#include <graph.h>

Inheritance diagram for tesseract_scene_graph::SceneGraph:

Collaboration diagram for tesseract_scene_graph::SceneGraph:

[legend]

Classes
struct	adjacency_detector

struct	children_detector

struct	cycle_detector

struct	tree_detector

Public Types
using	Vertex = SceneGraph::vertex_descriptor

using	Edge = SceneGraph::edge_descriptor

using	Ptr = std::shared_ptr< SceneGraph >

using	ConstPtr = std::shared_ptr< const SceneGraph >

using	UPtr = std::unique_ptr< SceneGraph >

using	ConstUPtr = std::unique_ptr< const SceneGraph >

Public Member Functions
	SceneGraph (const std::string &name="")

	~SceneGraph ()=default

	SceneGraph (const SceneGraph &other)=delete

SceneGraph &	operator= (const SceneGraph &other)=delete

	SceneGraph (SceneGraph &&other) noexcept

SceneGraph &	operator= (SceneGraph &&other) noexcept

SceneGraph::UPtr	clone () const
	Clone the scene graph. More...

void	clear ()
	Clear the scene graph. More...

void	setName (const std::string &name)
	Sets the graph name. More...

const std::string &	getName () const
	Sets the graph name. More...

bool	setRoot (const std::string &name)
	Sets the root link name (aka. World Coordinate Frame) More...

const std::string &	getRoot () const
	Gets the root link name (aka. World Coordinate Frame) More...

bool	addLink (const Link &link, bool replace_allowed=false)
	Adds a link to the graph. More...

bool	addLink (const Link &link, const Joint &joint)
	Adds a link/joint to the graph. More...

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

std::vector< Link::ConstPtr >	getLinks () const
	Get a vector links in the scene graph. More...

std::vector< Link::ConstPtr >	getLeafLinks () const
	Get a vector leaf links in the scene graph. More...

bool	removeLink (const std::string &name, bool recursive=false)
	Removes a link from the graph. More...

bool	moveLink (const Joint &joint)
	Move link defined by provided joint This deletes all inbound joints on the parent link defined by the joint. More...

void	setLinkVisibility (const std::string &name, bool visibility)
	Set a links visibility. More...

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

void	setLinkCollisionEnabled (const std::string &name, bool enabled)
	Set whether a link should be considered during collision checking. More...

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

bool	addJoint (const Joint &joint)
	Adds joint to the graph. More...

Joint::ConstPtr	getJoint (const std::string &name) const
	Get a joint in the graph. More...

bool	removeJoint (const std::string &name, bool recursive=false)
	Removes a joint from the graph. More...

bool	moveJoint (const std::string &name, const std::string &parent_link)
	Move joint to new parent link. More...

std::vector< Joint::ConstPtr >	getJoints () const
	Get a vector of joints in the scene graph. More...

std::vector< Joint::ConstPtr >	getActiveJoints () const
	Get a vector of active joints in the scene graph. More...

bool	changeJointOrigin (const std::string &name, const Eigen::Isometry3d &new_origin)
	Changes the "origin" transform of the joint and recomputes the associated edge. More...

bool	changeJointLimits (const std::string &name, const JointLimits &limits)
	Changes the limits of a joint. The JointLimits::Ptr remains the same, but the values passed in are assigned. More...

bool	changeJointPositionLimits (const std::string &name, double lower, double upper)
	Changes the position limits associated with a joint. More...

bool	changeJointVelocityLimits (const std::string &name, double limit)
	Changes the velocity limits associated with a joint. More...

bool	changeJointAccelerationLimits (const std::string &name, double limit)
	Changes the acceleration limits associated with a joint. More...

JointLimits::ConstPtr	getJointLimits (const std::string &name)
	Gets the limits of the joint specified by name. More...

void	addAllowedCollision (const std::string &link_name1, const std::string &link_name2, const std::string &reason)
	Disable collision between two collision objects. More...

void	removeAllowedCollision (const std::string &link_name1, const std::string &link_name2)
	Remove disabled collision pair from allowed collision matrix. More...

void	removeAllowedCollision (const std::string &link_name)
	Remove disabled collision for any pair with link_name from allowed collision matrix. More...

void	clearAllowedCollisions ()
	Remove all allowed collisions. More...

bool	isCollisionAllowed (const std::string &link_name1, const std::string &link_name2) const
	Check if two links are allowed to be in collision. More...

