tesseract_environment Namespace Reference

Classes
class	AddContactManagersPluginInfoCommand
class	AddKinematicsInformationCommand
class	AddLinkCommand
class	AddSceneGraphCommand
class	ChangeCollisionMarginsCommand
class	ChangeJointAccelerationLimitsCommand
class	ChangeJointOriginCommand
class	ChangeJointPositionLimitsCommand
class	ChangeJointVelocityLimitsCommand
class	ChangeLinkCollisionEnabledCommand
class	ChangeLinkOriginCommand
class	ChangeLinkVisibilityCommand
class	Command
struct	CommandAppliedEvent
	The command applied event. More...
class	DefaultEnvironmentCache
class	Environment
class	EnvironmentCache
class	EnvironmentMonitor
	Tesseract Environment Monitor Interface Class. More...
class	EnvironmentMonitorInterface
struct	Event
	The event base class. More...
class	ModifyAllowedCollisionsCommand
class	MoveJointCommand
class	MoveLinkCommand
class	RemoveAllowedCollisionLinkCommand
class	RemoveJointCommand
class	RemoveLinkCommand
class	ReplaceJointCommand
struct	SceneStateChangedEvent
	The scene state changed event. More...
class	SetActiveContinuousContactManagerCommand
class	SetActiveDiscreteContactManagerCommand

Typedefs
using	Commands = std::vector< Command::ConstPtr >
using	CollisionMarginData = tesseract_common::CollisionMarginData
using	CollisionMarginOverrideType = tesseract_common::CollisionMarginOverrideType
using	PairsCollisionMarginData = tesseract_common::PairsCollisionMarginData
using	FindTCPOffsetCallbackFn = std::function< Eigen::Isometry3d(const tesseract_common::ManipulatorInfo &)>
	Function signature for adding additional callbacks for looking up TCP information. More...
using	EventCallbackFn = std::function< void(const Event &event)>

Enumerations
enum class	CommandType {   UNINITIALIZED = -1 , ADD_LINK = 0 , MOVE_LINK = 1 , MOVE_JOINT = 2 ,   REMOVE_LINK = 3 , REMOVE_JOINT = 4 , CHANGE_LINK_ORIGIN = 5 , CHANGE_JOINT_ORIGIN = 6 ,   CHANGE_LINK_COLLISION_ENABLED = 7 , CHANGE_LINK_VISIBILITY = 8 , MODIFY_ALLOWED_COLLISIONS = 9 , REMOVE_ALLOWED_COLLISION_LINK = 10 ,   ADD_SCENE_GRAPH = 11 , CHANGE_JOINT_POSITION_LIMITS = 12 , CHANGE_JOINT_VELOCITY_LIMITS = 13 , CHANGE_JOINT_ACCELERATION_LIMITS = 14 ,   ADD_KINEMATICS_INFORMATION = 15 , REPLACE_JOINT = 16 , CHANGE_COLLISION_MARGINS = 17 , ADD_CONTACT_MANAGERS_PLUGIN_INFO = 18 ,   SET_ACTIVE_DISCRETE_CONTACT_MANAGER = 19 , SET_ACTIVE_CONTINUOUS_CONTACT_MANAGER = 20 }
enum class	ModifyAllowedCollisionsType { ADD , REMOVE , REPLACE }
enum class	MonitoredEnvironmentMode : int { DEFAULT = 0 , SYNCHRONIZED = 1 }
enum class	Events { COMMAND_APPLIED = 0 , SCENE_STATE_CHANGED = 1 }

