Contains information about a robot manipulator. More...

#include <manipulator_info.h>

Collaboration diagram for tesseract_common::ManipulatorInfo:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ManipulatorInfo ()=default

	ManipulatorInfo (std::string manipulator_, std::string working_frame_, std::string tcp_frame_, const Eigen::Isometry3d &tcp_offset_=Eigen::Isometry3d::Identity())

ManipulatorInfo	getCombined (const ManipulatorInfo &manip_info_override) const
	If the provided manipulator information member is not empty it will override this and return a new manipulator information with the combined results. More...

bool	empty () const
	Check if any data is current being stored. More...

bool	operator== (const ManipulatorInfo &rhs) const

bool	operator!= (const ManipulatorInfo &rhs) const

Public Attributes
std::string	manipulator
	Name of the manipulator group. More...

std::string	working_frame
	The working frame to which waypoints are relative. More...

std::string	tcp_frame
	The coordinate frame within to the environment to use as the reference frame for the tool center point (TCP) which is defined by an offset transform relative to this frame. More...

std::variant< std::string, Eigen::Isometry3d >	tcp_offset { Eigen::Isometry3d::Identity() }
	(Optional) Offset transform applied to the tcp_frame link to represent the manipulator TCP More...

std::string	manipulator_ik_solver
	(Optional) IK Solver to be used More...

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

Friends
class	boost::serialization::access

Detailed Description

Contains information about a robot manipulator.

Constructor & Destructor Documentation

◆ ManipulatorInfo() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW tesseract_common::ManipulatorInfo::ManipulatorInfo ( )

default

◆ ManipulatorInfo() [2/2]

tesseract_common::ManipulatorInfo::ManipulatorInfo	(	std::string	manipulator_,
		std::string	working_frame_,
		std::string	tcp_frame_,
		const Eigen::Isometry3d &	tcp_offset_ = `Eigen::Isometry3d::Identity()`
	)

Member Function Documentation

◆ empty()

bool tesseract_common::ManipulatorInfo::empty ( ) const

Check if any data is current being stored.

Returns: True if empty otherwise false

◆ getCombined()

ManipulatorInfo tesseract_common::ManipulatorInfo::getCombined ( const ManipulatorInfo & manip_info_override ) const

If the provided manipulator information member is not empty it will override this and return a new manipulator information with the combined results.

Parameters

manip_info_override The manipulator information to check for overrides

Returns: The combined manipulator information

◆ operator!=()

bool tesseract_common::ManipulatorInfo::operator!= ( const ManipulatorInfo & rhs ) const

◆ operator==()

bool tesseract_common::ManipulatorInfo::operator== ( const ManipulatorInfo & rhs ) const

◆ serialize()

template<class Archive >

void tesseract_common::ManipulatorInfo::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Member Data Documentation

◆ manipulator

std::string tesseract_common::ManipulatorInfo::manipulator

Name of the manipulator group.

◆ manipulator_ik_solver

std::string tesseract_common::ManipulatorInfo::manipulator_ik_solver

(Optional) IK Solver to be used

◆ tcp_frame

std::string tesseract_common::ManipulatorInfo::tcp_frame

The coordinate frame within to the environment to use as the reference frame for the tool center point (TCP) which is defined by an offset transform relative to this frame.

◆ tcp_offset

std::variant<std::string, Eigen::Isometry3d> tesseract_common::ManipulatorInfo::tcp_offset { Eigen::Isometry3d::Identity() }

(Optional) Offset transform applied to the tcp_frame link to represent the manipulator TCP

◆ working_frame

std::string tesseract_common::ManipulatorInfo::working_frame

The working frame to which waypoints are relative.

If the tcp_frame is external to manipulator then the working frame must be an active frame on the manipulator

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

tesseract_common/include/tesseract_common/manipulator_info.h
tesseract_common/src/manipulator_info.cpp

Public Member Functions

Public Attributes

Private Member Functions

Friends