private

◆ applyMoveJointCommand()

bool tesseract_environment::Environment::applyMoveJointCommand ( const MoveJointCommand::ConstPtr & cmd )

private

◆ applyMoveLinkCommand()

bool tesseract_environment::Environment::applyMoveLinkCommand ( const MoveLinkCommand::ConstPtr & cmd )

private

◆ applyRemoveAllowedCollisionLinkCommand()

bool tesseract_environment::Environment::applyRemoveAllowedCollisionLinkCommand ( const RemoveAllowedCollisionLinkCommand::ConstPtr & cmd )

private

◆ applyRemoveJointCommand()

bool tesseract_environment::Environment::applyRemoveJointCommand ( const RemoveJointCommand::ConstPtr & cmd )

private

◆ applyRemoveLinkCommand()

bool tesseract_environment::Environment::applyRemoveLinkCommand ( const RemoveLinkCommand::ConstPtr & cmd )

private

◆ applyReplaceJointCommand()

bool tesseract_environment::Environment::applyReplaceJointCommand ( const ReplaceJointCommand::ConstPtr & cmd )

private

◆ applySetActiveContinuousContactManagerCommand()

bool tesseract_environment::Environment::applySetActiveContinuousContactManagerCommand ( const SetActiveContinuousContactManagerCommand::ConstPtr & cmd )

private

◆ applySetActiveDiscreteContactManagerCommand()

bool tesseract_environment::Environment::applySetActiveDiscreteContactManagerCommand ( const SetActiveDiscreteContactManagerCommand::ConstPtr & cmd )

private

◆ clear()

void tesseract_environment::Environment::clear ( )

clear content and uninitialized

◆ clearCachedContinuousContactManager()

void tesseract_environment::Environment::clearCachedContinuousContactManager ( ) const

Set the cached internal copy of the environments active continuous contact manager not nullptr.

This can be useful to save space in the event the environment is being saved

◆ clearCachedDiscreteContactManager()

void tesseract_environment::Environment::clearCachedDiscreteContactManager ( ) const

Set the cached internal copy of the environments active discrete contact manager not nullptr.

This can be useful to save space in the event the environment is being saved

◆ clearEventCallbacks()

void tesseract_environment::Environment::clearEventCallbacks ( )

clear all event callbacks

◆ clone()

Environment::UPtr tesseract_environment::Environment::clone ( ) const

Clone the environment.

Returns: A clone of the environment

◆ currentStateChanged()

void tesseract_environment::Environment::currentStateChanged ( )

protected

This will update the contact managers transforms

◆ environmentChanged()

void tesseract_environment::Environment::environmentChanged ( )

protected

This will notify the state solver that the environment has changed

◆ findTCPOffset()

Eigen::Isometry3d tesseract_environment::Environment::findTCPOffset ( const tesseract_common::ManipulatorInfo & manip_info ) const

Find tool center point provided in the manipulator info.

If manipulator information tcp is defined as a string it does the following

First check if manipulator info is empty or already an Isometry3d, if so return identity
Next if not, it checks if the tcp offset name is a link in the environment if so throw an exception.
Next if not found, it looks up the tcp name in the SRDF kinematics information
Next if not found, it leverages the user defined callbacks to try an locate the tcp information.
Next throw an exception, because no tcp information was located.

Parameters

manip_info The manipulator info

Returns: The tool center point

◆ getActiveJointNames()

std::vector< std::string > tesseract_environment::Environment::getActiveJointNames ( ) const

Get a vector of active joint names in the environment.

Returns: A vector of active joint names

◆ getActiveLinkNames() [1/2]

std::vector< std::string > tesseract_environment::Environment::getActiveLinkNames ( ) const

Get a vector of active link names in the environment.

Returns: A vector of active link names

◆ getActiveLinkNames() [2/2]

std::vector< std::string > tesseract_environment::Environment::getActiveLinkNames ( const std::vector< std::string > & joint_names ) const

Get a vector of active link names affected by the provided joints in the environment.

Parameters

joint_names A list of joint names

Returns: A vector of active link names

◆ getAllowedCollisionMatrix()

tesseract_common::AllowedCollisionMatrix::ConstPtr tesseract_environment::Environment::getAllowedCollisionMatrix ( ) const

Get the allowed collision matrix.