Functions
template<class Archive >
void	save (Archive &ar, const CommandType &g, const unsigned int version)
template<class Archive >
void	load (Archive &ar, CommandType &g, const unsigned int version)
template<class Archive >
void	serialize (Archive &ar, CommandType &g, const unsigned int version)
void	getActiveLinkNamesRecursive (std::vector< std::string > &active_links, const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &current_link, bool active)
	Get the active Link Names Recursively. More...
void	checkTrajectorySegment (tesseract_collision::ContactResultMap &contact_results, tesseract_collision::ContinuousContactManager &manager, const tesseract_common::TransformMap &state0, const tesseract_common::TransformMap &state1, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a continuous collision check between two states configuring the manager with the config. More...
void	checkTrajectorySegment (tesseract_collision::ContactResultMap &contact_results, tesseract_collision::ContinuousContactManager &manager, const tesseract_common::TransformMap &state0, const tesseract_common::TransformMap &state1, const tesseract_collision::ContactRequest &contact_request)
	Should perform a continuous collision check between two states only passing along the contact_request to the manager. More...
void	checkTrajectoryState (tesseract_collision::ContactResultMap &contact_results, tesseract_collision::DiscreteContactManager &manager, const tesseract_common::TransformMap &state, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a discrete collision check a state first configuring manager with config. More...
void	checkTrajectoryState (tesseract_collision::ContactResultMap &contact_results, tesseract_collision::DiscreteContactManager &manager, const tesseract_common::TransformMap &state, const tesseract_collision::ContactRequest &contact_request)
	Should perform a discrete collision check a state only passing contact_request to the manager. More...
bool	checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::ContinuousContactManager &manager, const tesseract_scene_graph::StateSolver &state_solver, const std::vector< std::string > &joint_names, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a continuous collision check over the trajectory and stop on first collision. More...
bool	checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::ContinuousContactManager &manager, const tesseract_kinematics::JointGroup &manip, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a continuous collision check over the trajectory and stop on first collision. More...
bool	checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::DiscreteContactManager &manager, const tesseract_scene_graph::StateSolver &state_solver, const std::vector< std::string > &joint_names, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a discrete collision check over the trajectory and stop on first collision. More...
bool	checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::DiscreteContactManager &manager, const tesseract_kinematics::JointGroup &manip, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a discrete collision check over the trajectory and stop on first collision. More...

Typedef Documentation

CollisionMarginData

using tesseract_environment::CollisionMarginData = typedef tesseract_common::CollisionMarginData

CollisionMarginOverrideType

using tesseract_environment::CollisionMarginOverrideType = typedef tesseract_common::CollisionMarginOverrideType

Commands

using tesseract_environment::Commands = typedef std::vector<Command::ConstPtr>

EventCallbackFn

using tesseract_environment::EventCallbackFn = typedef std::function<void(const Event& event)>

FindTCPOffsetCallbackFn

using tesseract_environment::FindTCPOffsetCallbackFn = typedef std::function<Eigen::Isometry3d(const tesseract_common::ManipulatorInfo&)>

Function signature for adding additional callbacks for looking up TCP information.

The function should throw and exception if not located

PairsCollisionMarginData

using tesseract_environment::PairsCollisionMarginData = typedef tesseract_common::PairsCollisionMarginData

Enumeration Type Documentation

CommandType

enum class tesseract_environment::CommandType

strong

Enumerator
UNINITIALIZED
ADD_LINK
MOVE_LINK
MOVE_JOINT
REMOVE_LINK
REMOVE_JOINT
CHANGE_LINK_ORIGIN
CHANGE_JOINT_ORIGIN
CHANGE_LINK_COLLISION_ENABLED
CHANGE_LINK_VISIBILITY
MODIFY_ALLOWED_COLLISIONS
REMOVE_ALLOWED_COLLISION_LINK
ADD_SCENE_GRAPH
CHANGE_JOINT_POSITION_LIMITS
CHANGE_JOINT_VELOCITY_LIMITS
CHANGE_JOINT_ACCELERATION_LIMITS
ADD_KINEMATICS_INFORMATION
REPLACE_JOINT
CHANGE_COLLISION_MARGINS
ADD_CONTACT_MANAGERS_PLUGIN_INFO
SET_ACTIVE_DISCRETE_CONTACT_MANAGER
SET_ACTIVE_CONTINUOUS_CONTACT_MANAGER

