#include <ofkt_nodes.h>

Inheritance diagram for tesseract_scene_graph::OFKTBaseNode:

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Collaboration diagram for tesseract_scene_graph::OFKTBaseNode:

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Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	OFKTBaseNode (tesseract_scene_graph::JointType type, OFKTNode *parent, std::string link_name)

	OFKTBaseNode (tesseract_scene_graph::JointType type, OFKTNode *parent, std::string link_name, std::string joint_name, const Eigen::Isometry3d &static_tf)

JointType	getType () const override
	Get the type of joint associated with the node. More...

void	setParent (OFKTNode *parent) override
	Set the parent node. More...

OFKTNode *	getParent () override
	Get the parent node. More...

const OFKTNode *	getParent () const override
	Get the parent node (const) More...

const std::string &	getLinkName () const override
	Get the link name associated with the node. More...

const std::string &	getJointName () const override
	Get the joint name associated with the node. More...

void	storeJointValue (double joint_value) override
	Set the nodes joint value if it has one. More...

double	getJointValue () const override
	Get the current joint value. More...

bool	hasJointValueChanged () const override
	Indicates that the joint value has changed and that local and world transformation need to be recomputed. More...

void	setStaticTransformation (Eigen::Isometry3d static_tf) override
	Set the static transformation. More...

const Eigen::Isometry3d &	getStaticTransformation () const override
	Get the nodes static transformation. More...

const Eigen::Isometry3d &	getLocalTransformation () const override
	Get the local transformation: 'L = S * J'. More...

Eigen::Isometry3d	computeLocalTransformation (double joint_value) const override
	Compute the local tranformation but do not save. More...

void	computeAndStoreWorldTransformation () override
	Compute and store the nodes world transformation. More...

const Eigen::Isometry3d &	getWorldTransformation () const override
	Get the nodes world transformation. More...

bool	updateWorldTransformationRequired () const override
	Indicates if an update of the world transformation is required. More...

Eigen::Matrix< double, 6, 1 >	getLocalTwist () const override
	Return the twist of the node in its local frame. More...

void	addChild (OFKTNode *node) override
	Add a child node. More...

void	removeChild (const OFKTNode *node) override
	Remove a child node assiciated with this node. More...

std::vector< OFKTNode * > &	getChildren () override
	Get a vector of child nodes associated with this node. More...

const std::vector< const OFKTNode * > &	getChildren () const override
	Get a vector of child nodes associated with this node (Const) More...

Public Member Functions inherited from tesseract_scene_graph::OFKTNode
	OFKTNode ()=default

virtual	~OFKTNode ()=default

	OFKTNode (const OFKTNode &)=delete

OFKTNode &	operator= (const OFKTNode &)=delete

	OFKTNode (OFKTNode &&)=delete

OFKTNode &	operator= (OFKTNode &&)=delete

virtual JointType	getType () const =0
	Get the type of joint associated with the node. More...

virtual void	setParent (OFKTNode *parent)=0
	Set the parent node. More...

virtual OFKTNode *	getParent ()=0
	Get the parent node. More...

virtual const OFKTNode *	getParent () const =0
	Get the parent node (const) More...

virtual const std::string &	getLinkName () const =0
	Get the link name associated with the node. More...

virtual const std::string &	getJointName () const =0
	Get the joint name associated with the node. More...

virtual void	storeJointValue (double joint_value)=0
	Set the nodes joint value if it has one. More...

virtual double	getJointValue () const =0
	Get the current joint value. More...

virtual bool	hasJointValueChanged () const =0
	Indicates that the joint value has changed and that local and world transformation need to be recomputed. More...

virtual void	setStaticTransformation (Eigen::Isometry3d static_tf)=0
	Set the static transformation. More...

virtual const Eigen::Isometry3d &	getStaticTransformation () const =0
	Get the nodes static transformation. More...

virtual void	computeAndStoreLocalTransformation ()=0
	Compute and save the local transformation 'L = S * J(Joint Value)'. More...

virtual const Eigen::Isometry3d &	getLocalTransformation () const =0
	Get the local transformation: 'L = S * J'. More...

virtual Eigen::Isometry3d	computeLocalTransformation (double joint_value) const =0
	Compute the local tranformation but do not save. More...