Returns: AllowedCollisionMatrixConstPtr

◆ getCollisionMarginData()

tesseract_common::CollisionMarginData tesseract_environment::Environment::getCollisionMarginData ( ) const

Get the environment collision margin data.

◆ getCollisionObject()

void tesseract_environment::Environment::getCollisionObject	(	tesseract_collision::CollisionShapesConst &	shapes,
		tesseract_common::VectorIsometry3d &	shape_poses,
		const tesseract_scene_graph::Link &	link
	)

staticprivate

◆ getCommandHistory()

Commands tesseract_environment::Environment::getCommandHistory ( ) const

Get Environment command history post initialization.

Returns: List of commands

◆ getContactManagersPluginInfo()

tesseract_common::ContactManagersPluginInfo tesseract_environment::Environment::getContactManagersPluginInfo ( ) const

Get the contact managers plugin information.

Returns: The contact managers plugin information

◆ getContinuousContactManager() [1/2]

tesseract_collision::ContinuousContactManager::UPtr tesseract_environment::Environment::getContinuousContactManager ( ) const

Get a copy of the environments active continuous contact manager.

◆ getContinuousContactManager() [2/2]

tesseract_collision::ContinuousContactManager::UPtr tesseract_environment::Environment::getContinuousContactManager ( const std::string & name ) const

Get a copy of the environments available continuous contact manager by name.

◆ getContinuousContactManagerHelper()

tesseract_collision::ContinuousContactManager::UPtr tesseract_environment::Environment::getContinuousContactManagerHelper ( const std::string & name ) const

private

◆ getCurrentJointValues() [1/2]

Eigen::VectorXd tesseract_environment::Environment::getCurrentJointValues ( ) const

Get the current state of the environment.

Order should be the same as getActiveJointNames()

Returns: A vector of joint values

◆ getCurrentJointValues() [2/2]

Eigen::VectorXd tesseract_environment::Environment::getCurrentJointValues ( const std::vector< std::string > & joint_names ) const

Get the current joint values for a vector of joints.

Order should be the same as the input vector

Returns: A vector of joint values

◆ getCurrentStateTimestamp()

std::chrono::system_clock::time_point tesseract_environment::Environment::getCurrentStateTimestamp ( ) const

Last update time to current state. Updated only when current state is updated.

◆ getDiscreteContactManager() [1/2]

tesseract_collision::DiscreteContactManager::UPtr tesseract_environment::Environment::getDiscreteContactManager ( ) const

Get a copy of the environments active discrete contact manager.

◆ getDiscreteContactManager() [2/2]

tesseract_collision::DiscreteContactManager::UPtr tesseract_environment::Environment::getDiscreteContactManager ( const std::string & name ) const

Get a copy of the environments available discrete contact manager by name.

◆ getDiscreteContactManagerHelper()

tesseract_collision::DiscreteContactManager::UPtr tesseract_environment::Environment::getDiscreteContactManagerHelper ( const std::string & name ) const

private

◆ getEventCallbacks()

std::map< std::size_t, EventCallbackFn > tesseract_environment::Environment::getEventCallbacks ( ) const

Get the current event callbacks stored in the environment.

Returns: A map of callback functions

◆ getFindTCPOffsetCallbacks()

std::vector< FindTCPOffsetCallbackFn > tesseract_environment::Environment::getFindTCPOffsetCallbacks ( ) const

This get the current find tcp callbacks stored in the environment.

Returns: A vector of callback functions

◆ getGroupJointNames()

std::vector< std::string > tesseract_environment::Environment::getGroupJointNames ( const std::string & group_name ) const

Get a groups joint names.

Parameters

group_name The group name

Returns: A vector of joint names

◆ getGroupNames()

tesseract_srdf::GroupNames tesseract_environment::Environment::getGroupNames ( ) const

Get the available group names.

Returns: The group names

◆ getInitCommands()

Commands tesseract_environment::Environment::getInitCommands	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_srdf::SRDFModel::ConstPtr &	srdf_model = `nullptr`
	)

staticprivate

◆ getJoint()

tesseract_scene_graph::Joint::ConstPtr tesseract_environment::Environment::getJoint ( const std::string & name ) const

Get joint by name.