Events

enum class tesseract_environment::Events

strong

Enumerator
COMMAND_APPLIED
SCENE_STATE_CHANGED

ModifyAllowedCollisionsType

enum class tesseract_environment::ModifyAllowedCollisionsType

strong

Enumerator
ADD
REMOVE
REPLACE

MonitoredEnvironmentMode

enum class tesseract_environment::MonitoredEnvironmentMode : int

strong

Enumerator
DEFAULT	The default behavior when monitoring another environment is the following. Case1: If the revision is greater than, it will call a service of the monitored environment to get the changes and apply them. Case2: If the revision is less than, it will reinitialize the environment and request the remaining changes and apply them.
SYNCHRONIZED	The synchronized behavior when monitoring another environment is the following. Warning Currently this works best if there is only one monitor which is synchronized because currently if two environment monitors are synchronized, it currently does not have a way to reason about which ones should get applied. Need to research approach for this type of system. Case1: If the revision is greater than, it will call a service of the monitored environment to get the changes and apply them. Case2: If the revision is less than, it will call a service of the monitored environment to apply the new changes.

Function Documentation

checkTrajectory() [1/4]

bool tesseract_environment::checkTrajectory	(	std::vector< tesseract_collision::ContactResultMap > &	contacts,
		tesseract_collision::ContinuousContactManager &	manager,
		const tesseract_kinematics::JointGroup &	manip,
		const tesseract_common::TrajArray &	traj,
		const tesseract_collision::CollisionCheckConfig &	config
	)

Should perform a continuous collision check over the trajectory and stop on first collision.

Parameters

contacts	A vector of ContactMap where each index corresponds to a segment in the trajectory. The length should be trajectory size minus one.
manager	A continuous contact manager
manip	The kinematic joint group
traj	The joint values at each time step
config	CollisionCheckConfig used to specify collision check settings

Returns

True if collision was found, otherwise false.

Making this thread_local does not help because it is not called enough during planning

Making this thread_local does not help because it is not called enough during planning

checkTrajectory() [2/4]

bool tesseract_environment::checkTrajectory	(	std::vector< tesseract_collision::ContactResultMap > &	contacts,
		tesseract_collision::ContinuousContactManager &	manager,
		const tesseract_scene_graph::StateSolver &	state_solver,
		const std::vector< std::string > &	joint_names,
		const tesseract_common::TrajArray &	traj,
		const tesseract_collision::CollisionCheckConfig &	config
	)

Should perform a continuous collision check over the trajectory and stop on first collision.

Parameters

contacts	A vector of ContactMap where each index corresponds to a segment in the trajectory. The length should be trajectory size minus one.
manager	A continuous contact manager
state_solver	The environment state solver
joint_names	JointNames corresponding to the values in traj (must be in same order)
traj	The joint values at each time step
config	CollisionCheckConfig used to specify collision check settings

Returns

True if collision was found, otherwise false.

Making this thread_local does not help because it is not called enough during planning

Making this thread_local does not help because it is not called enough during planning

checkTrajectory() [3/4]

bool tesseract_environment::checkTrajectory	(	std::vector< tesseract_collision::ContactResultMap > &	contacts,
		tesseract_collision::DiscreteContactManager &	manager,
		const tesseract_kinematics::JointGroup &	manip,
		const tesseract_common::TrajArray &	traj,
		const tesseract_collision::CollisionCheckConfig &	config
	)

Should perform a discrete collision check over the trajectory and stop on first collision.

Parameters

contacts	A vector of ContactMap where each index corresponds to a segment in the trajectory, except the last which is the end state. The length should be the same size as the input trajectory.
manager	A continuous contact manager
manip	The kinematic joint group
traj	The joint values at each time step
config	CollisionCheckConfig used to specify collision check settings

Returns

True if collision was found, otherwise false.