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

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

Link::ConstPtr	getSourceLink (const std::string &joint_name) const
	Get the source link (parent link) for a joint. More...

Link::ConstPtr	getTargetLink (const std::string &joint_name) const
	Get the target link (child link) for a joint. More...

std::vector< Joint::ConstPtr >	getInboundJoints (const std::string &link_name) const
	Get inbound joints for a link. More...

std::vector< Joint::ConstPtr >	getOutboundJoints (const std::string &link_name) const
	Get outbound joints for a link. More...

bool	isAcyclic () const
	Determine if the graph contains cycles. More...

bool	isTree () const
	Determine if the graph is a tree. More...

bool	isEmpty () const
	Check if the graph is empty. More...

std::vector< std::string >	getAdjacentLinkNames (const std::string &name) const
	Get a vector of adjacent link names provided a link name. More...

std::vector< std::string >	getInvAdjacentLinkNames (const std::string &name) const
	Geta a vectpr pf inverse adjacent link names provided a link name. More...

std::vector< std::string >	getLinkChildrenNames (const std::string &name) const
	Get all children for a given link name. More...

std::vector< std::string >	getJointChildrenNames (const std::string &name) const
	Get all children link names for a given joint name. More...

std::unordered_map< std::string, std::string >	getAdjacencyMap (const std::vector< std::string > &link_names) const
	Create mapping between links in the scene to the provided links if they are directly affected if the link moves. More...

std::vector< std::string >	getJointChildrenNames (const std::vector< std::string > &names) const
	Get all children link names for the given joint names. More...

void	saveDOT (const std::string &path) const
	Saves Graph as Graph Description Language (DOT) More...

ShortestPath	getShortestPath (const std::string &root, const std::string &tip) const
	Get the shortest path between two links. More...

Vertex	getVertex (const std::string &name) const
	Get the graph vertex by name. More...

Edge	getEdge (const std::string &name) const
	Get the graph edge by name. More...

bool	insertSceneGraph (const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &prefix="")
	Merge a graph into the current graph. More...

bool	insertSceneGraph (const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::Joint &joint, const std::string &prefix="")
	Merge a graph into the current environment. More...

bool	operator== (const SceneGraph &rhs) const

bool	operator!= (const SceneGraph &rhs) const

Protected Member Functions
bool	addLinkHelper (const Link::Ptr &link_ptr, bool replace_allowed=false)
	Adds a link to the graph. More...

bool	addJointHelper (const Joint::Ptr &joint_ptr)
	Adds joint to the graph. More...

Private Member Functions
void	rebuildLinkAndJointMaps ()
	The rebuild the link and joint map by extraction information from the graph. More...

std::vector< std::string >	getLinkChildrenHelper (Vertex start_vertex) const
	Get the children of a vertex starting with start_vertex. More...

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)

Private Attributes
std::unordered_map< std::string, std::pair< Link::Ptr, Vertex > >	link_map_

std::unordered_map< std::string, std::pair< Joint::Ptr, Edge > >	joint_map_

tesseract_common::AllowedCollisionMatrix::Ptr	acm_

Friends
class	boost::serialization::access

Member Typedef Documentation

◆ ConstPtr

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

◆ ConstUPtr

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

◆ Edge

using tesseract_scene_graph::SceneGraph::Edge = SceneGraph::edge_descriptor

◆ Ptr

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

◆ UPtr

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

◆ Vertex

using tesseract_scene_graph::SceneGraph::Vertex = SceneGraph::vertex_descriptor

Constructor & Destructor Documentation

◆ SceneGraph() [1/3]

tesseract_scene_graph::SceneGraph::SceneGraph ( const std::string & name = "" )

◆ ~SceneGraph()

tesseract_scene_graph::SceneGraph::~SceneGraph ( )

default

◆ SceneGraph() [2/3]

tesseract_scene_graph::SceneGraph::SceneGraph ( const SceneGraph & other )

delete

◆ SceneGraph() [3/3]

tesseract_scene_graph::SceneGraph::SceneGraph ( SceneGraph && other )

noexcept

Member Function Documentation

◆ addAllowedCollision()

void tesseract_scene_graph::SceneGraph::addAllowedCollision	(	const std::string &	link_name1,
		const std::string &	link_name2,
		const std::string &	reason
	)

Disable collision between two collision objects.