Parameters

name	The name of the joint

Returns: Joint Const Pointer

◆ getJointGroup() [1/2]

tesseract_kinematics::JointGroup::UPtr tesseract_environment::Environment::getJointGroup ( const std::string & group_name ) const

Get a joint group by name.

Parameters

group_name The group name

Returns: A joint group

◆ getJointGroup() [2/2]

tesseract_kinematics::JointGroup::UPtr tesseract_environment::Environment::getJointGroup	(	const std::string &	name,
		const std::vector< std::string > &	joint_names
	)		const

Get a joint group given a vector of joint names.

Parameters

name	The name to assign to the joint group
joint_names	The joint names that make up the group

Returns: A joint group

◆ getJointLimits()

tesseract_scene_graph::JointLimits::ConstPtr tesseract_environment::Environment::getJointLimits ( const std::string & joint_name ) const

Gets the limits associated with a joint.

Parameters

joint_name Name of the joint to be updated

Returns: The joint limits set for the given joint

◆ getJointNames()

std::vector< std::string > tesseract_environment::Environment::getJointNames ( ) const

Get a vector of joint names in the environment.

Returns: A vector of joint names

◆ getKinematicGroup()

tesseract_kinematics::KinematicGroup::UPtr tesseract_environment::Environment::getKinematicGroup	(	const std::string &	group_name,
		std::string	ik_solver_name = `""`
	)		const

Get a kinematic group given group name and solver name.

If ik_solver_name is empty it will choose the first ik solver for the group

Parameters

group_name	The group name
ik_solver_name	The IK solver name

Returns: A kinematics group

◆ getKinematicsInformation()

tesseract_srdf::KinematicsInformation tesseract_environment::Environment::getKinematicsInformation ( ) const

Get the kinematics information.

Returns: The kinematics information

◆ getLink()

tesseract_scene_graph::Link::ConstPtr tesseract_environment::Environment::getLink ( const std::string & name ) const

Get a link in the environment.

Parameters

name	The name of the link

Returns: Return nullptr if link name does not exists, otherwise a pointer to the link

◆ getLinkCollisionEnabled()

bool tesseract_environment::Environment::getLinkCollisionEnabled ( const std::string & name ) const

Get whether a link should be considered during collision checking.

Returns: True if should be considered during collision checking, otherwise false

◆ getLinkNames()

std::vector< std::string > tesseract_environment::Environment::getLinkNames ( ) const

Get a vector of link names in the environment.

Returns: A vector of link names

◆ getLinkTransform()

Eigen::Isometry3d tesseract_environment::Environment::getLinkTransform ( const std::string & link_name ) const

Get the transform corresponding to the link.

Returns: Transform and is identity when no transform is available.

◆ getLinkTransforms()

tesseract_common::VectorIsometry3d tesseract_environment::Environment::getLinkTransforms ( ) const

Get all of the links transforms.

Order should be the same as getLinkNames()

Returns: Get a vector of transforms for all links in the environment.

◆ getLinkVisibility()

bool tesseract_environment::Environment::getLinkVisibility ( const std::string & name ) const

Get a given links visibility setting.

Returns: True if should be visible, otherwise false

◆ getName()

const std::string & tesseract_environment::Environment::getName ( ) const

Get the name of the environment.

This may be empty, if so check urdf name

◆ getRelativeLinkTransform()

Eigen::Isometry3d tesseract_environment::Environment::getRelativeLinkTransform	(	const std::string &	from_link_name,
		const std::string &	to_link_name
	)		const

Get transform between two links using the current state.

Parameters

from_link_name	The link name the transform should be relative to
to_link_name	The link name to get transform

Returns: The relative transform = inv(Transform(from_link_name)) * Transform(to_link_name)

◆ getResourceLocator()

tesseract_common::ResourceLocator::ConstPtr tesseract_environment::Environment::getResourceLocator ( ) const

Get the resource locator assigned.