Making this thread_local does not help because it is not called enough during planning

Making this thread_local does not help because it is not called enough during planning

checkTrajectory() [4/4]

bool tesseract_environment::checkTrajectory	(	std::vector< tesseract_collision::ContactResultMap > &	contacts,
		tesseract_collision::DiscreteContactManager &	manager,
		const tesseract_scene_graph::StateSolver &	state_solver,
		const std::vector< std::string > &	joint_names,
		const tesseract_common::TrajArray &	traj,
		const tesseract_collision::CollisionCheckConfig &	config
	)

Should perform a discrete collision check over the trajectory and stop on first collision.

Parameters

contacts	A vector of ContactMap where each index corresponds to a segment in the trajectory, except the last which is the end state. The length should be the same size as the input trajectory.
manager	A continuous contact manager
state_solver	The environment state solver
joint_names	JointNames corresponding to the values in traj (must be in same order)
traj	The joint values at each time step
config	CollisionCheckConfig used to specify collision check settings

Returns

True if collision was found, otherwise false.

Making this thread_local does not help because it is not called enough during planning

Making this thread_local does not help because it is not called enough during planning

checkTrajectorySegment() [1/2]

void tesseract_environment::checkTrajectorySegment	(	tesseract_collision::ContactResultMap &	contact_results,
		tesseract_collision::ContinuousContactManager &	manager,
		const tesseract_common::TransformMap &	state0,
		const tesseract_common::TransformMap &	state1,
		const tesseract_collision::CollisionCheckConfig &	config
	)

Should perform a continuous collision check between two states configuring the manager with the config.

Parameters

contact_results	The contact results to populate. It does not get cleared
manager	A continuous contact manager
state0	First environment state
state1	Second environment state
config	CollisionCheckConfig used to specify collision check settings

checkTrajectorySegment() [2/2]

void tesseract_environment::checkTrajectorySegment	(	tesseract_collision::ContactResultMap &	contact_results,
		tesseract_collision::ContinuousContactManager &	manager,
		const tesseract_common::TransformMap &	state0,
		const tesseract_common::TransformMap &	state1,
		const tesseract_collision::ContactRequest &	contact_request
	)

Should perform a continuous collision check between two states only passing along the contact_request to the manager.

Parameters

contact_results	The contact results to populate. It does not get cleared
manager	A continuous contact manager
state0	First environment state
state1	Second environment state
contact_request	Contact request passed to the manager

checkTrajectoryState() [1/2]

void tesseract_environment::checkTrajectoryState	(	tesseract_collision::ContactResultMap &	contact_results,
		tesseract_collision::DiscreteContactManager &	manager,
		const tesseract_common::TransformMap &	state,
		const tesseract_collision::CollisionCheckConfig &	config
	)

Should perform a discrete collision check a state first configuring manager with config.

Parameters

contact_results	The contact results to populate. It does not get cleared
manager	A discrete contact manager
state	First environment state
config	CollisionCheckConfig used to specify collision check settings

checkTrajectoryState() [2/2]

void tesseract_environment::checkTrajectoryState	(	tesseract_collision::ContactResultMap &	contact_results,
		tesseract_collision::DiscreteContactManager &	manager,
		const tesseract_common::TransformMap &	state,
		const tesseract_collision::ContactRequest &	contact_request
	)

Should perform a discrete collision check a state only passing contact_request to the manager.

Parameters

contact_results	The contact results to populate. It does not get cleared
manager	A discrete contact manager
state	First environment state
contact_request	Contact request passed to the manager

getActiveLinkNamesRecursive()

void tesseract_environment::getActiveLinkNamesRecursive	(	std::vector< std::string > &	active_links,
		const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::string &	current_link,
		bool	active
	)

Get the active Link Names Recursively.

   This currently only works for graphs that are trees. Need to create a generic method using boost::visitor
   TODO: Need to update using graph->getLinkChildren

Parameters

active_links
scene_graph
current_link
active

load()

template<class Archive >

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

save()

template<class Archive >

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

serialize()

template<class Archive >

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