Parameters

link_name1	Collision object name
link_name2	Collision object name
reason	The reason for disabling collision

◆ addJoint()

bool tesseract_scene_graph::SceneGraph::addJoint ( const Joint & joint )

Adds joint to the graph.

Parameters

joint The joint to be added

Returns: Return False if parent or child link does not exists and if joint name already exists in the graph, otherwise true

◆ addJointHelper()

bool tesseract_scene_graph::SceneGraph::addJointHelper ( const Joint::Ptr & joint_ptr )

protected

Adds joint to the graph.

Parameters

joint_ptr Shared pointer to the joint to be added

Returns: Return False if parent or child link does not exists and if joint name already exists in the graph, otherwise true

◆ addLink() [1/2]

bool tesseract_scene_graph::SceneGraph::addLink	(	const Link &	link,
		bool	replace_allowed = `false`
	)

Adds a link to the graph.

The first link added to the graph is set as the root by default. Use setRoot to change the root link of the graph.

Parameters

link	The link to be added to the graph
replace_allowed	If true and the link exist it will be replaced

Returns: Return False if a link with the same name already exists and replace is not allowed, otherwise true

◆ addLink() [2/2]

bool tesseract_scene_graph::SceneGraph::addLink	(	const Link &	link,
		const Joint &	joint
	)

Adds a link/joint to the graph.

The first link added to the graph is set as the root by default. Use setRoot to change the root link of the graph.

Parameters

link	The link to be added to the graph
joint	The associated joint to be added to the graph

Returns: Return False if a link with the same name allready exists, otherwise true

◆ addLinkHelper()

bool tesseract_scene_graph::SceneGraph::addLinkHelper	(	const Link::Ptr &	link_ptr,
		bool	replace_allowed = `false`
	)

protected

Adds a link to the graph.

The first link added to the graph is set as the root by default. Use setRoot to change the root link of the graph.

Parameters

link_ptr	Shared pointer to the link to be added to the graph
replace_allowed	If true and the link exist it will be replaced

Returns: Return False if a link with the same name already exists and replace is not allowed, otherwise true

◆ changeJointAccelerationLimits()

bool tesseract_scene_graph::SceneGraph::changeJointAccelerationLimits	(	const std::string &	name,
		double	limit
	)

Changes the acceleration limits associated with a joint.

Parameters

joint_name	Name of the joint to be updated
limits	New acceleration limits to be set as the joint limits

Returns

◆ changeJointLimits()

bool tesseract_scene_graph::SceneGraph::changeJointLimits	(	const std::string &	name,
		const JointLimits &	limits
	)

Changes the limits of a joint. The JointLimits::Ptr remains the same, but the values passed in are assigned.

Parameters

name	Name of the joint to be changed
limits	The new limits associated with the joint

Returns: True if successful.

◆ changeJointOrigin()

bool tesseract_scene_graph::SceneGraph::changeJointOrigin	(	const std::string &	name,
		const Eigen::Isometry3d &	new_origin
	)

Changes the "origin" transform of the joint and recomputes the associated edge.

Parameters

name	Name of the joint to be changed
new_origin	The new transform associated with the joint

Returns: True if successful.

◆ changeJointPositionLimits()

bool tesseract_scene_graph::SceneGraph::changeJointPositionLimits	(	const std::string &	name,
		double	lower,
		double	upper
	)

Changes the position limits associated with a joint.

Parameters

joint_name	Name of the joint to be updated
limits	New position limits to be set as the joint limits @returnTrue if successful.

◆ changeJointVelocityLimits()

bool tesseract_scene_graph::SceneGraph::changeJointVelocityLimits	(	const std::string &	name,
		double	limit
	)

Changes the velocity limits associated with a joint.

Parameters

joint_name	Name of the joint to be updated
limits	New velocity limits to be set as the joint limits

Returns

◆ clear()

void tesseract_scene_graph::SceneGraph::clear ( )

Clear the scene graph.