This can be a nullptr

Returns: The resource locator assigned to the environment

◆ getRevision()

int tesseract_environment::Environment::getRevision ( ) const

Get the current revision number.

Returns: Revision number

◆ getRootLinkName()

std::string tesseract_environment::Environment::getRootLinkName ( ) const

Get the root link name.

Returns: String

◆ getSceneGraph()

tesseract_scene_graph::SceneGraph::ConstPtr tesseract_environment::Environment::getSceneGraph ( ) const

Get the Scene Graph.

Returns: SceneGraphConstPtr

◆ getState() [1/3]

tesseract_scene_graph::SceneState tesseract_environment::Environment::getState ( ) const

Get the current state of the environment.

◆ getState() [2/3]

tesseract_scene_graph::SceneState tesseract_environment::Environment::getState ( const std::unordered_map< std::string, double > & joints ) const

Get the state of the environment for a given set or subset of joint values.

This does not change the internal state of the environment.

Parameters

joints A map of joint names to joint values to change.

Returns: A the state of the environment

◆ getState() [3/3]

tesseract_scene_graph::SceneState tesseract_environment::Environment::getState	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values
	)		const

◆ getStateSolver()

tesseract_scene_graph::StateSolver::UPtr tesseract_environment::Environment::getStateSolver ( ) const

Returns a clone of the environments state solver.

The Environment::getState contains mutex's which is may not be needed in all motion planners. This allows the user to get snap shot of the environment to calculate the state.

Returns: A clone of the environments state solver

◆ getStaticLinkNames() [1/2]

std::vector< std::string > tesseract_environment::Environment::getStaticLinkNames ( ) const

Get a vector of static link names in the environment.

Returns: A vector of static link names

◆ getStaticLinkNames() [2/2]

std::vector< std::string > tesseract_environment::Environment::getStaticLinkNames ( const std::vector< std::string > & joint_names ) const

Get a vector of static link names not affected by the provided joints in the environment.

Parameters

joint_names A list of joint names

Returns: A vector of static link names

◆ getTimestamp()

std::chrono::system_clock::time_point tesseract_environment::Environment::getTimestamp ( ) const

Last update time. Updated when any change to the environment occurs.

◆ init() [1/6]

bool tesseract_environment::Environment::init ( const Commands & commands )

Initialize the Environment.

The template class provided should be a derived class from StateSolver.

Parameters

scene_graph The scene graph to initialize the environment.

Returns: True if successful, otherwise false

◆ init() [2/6]

bool tesseract_environment::Environment::init	(	const std::string &	urdf_string,
		const std::string &	srdf_string,
		const tesseract_common::ResourceLocator::ConstPtr &	locator
	)

◆ init() [3/6]

bool tesseract_environment::Environment::init	(	const std::string &	urdf_string,
		const tesseract_common::ResourceLocator::ConstPtr &	locator
	)

◆ init() [4/6]

bool tesseract_environment::Environment::init	(	const tesseract_common::fs::path &	urdf_path,
		const tesseract_common::fs::path &	srdf_path,
		const tesseract_common::ResourceLocator::ConstPtr &	locator
	)

◆ init() [5/6]

bool tesseract_environment::Environment::init	(	const tesseract_common::fs::path &	urdf_path,
		const tesseract_common::ResourceLocator::ConstPtr &	locator
	)

◆ init() [6/6]

bool tesseract_environment::Environment::init	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_srdf::SRDFModel::ConstPtr &	srdf_model = `nullptr`
	)

Initialize the Environment.

The template class provided should be a derived class from StateSolver.

Parameters

scene_graph The scene graph to initialize the environment.

Returns: True if successful, otherwise false

◆ initHelper()

bool tesseract_environment::Environment::initHelper ( const Commands & commands )

private

◆ isInitialized()

bool tesseract_environment::Environment::isInitialized ( ) const

check if the environment is initialized

◆ load()

template<class Archive >

void tesseract_environment::Environment::load	(	Archive &	ar,
		const unsigned int	version
	)

private

◆ lockRead()

std::shared_lock< std::shared_mutex > tesseract_environment::Environment::lockRead ( ) const

Lock the environment when wanting to make multiple reads.

