tesseract_scene_graph::SceneState Struct Reference

This holds a state of the scene. More...

#include <scene_state.h>

Collaboration diagram for tesseract_scene_graph::SceneState:

Public Types
using	Ptr = std::shared_ptr< SceneState >
using	ConstPtr = std::shared_ptr< const SceneState >
using	UPtr = std::unique_ptr< SceneState >
using	ConstUPtr = std::unique_ptr< const SceneState >

Public Member Functions
Eigen::VectorXd	getJointValues (const std::vector< std::string > &joint_names) const
bool	operator== (const SceneState &rhs) const
bool	operator!= (const SceneState &rhs) const

Public Attributes
std::unordered_map< std::string, double >	joints
	The joint values used for calculating the joint and link transforms. More...
tesseract_common::TransformMap	link_transforms
	The link transforms in world coordinate system. More...
tesseract_common::TransformMap	joint_transforms
	The joint transforms in world coordinate system. More...

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

Friends
class	boost::serialization::access

Detailed Description

This holds a state of the scene.

It provides a way to look up the location of a link/joint in world coordinates system by link/joint name. It is possible to get the joint transform using the child link transform of the joint, but they are both provided for convenience. Also the joint values used to calculated the link/joint transforms is provided.

Member Typedef Documentation

ConstPtr

using tesseract_scene_graph::SceneState::ConstPtr = std::shared_ptr<const SceneState>

ConstUPtr

using tesseract_scene_graph::SceneState::ConstUPtr = std::unique_ptr<const SceneState>

Ptr

using tesseract_scene_graph::SceneState::Ptr = std::shared_ptr<SceneState>

UPtr

using tesseract_scene_graph::SceneState::UPtr = std::unique_ptr<SceneState>

Member Function Documentation

getJointValues()

Eigen::VectorXd tesseract_scene_graph::SceneState::getJointValues

(

const std::vector< std::string > &

joint_names

)

const

operator!=()

bool tesseract_scene_graph::SceneState::operator!=

(

const SceneState &

rhs

)

const

operator==()

bool tesseract_scene_graph::SceneState::operator==

(

const SceneState &

rhs

)

const

serialize()

template<class Archive >

void tesseract_scene_graph::SceneState::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

joint_transforms

tesseract_common::TransformMap tesseract_scene_graph::SceneState::joint_transforms

The joint transforms in world coordinate system.

joints

std::unordered_map<std::string, double> tesseract_scene_graph::SceneState::joints

The joint values used for calculating the joint and link transforms.

link_transforms

tesseract_common::TransformMap tesseract_scene_graph::SceneState::link_transforms

The link transforms in world coordinate system.

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

• tesseract_scene_graph/include/tesseract_scene_graph/scene_state.h
• tesseract_scene_graph/src/scene_state.cpp