◆ clearAllowedCollisions()

void tesseract_scene_graph::SceneGraph::clearAllowedCollisions ( )

Remove all allowed collisions.

◆ clone()

SceneGraph::UPtr tesseract_scene_graph::SceneGraph::clone ( ) const

Clone the scene graph.

Returns: The cloned scene graph

◆ getActiveJoints()

std::vector< Joint::ConstPtr > tesseract_scene_graph::SceneGraph::getActiveJoints ( ) const

Get a vector of active joints in the scene graph.

Returns: A vector of active joints

◆ getAdjacencyMap()

std::unordered_map< std::string, std::string > tesseract_scene_graph::SceneGraph::getAdjacencyMap ( const std::vector< std::string > & link_names ) const

Create mapping between links in the scene to the provided links if they are directly affected if the link moves.

Parameters

link_names The links to map other links to

Returns: A map of affected links to on of the provided link names.

◆ getAdjacentLinkNames()

std::vector< std::string > tesseract_scene_graph::SceneGraph::getAdjacentLinkNames ( const std::string & name ) const

Get a vector of adjacent link names provided a link name.

Parameters

name	Name of link

Returns: A vector of adjacent link names

◆ getAllowedCollisionMatrix() [1/2]

tesseract_common::AllowedCollisionMatrix::Ptr tesseract_scene_graph::SceneGraph::getAllowedCollisionMatrix ( )

Get the allowed collision matrix.

Returns: AllowedCollisionMatrixPtr

◆ getAllowedCollisionMatrix() [2/2]

tesseract_common::AllowedCollisionMatrix::ConstPtr tesseract_scene_graph::SceneGraph::getAllowedCollisionMatrix ( ) const

Get the allowed collision matrix.

Returns: AllowedCollisionMatrixConstPtr

◆ getEdge()

SceneGraph::Edge tesseract_scene_graph::SceneGraph::getEdge ( const std::string & name ) const

Get the graph edge by name.

Parameters

name	The edge/joint name

Returns: Graph Edge

◆ getInboundJoints()

std::vector< Joint::ConstPtr > tesseract_scene_graph::SceneGraph::getInboundJoints ( const std::string & link_name ) const

Get inbound joints for a link.

The inbound joints are all joints that have the link identified as the child link

Parameters

link_name The name of the link

Returns: Vector of joints

◆ getInvAdjacentLinkNames()

std::vector< std::string > tesseract_scene_graph::SceneGraph::getInvAdjacentLinkNames ( const std::string & name ) const

Geta a vectpr pf inverse adjacent link names provided a link name.

Parameters

name

Returns

◆ getJoint()

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

Get a joint in the graph.

Parameters

name	The name of the joint

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

◆ getJointChildrenNames() [1/2]

std::vector< std::string > tesseract_scene_graph::SceneGraph::getJointChildrenNames ( const std::string & name ) const

Get all children link names for a given joint name.

Parameters

name	Name of joint

Returns: A vector of child link names

◆ getJointChildrenNames() [2/2]

std::vector< std::string > tesseract_scene_graph::SceneGraph::getJointChildrenNames ( const std::vector< std::string > & names ) const

Get all children link names for the given joint names.

Todo:: Need to create custom visitor so already process joint_names do not get processed again.

Parameters

names Name of joints

Returns: A vector of child link names

◆ getJointLimits()

JointLimits::ConstPtr tesseract_scene_graph::SceneGraph::getJointLimits ( const std::string & name )

Gets the limits of the joint specified by name.

Parameters

name	Name of the joint which limits will be retrieved

Returns: Limits of the joint. Returns nullptr is joint is not found.

◆ getJoints()

std::vector< Joint::ConstPtr > tesseract_scene_graph::SceneGraph::getJoints ( ) const

Get a vector of joints in the scene graph.

Returns: A vector of joints

◆ getLeafLinks()

std::vector< Link::ConstPtr > tesseract_scene_graph::SceneGraph::getLeafLinks ( ) const

Get a vector leaf links in the scene graph.

Returns: A vector of links

◆ getLink()

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

Get a link in the graph.