This is useful when making multiple read function calls and don't want the data to get updated between function calls when there a multiple threads updating a single environment

◆ operator!=()

bool tesseract_environment::Environment::operator!= ( const Environment & rhs ) const

◆ operator=() [1/2]

Environment & tesseract_environment::Environment::operator= ( const Environment & )

delete

◆ operator=() [2/2]

Environment & tesseract_environment::Environment::operator= ( Environment && )

delete

◆ operator==()

bool tesseract_environment::Environment::operator== ( const Environment & rhs ) const

These operators are to facilitate checking serialization but may have value elsewhere.

Parameters

rhs	The environment to compare

Returns: True if they are equal otherwise false

Todo:: uncomment after serialized

◆ removeEventCallback()

void tesseract_environment::Environment::removeEventCallback ( std::size_t hash )

Remove event callbacks.

Parameters

hash	the id associated with the callback to be removed

◆ removeLinkHelper()

bool tesseract_environment::Environment::removeLinkHelper ( const std::string & name )

private

◆ reset()

bool tesseract_environment::Environment::reset ( )

reset to initialized state

If the environment has not been initialized then this returns false

Returns: True if environment was successfully reset, otherwise false.

◆ save()

template<class Archive >

void tesseract_environment::Environment::save	(	Archive &	ar,
		const unsigned int	version
	)		const

private

◆ serialize()

template<class Archive >

void tesseract_environment::Environment::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

◆ setActiveContinuousContactManager()

bool tesseract_environment::Environment::setActiveContinuousContactManager ( const std::string & name )

Set the active continuous contact manager.

Parameters

name	The name used to register the contact manager

Returns: True of name exists in ContinuousContactManagerFactory

◆ setActiveContinuousContactManagerHelper()

bool tesseract_environment::Environment::setActiveContinuousContactManagerHelper ( const std::string & name )

private

◆ setActiveDiscreteContactManager()

bool tesseract_environment::Environment::setActiveDiscreteContactManager ( const std::string & name )

Set the active discrete contact manager.

Parameters

name	The name used to register the contact manager

Returns: True of name exists in DiscreteContactManagerFactory

◆ setActiveDiscreteContactManagerHelper()

bool tesseract_environment::Environment::setActiveDiscreteContactManagerHelper ( const std::string & name )

private

◆ setName()

void tesseract_environment::Environment::setName ( const std::string & name )

Give the environment a name.

◆ setResourceLocator()

void tesseract_environment::Environment::setResourceLocator ( tesseract_common::ResourceLocator::ConstPtr locator )

Set resource locator for environment.

Parameters

locator The resource locator

◆ setState() [1/2]

void tesseract_environment::Environment::setState ( const std::unordered_map< std::string, double > & joints )

Set the current state of the environment.

After updating the current state these function must call currentStateChanged() which will update the contact managers transforms

◆ setState() [2/2]

void tesseract_environment::Environment::setState	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values
	)

◆ triggerCurrentStateChangedCallbacks()

void tesseract_environment::Environment::triggerCurrentStateChangedCallbacks ( )

protected

Passes a current state changed event to the callbacks.

Note: This does not take a lock

◆ triggerEnvironmentChangedCallbacks()

void tesseract_environment::Environment::triggerEnvironmentChangedCallbacks ( )

protected

Passes a environment changed event to the callbacks.

Note: This does not take a lock

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Member Data Documentation

◆ collision_margin_data_

tesseract_collision::CollisionMarginData tesseract_environment::Environment::collision_margin_data_

protected

The collision margin data.

Note: This is intentionally not serialized it will auto updated

◆ commands_

Commands tesseract_environment::Environment::commands_ {}

protected

The history of commands applied to the environment after initialization.

◆ contact_managers_factory_

tesseract_collision::ContactManagersPluginFactory tesseract_environment::Environment::contact_managers_factory_

protected

The contact managers factory.

Note: This is intentionally not serialized it will auto updated

◆ contact_managers_plugin_info_

tesseract_common::ContactManagersPluginInfo tesseract_environment::Environment::contact_managers_plugin_info_

protected

The contact manager information.