virtual void	computeAndStoreWorldTransformation ()=0
	Compute and store the nodes world transformation. More...

virtual const Eigen::Isometry3d &	getWorldTransformation () const =0
	Get the nodes world transformation. More...

virtual bool	updateWorldTransformationRequired () const =0
	Indicates if an update of the world transformation is required. More...

virtual Eigen::Matrix< double, 6, 1 >	getLocalTwist () const =0
	Return the twist of the node in its local frame. More...

virtual void	addChild (OFKTNode *node)=0
	Add a child node. More...

virtual void	removeChild (const OFKTNode *node)=0
	Remove a child node assiciated with this node. More...

virtual std::vector< OFKTNode * > &	getChildren ()=0
	Get a vector of child nodes associated with this node. More...

virtual const std::vector< const OFKTNode * > &	getChildren () const =0
	Get a vector of child nodes associated with this node (Const) More...

Protected Attributes
tesseract_scene_graph::JointType	type_

OFKTNode *	parent_ { nullptr }

std::string	link_name_

std::string	joint_name_

Eigen::Isometry3d	static_tf_ { Eigen::Isometry3d::Identity() }

Eigen::Isometry3d	joint_tf_ { Eigen::Isometry3d::Identity() }

Eigen::Isometry3d	local_tf_ { Eigen::Isometry3d::Identity() }

Eigen::Isometry3d	world_tf_ { Eigen::Isometry3d::Identity() }

Eigen::Matrix< double, 6, 1 >	local_twist_ { Eigen::VectorXd::Zero(6) }

double	joint_value_ { 0 }

bool	joint_value_changed_ { false }

std::vector< OFKTNode * >	children_

std::vector< const OFKTNode * >	children_const_

bool	update_world_required_ { true }

Friends
class	OFKTStateSolver

Additional Inherited Members
Public Types inherited from tesseract_scene_graph::OFKTNode
using	UPtr = std::unique_ptr< OFKTNode >

using	Ptr = std::shared_ptr< OFKTNode >

using	ConstPtr = std::shared_ptr< const OFKTNode >

Constructor & Destructor Documentation

◆ OFKTBaseNode() [1/2]

tesseract_scene_graph::OFKTBaseNode::OFKTBaseNode	(	tesseract_scene_graph::JointType	type,
		OFKTNode *	parent,
		std::string	link_name
	)

◆ OFKTBaseNode() [2/2]

tesseract_scene_graph::OFKTBaseNode::OFKTBaseNode	(	tesseract_scene_graph::JointType	type,
		OFKTNode *	parent,
		std::string	link_name,
		std::string	joint_name,
		const Eigen::Isometry3d &	static_tf
	)

Member Function Documentation

◆ addChild()

void tesseract_scene_graph::OFKTBaseNode::addChild ( OFKTNode * node )

overridevirtual

Add a child node.

Parameters

node	The node which is a child of this node

Implements tesseract_scene_graph::OFKTNode.

◆ computeAndStoreWorldTransformation()

void tesseract_scene_graph::OFKTBaseNode::computeAndStoreWorldTransformation ( )

overridevirtual

Compute and store the nodes world transformation.

This should reset the flag such that updateWorldTransformationRequired() returns false

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTRootNode.

◆ computeLocalTransformation()

Eigen::Isometry3d tesseract_scene_graph::OFKTBaseNode::computeLocalTransformation ( double joint_value ) const

overridevirtual

Compute the local tranformation but do not save.

This provides a const method for computing the local transform.

Parameters

joint_value The joint value for calculating the local transformation

Returns: The local transformation for the provided joint value

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTRootNode, tesseract_scene_graph::OFKTFixedNode, tesseract_scene_graph::OFKTRevoluteNode, tesseract_scene_graph::OFKTContinuousNode, and tesseract_scene_graph::OFKTPrismaticNode.

◆ getChildren() [1/2]

const std::vector< const OFKTNode * > & tesseract_scene_graph::OFKTBaseNode::getChildren ( ) const

overridevirtual

Get a vector of child nodes associated with this node (Const)

Returns: A vector of child nodes

Implements tesseract_scene_graph::OFKTNode.