Parameters

name	The name of the link

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

◆ getLinkChildrenHelper()

std::vector< std::string > tesseract_scene_graph::SceneGraph::getLinkChildrenHelper ( Vertex start_vertex ) const

inlineprivate

Get the children of a vertex starting with start_vertex.

Note: This list will include the start vertex

Parameters

start_vertex The vertex to find childeren for.

Returns: A list of child link names including the start vertex

◆ getLinkChildrenNames()

std::vector< std::string > tesseract_scene_graph::SceneGraph::getLinkChildrenNames ( const std::string & name ) const

Get all children for a given link name.

Parameters

name	Name of Link

Returns: A vector of child link names

◆ getLinkCollisionEnabled()

bool tesseract_scene_graph::SceneGraph::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

◆ getLinks()

std::vector< Link::ConstPtr > tesseract_scene_graph::SceneGraph::getLinks ( ) const

Get a vector links in the scene graph.

Returns: A vector of links

◆ getLinkVisibility()

bool tesseract_scene_graph::SceneGraph::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_scene_graph::SceneGraph::getName ( ) const

Sets the graph name.

Parameters

name	The name of the graph

◆ getOutboundJoints()

std::vector< Joint::ConstPtr > tesseract_scene_graph::SceneGraph::getOutboundJoints ( const std::string & link_name ) const

Get outbound joints for a link.

The outbound joints are all joins that have the link identified as the parent link

Parameters

link_name The name of the link

Returns: Vector of joints

◆ getRoot()

const std::string & tesseract_scene_graph::SceneGraph::getRoot ( ) const

Gets the root link name (aka. World Coordinate Frame)

Returns: The root link name

◆ getShortestPath()

ShortestPath tesseract_scene_graph::SceneGraph::getShortestPath	(	const std::string &	root,
		const std::string &	tip
	)		const

Get the shortest path between two links.

Parameters

root	The base link
tip	The tip link

Returns: The shortest path between the two links

◆ getSourceLink()

Link::ConstPtr tesseract_scene_graph::SceneGraph::getSourceLink ( const std::string & joint_name ) const

Get the source link (parent link) for a joint.

Parameters

joint_name The name of the joint

Returns: The source link

◆ getTargetLink()

Link::ConstPtr tesseract_scene_graph::SceneGraph::getTargetLink ( const std::string & joint_name ) const

Get the target link (child link) for a joint.

Parameters

joint_name The name of the joint

Returns: The target link

◆ getVertex()

SceneGraph::Vertex tesseract_scene_graph::SceneGraph::getVertex ( const std::string & name ) const

Get the graph vertex by name.

Parameters

name	The vertex/link name

Returns: Graph Vertex

◆ insertSceneGraph() [1/2]

bool tesseract_scene_graph::SceneGraph::insertSceneGraph	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::string &	prefix = `""`
	)

Merge a graph into the current graph.

Parameters

scene_graph	Const ref to the graph to be merged (said graph will be copied)
prefix	string Will prepend to every link and joint of the merged graph

Returns: Return False if any link or joint name collides with current environment, otherwise True Merge a sub-graph into the current environment, considering that the root of the merged graph is attached to the root of the environment by a fixed joint and no displacement. Every joint and link of the sub-graph will be copied into the environment graph. The prefix argument is meant to allow adding multiple copies of the same sub-graph with different names

◆ insertSceneGraph() [2/2]

bool tesseract_scene_graph::SceneGraph::insertSceneGraph	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_scene_graph::Joint &	joint,
		const std::string &	prefix = `""`
	)

Merge a graph into the current environment.

Parameters

scene_graph	Const ref to the graph to be merged (said graph will be copied)
joint	The joint that connects current environment with the inserted graph
prefix	string Will prepend to every link and joint of the merged graph

Returns: Return False if any link or joint name collides with current environment, otherwise True Merge a sub-graph into the current environment. Every joint and link of the sub-graph will be copied into the environment graph. The prefix argument is meant to allow adding multiple copies of the same sub-graph with different names

◆ isAcyclic()

bool tesseract_scene_graph::SceneGraph::isAcyclic ( ) const

Determine if the graph contains cycles.