Note: This is intentionally not serialized it will auto updated

◆ continuous_manager_

tesseract_collision::ContinuousContactManager::UPtr tesseract_environment::Environment::continuous_manager_ { nullptr }

mutableprotected

The continuous contact manager object.

Note: This is intentionally not serialized it will auto updated

◆ continuous_manager_mutex_

std::shared_mutex tesseract_environment::Environment::continuous_manager_mutex_

mutableprotected

◆ current_state_

tesseract_scene_graph::SceneState tesseract_environment::Environment::current_state_

protected

Current state of the environment.

◆ current_state_timestamp_

std::chrono::system_clock::time_point tesseract_environment::Environment::current_state_timestamp_ { std::chrono::system_clock::now() }

protected

Current state timestamp.

◆ discrete_manager_

tesseract_collision::DiscreteContactManager::UPtr tesseract_environment::Environment::discrete_manager_ { nullptr }

mutableprotected

The discrete contact manager object.

Note: This is intentionally not serialized it will auto updated

◆ discrete_manager_mutex_

std::shared_mutex tesseract_environment::Environment::discrete_manager_mutex_

mutableprotected

◆ event_cb_

std::map<std::size_t, EventCallbackFn> tesseract_environment::Environment::event_cb_ {}

protected

A map of user defined event callback functions.

This should not be cloned or serialized

◆ find_tcp_cb_

std::vector<FindTCPOffsetCallbackFn> tesseract_environment::Environment::find_tcp_cb_ {}

protected

A vector of user defined callbacks for locating tool center point.

Todo:: This needs to be switched to class so it may be serialized

◆ group_joint_names_cache_

std::unordered_map<std::string, std::vector<std::string> > tesseract_environment::Environment::group_joint_names_cache_ {}

mutableprotected

A cache of group joint names to provide faster access.

This will cleared when environment changes

Note: This is intentionally not serialized it will auto updated

◆ group_joint_names_cache_mutex_

std::shared_mutex tesseract_environment::Environment::group_joint_names_cache_mutex_

mutableprotected

◆ init_revision_

int tesseract_environment::Environment::init_revision_ { 0 }

protected

This is the revision number after initialization used when reset is called.

◆ initialized_

bool tesseract_environment::Environment::initialized_ { false }

protected

Identifies if the object has been initialized.

Note: This is intentionally not serialized it will auto updated

◆ is_contact_allowed_fn_

tesseract_collision::IsContactAllowedFn tesseract_environment::Environment::is_contact_allowed_fn_

protected

The function used to determine if two objects are allowed in collision.

Todo:: This needs to be switched to class so it may be serialized

◆ joint_group_cache_

std::unordered_map<std::string, tesseract_kinematics::JointGroup::UPtr> tesseract_environment::Environment::joint_group_cache_ {}

mutableprotected

A cache of joint groups to provide faster access.

This will cleared when environment changes

Note: This is intentionally not serialized it will auto updated

◆ joint_group_cache_mutex_

std::shared_mutex tesseract_environment::Environment::joint_group_cache_mutex_

mutableprotected

◆ kinematic_group_cache_

std::map<std::pair<std::string, std::string>, tesseract_kinematics::KinematicGroup::UPtr> tesseract_environment::Environment::kinematic_group_cache_ {}

mutableprotected

A cache of kinematic groups to provide faster access.

This will cleared when environment changes

Note: This is intentionally not serialized it will auto updated

◆ kinematic_group_cache_mutex_

std::shared_mutex tesseract_environment::Environment::kinematic_group_cache_mutex_

mutableprotected

◆ kinematics_factory_

tesseract_kinematics::KinematicsPluginFactory tesseract_environment::Environment::kinematics_factory_

protected

The kinematics factory.

Note: This is intentionally not serialized it will auto updated

◆ kinematics_information_

tesseract_srdf::KinematicsInformation tesseract_environment::Environment::kinematics_information_

protected

The kinematics information.

Note: This is intentionally not serialized it will auto updated

◆ mutex_

std::shared_mutex tesseract_environment::Environment::mutex_

mutableprotected

The environment can be accessed from multiple threads, need use mutex throughout.