◆ getChildren() [2/2]

std::vector< OFKTNode * > & tesseract_scene_graph::OFKTBaseNode::getChildren ( )

overridevirtual

Get a vector of child nodes associated with this node.

Returns: A vector of child nodes

Implements tesseract_scene_graph::OFKTNode.

◆ getJointName()

const std::string & tesseract_scene_graph::OFKTBaseNode::getJointName ( ) const

overridevirtual

Get the joint name associated with the node.

Returns: The link name

Implements tesseract_scene_graph::OFKTNode.

◆ getJointValue()

double tesseract_scene_graph::OFKTBaseNode::getJointValue ( ) const

overridevirtual

Get the current joint value.

Returns: The current joint value

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTFixedNode.

◆ getLinkName()

const std::string & tesseract_scene_graph::OFKTBaseNode::getLinkName ( ) const

overridevirtual

Get the link name associated with the node.

Returns: The link name

Implements tesseract_scene_graph::OFKTNode.

◆ getLocalTransformation()

const Eigen::Isometry3d & tesseract_scene_graph::OFKTBaseNode::getLocalTransformation ( ) const

overridevirtual

Get the local transformation: 'L = S * J'.

Returns: The nodes local transformation

Implements tesseract_scene_graph::OFKTNode.

◆ getLocalTwist()

Eigen::Matrix< double, 6, 1 > tesseract_scene_graph::OFKTBaseNode::getLocalTwist ( ) const

overridevirtual

Return the twist of the node in its local frame.

Returns: The node twist

Implements tesseract_scene_graph::OFKTNode.

◆ getParent() [1/2]

const OFKTNode * tesseract_scene_graph::OFKTBaseNode::getParent ( ) const

overridevirtual

Get the parent node (const)

Returns: The parent node

Implements tesseract_scene_graph::OFKTNode.

◆ getParent() [2/2]

OFKTNode * tesseract_scene_graph::OFKTBaseNode::getParent ( )

overridevirtual

Get the parent node.

Returns: The parent node

Implements tesseract_scene_graph::OFKTNode.

◆ getStaticTransformation()

const Eigen::Isometry3d & tesseract_scene_graph::OFKTBaseNode::getStaticTransformation ( ) const

overridevirtual

Get the nodes static transformation.

Returns: The static transformation

Implements tesseract_scene_graph::OFKTNode.

◆ getType()

tesseract_scene_graph::JointType tesseract_scene_graph::OFKTBaseNode::getType ( ) const

overridevirtual

Get the type of joint associated with the node.

Returns: The Joint Type

Implements tesseract_scene_graph::OFKTNode.

◆ getWorldTransformation()

const Eigen::Isometry3d & tesseract_scene_graph::OFKTBaseNode::getWorldTransformation ( ) const

overridevirtual

Get the nodes world transformation.

Returns: The nodes world transformation

Implements tesseract_scene_graph::OFKTNode.

◆ hasJointValueChanged()

bool tesseract_scene_graph::OFKTBaseNode::hasJointValueChanged ( ) const

overridevirtual

Indicates that the joint value has changed and that local and world transformation need to be recomputed.

Returns: If true, local and world transformation need to be recompute

Implements tesseract_scene_graph::OFKTNode.

◆ removeChild()

void tesseract_scene_graph::OFKTBaseNode::removeChild ( const OFKTNode * node )

overridevirtual

Remove a child node assiciated with this node.

Parameters

node	The child node to be removed

Implements tesseract_scene_graph::OFKTNode.

◆ setParent()

void tesseract_scene_graph::OFKTBaseNode::setParent ( OFKTNode * parent )

overridevirtual

Set the parent node.

This should indicate that updateWorldTransformationRequired() = true

Parameters

parent The parent node

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTRootNode.

◆ setStaticTransformation()

void tesseract_scene_graph::OFKTBaseNode::setStaticTransformation ( Eigen::Isometry3d static_tf )

overridevirtual

Set the static transformation.

This should recompute the local transformation and updateWorldTransformationRequired() = true.

Parameters

static_tf The new static transformation

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTRootNode, and tesseract_scene_graph::OFKTFixedNode.

◆ storeJointValue()

void tesseract_scene_graph::OFKTBaseNode::storeJointValue ( double joint_value )

overridevirtual

Set the nodes joint value if it has one.

This should indicate hasJointValueChanged() = true

Parameters

joint_value The joint value

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTRootNode, tesseract_scene_graph::OFKTFixedNode, and tesseract_scene_graph::OFKTRevoluteNode.

◆ updateWorldTransformationRequired()

bool tesseract_scene_graph::OFKTBaseNode::updateWorldTransformationRequired ( ) const

overridevirtual

Indicates if an update of the world transformation is required.

This should get set to true when either of the following happen.

If setParent() was called
If setStaticTransformation() was called

Note: setJointValue() is not handle here because that is captured by hasJointValueChanged()

Returns: If true, the world transformation need to be recalculated.

Implements tesseract_scene_graph::OFKTNode.

Reimplemented in tesseract_scene_graph::OFKTRootNode.

Friends And Related Function Documentation

◆ OFKTStateSolver

friend class OFKTStateSolver

friend

Member Data Documentation

◆ children_

std::vector<OFKTNode*> tesseract_scene_graph::OFKTBaseNode::children_

protected

◆ children_const_

std::vector<const OFKTNode*> tesseract_scene_graph::OFKTBaseNode::children_const_

protected

◆ joint_name_

std::string tesseract_scene_graph::OFKTBaseNode::joint_name_

protected

◆ joint_tf_

Eigen::Isometry3d tesseract_scene_graph::OFKTBaseNode::joint_tf_ { Eigen::Isometry3d::Identity() }

protected

◆ joint_value_

double tesseract_scene_graph::OFKTBaseNode::joint_value_ { 0 }

protected

◆ joint_value_changed_

bool tesseract_scene_graph::OFKTBaseNode::joint_value_changed_ { false }

protected

◆ link_name_

std::string tesseract_scene_graph::OFKTBaseNode::link_name_

protected

◆ local_tf_

Eigen::Isometry3d tesseract_scene_graph::OFKTBaseNode::local_tf_ { Eigen::Isometry3d::Identity() }

protected

◆ local_twist_

Eigen::Matrix<double, 6, 1> tesseract_scene_graph::OFKTBaseNode::local_twist_ { Eigen::VectorXd::Zero(6) }

protected

◆ parent_

OFKTNode* tesseract_scene_graph::OFKTBaseNode::parent_ { nullptr }

protected

◆ static_tf_

Eigen::Isometry3d tesseract_scene_graph::OFKTBaseNode::static_tf_ { Eigen::Isometry3d::Identity() }

protected

◆ type_

tesseract_scene_graph::JointType tesseract_scene_graph::OFKTBaseNode::type_

protected

◆ update_world_required_

bool tesseract_scene_graph::OFKTBaseNode::update_world_required_ { true }

protected

◆ world_tf_

Eigen::Isometry3d tesseract_scene_graph::OFKTBaseNode::world_tf_ { Eigen::Isometry3d::Identity() }

protected

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

tesseract_state_solver/include/tesseract_state_solver/ofkt/ofkt_nodes.h
tesseract_state_solver/src/ofkt_nodes.cpp

Public Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ OFKTBaseNode() [1/2]

◆ OFKTBaseNode() [2/2]

Member Function Documentation

◆ addChild()

◆ computeAndStoreWorldTransformation()

◆ computeLocalTransformation()

◆ getChildren() [1/2]

◆ getChildren() [2/2]

◆ getJointName()

◆ getJointValue()

◆ getLinkName()

◆ getLocalTransformation()

◆ getLocalTwist()

◆ getParent() [1/2]

◆ getParent() [2/2]

◆ getStaticTransformation()

◆ getType()

◆ getWorldTransformation()

◆ hasJointValueChanged()

◆ removeChild()

◆ setParent()

◆ setStaticTransformation()

◆ storeJointValue()

◆ updateWorldTransformationRequired()

Friends And Related Function Documentation

◆ OFKTStateSolver

Member Data Documentation

◆ children_

◆ children_const_

◆ joint_name_

◆ joint_tf_

◆ joint_value_

◆ joint_value_changed_

◆ link_name_

◆ local_tf_

◆ local_twist_

◆ parent_

◆ static_tf_

◆ type_

◆ update_world_required_

◆ world_tf_