◆ resource_locator_

tesseract_common::ResourceLocator::ConstPtr tesseract_environment::Environment::resource_locator_ { nullptr }

protected

Used when initialized by URDF_STRING, URDF_STRING_SRDF_STRING, URDF_PATH, and URDF_PATH_SRDF_PATH.

◆ revision_

int tesseract_environment::Environment::revision_ { 0 }

protected

This increments when the scene graph is modified.

Note: This is intentionally not serialized it will auto updated

◆ scene_graph_

tesseract_scene_graph::SceneGraph::Ptr tesseract_environment::Environment::scene_graph_ { nullptr }

protected

Tesseract Scene Graph.

Note: This is intentionally not serialized it will auto updated

◆ scene_graph_const_

tesseract_scene_graph::SceneGraph::ConstPtr tesseract_environment::Environment::scene_graph_const_ { nullptr }

protected

Tesseract Scene Graph Const.

Note: This is intentionally not serialized it will auto updated

◆ state_solver_

tesseract_scene_graph::MutableStateSolver::UPtr tesseract_environment::Environment::state_solver_ { nullptr }

protected

Tesseract State Solver.

Note: This is intentionally not serialized it will auto updated

◆ timestamp_

std::chrono::system_clock::time_point tesseract_environment::Environment::timestamp_ { std::chrono::system_clock::now() }

protected

Environment timestamp.

The documentation for this class was generated from the following files:

tesseract_environment/include/tesseract_environment/environment.h
tesseract_environment/src/environment.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Friends

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ Environment() [1/3]

◆ ~Environment()

◆ Environment() [2/3]

◆ Environment() [3/3]

Member Function Documentation

◆ addEventCallback()

◆ addFindTCPOffsetCallback()

◆ applyAddCommand()

◆ applyAddContactManagersPluginInfoCommand()

◆ applyAddKinematicsInformationCommand()

◆ applyAddSceneGraphCommand()

◆ applyChangeCollisionMarginsCommand()

◆ applyChangeJointAccelerationLimitsCommand()

◆ applyChangeJointOriginCommand()

◆ applyChangeJointPositionLimitsCommand()

◆ applyChangeJointVelocityLimitsCommand()

◆ applyChangeLinkCollisionEnabledCommand()

◆ applyChangeLinkOriginCommand()

◆ applyChangeLinkVisibilityCommand()

◆ applyCommand()

◆ applyCommands()

◆ applyCommandsHelper()

◆ applyModifyAllowedCollisionsCommand()

◆ applyMoveJointCommand()

◆ applyMoveLinkCommand()

◆ applyRemoveAllowedCollisionLinkCommand()

◆ applyRemoveJointCommand()

◆ applyRemoveLinkCommand()

◆ applyReplaceJointCommand()

◆ applySetActiveContinuousContactManagerCommand()

◆ applySetActiveDiscreteContactManagerCommand()

◆ clear()

◆ clearCachedContinuousContactManager()

◆ clearCachedDiscreteContactManager()

◆ clearEventCallbacks()

◆ clone()

◆ currentStateChanged()

◆ environmentChanged()

◆ findTCPOffset()

◆ getActiveJointNames()

◆ getActiveLinkNames() [1/2]

◆ getActiveLinkNames() [2/2]

◆ getAllowedCollisionMatrix()

◆ getCollisionMarginData()

◆ getCollisionObject()

◆ getCommandHistory()

◆ getContactManagersPluginInfo()

◆ getContinuousContactManager() [1/2]

◆ getContinuousContactManager() [2/2]

◆ getContinuousContactManagerHelper()

◆ getCurrentJointValues() [1/2]

◆ getCurrentJointValues() [2/2]

◆ getCurrentStateTimestamp()

◆ getDiscreteContactManager() [1/2]

◆ getDiscreteContactManager() [2/2]

◆ getDiscreteContactManagerHelper()

◆ getEventCallbacks()

◆ getFindTCPOffsetCallbacks()

◆ getGroupJointNames()

◆ getGroupNames()

◆ getInitCommands()

◆ getJoint()

◆ getJointGroup() [1/2]

◆ getJointGroup() [2/2]

◆ getJointLimits()

◆ getJointNames()

◆ getKinematicGroup()