Returns: True if graph is acyclic (no cycles) otherwise false

◆ isCollisionAllowed()

bool tesseract_scene_graph::SceneGraph::isCollisionAllowed	(	const std::string &	link_name1,
		const std::string &	link_name2
	)		const

Check if two links are allowed to be in collision.

Parameters

link_name1	link name
link_name2	link name

Returns: True if the two links are allowed to be in collision, otherwise false

◆ isEmpty()

bool tesseract_scene_graph::SceneGraph::isEmpty ( ) const

Check if the graph is empty.

Returns: True if empty, otherwise false

◆ isTree()

bool tesseract_scene_graph::SceneGraph::isTree ( ) const

Determine if the graph is a tree.

Returns: True if graph is tree otherwise false

◆ load()

template<class Archive >

void tesseract_scene_graph::SceneGraph::load	(	Archive &	ar,
		const unsigned int	version
	)

private

◆ moveJoint()

bool tesseract_scene_graph::SceneGraph::moveJoint	(	const std::string &	name,
		const std::string &	parent_link
	)

Move joint to new parent link.

Parameters

name	Name of the joint to move
parent_link	Name of parent link to move to

Returns: Returns true if successful, otherwise false.

◆ moveLink()

bool tesseract_scene_graph::SceneGraph::moveLink ( const Joint & joint )

Move link defined by provided joint This deletes all inbound joints on the parent link defined by the joint.

Parameters

joint The joint defining the link move

Returns: Returns true if successful, otherwise false.

◆ operator!=()

bool tesseract_scene_graph::SceneGraph::operator!= ( const SceneGraph & rhs ) const

◆ operator=() [1/2]

SceneGraph & tesseract_scene_graph::SceneGraph::operator= ( const SceneGraph & other )

delete

◆ operator=() [2/2]

SceneGraph & tesseract_scene_graph::SceneGraph::operator= ( SceneGraph && other )

noexcept

◆ operator==()

bool tesseract_scene_graph::SceneGraph::operator== ( const SceneGraph & rhs ) const

◆ rebuildLinkAndJointMaps()

void tesseract_scene_graph::SceneGraph::rebuildLinkAndJointMaps ( )

private

The rebuild the link and joint map by extraction information from the graph.

◆ removeAllowedCollision() [1/2]

void tesseract_scene_graph::SceneGraph::removeAllowedCollision ( const std::string & link_name )

Remove disabled collision for any pair with link_name from allowed collision matrix.

Parameters

link_name Collision object name

◆ removeAllowedCollision() [2/2]

void tesseract_scene_graph::SceneGraph::removeAllowedCollision	(	const std::string &	link_name1,
		const std::string &	link_name2
	)

Remove disabled collision pair from allowed collision matrix.

Parameters

link_name1	Collision object name
link_name2	Collision object name

◆ removeJoint()

bool tesseract_scene_graph::SceneGraph::removeJoint	(	const std::string &	name,
		bool	recursive = `false`
	)

Removes a joint from the graph.

Parameters

name	Name of the joint to be removed
recursive	If true all children are removed if this this is the only joint of the child link

Returns: Return False if a joint does not exists, otherwise true

◆ removeLink()

bool tesseract_scene_graph::SceneGraph::removeLink	(	const std::string &	name,
		bool	recursive = `false`
	)

Removes a link from the graph.

Note: this will remove all inbound and outbound edges

Parameters

name	Name of the link to be removed
recursive	If true all children are removed if it only has a single joint

Returns: Return False if a link does not exists, otherwise true

◆ save()

template<class Archive >

void tesseract_scene_graph::SceneGraph::save	(	Archive &	ar,
		const unsigned int	version
	)		const

private

◆ saveDOT()

void tesseract_scene_graph::SceneGraph::saveDOT ( const std::string & path ) const

Saves Graph as Graph Description Language (DOT)

Parameters

path	The file path

◆ serialize()

template<class Archive >

void tesseract_scene_graph::SceneGraph::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

◆ setLinkCollisionEnabled()

void tesseract_scene_graph::SceneGraph::setLinkCollisionEnabled	(	const std::string &	name,
		bool	enabled
	)

Set whether a link should be considered during collision checking.

Parameters

enabled True if should be considered during collision checking, otherwise false

◆ setLinkVisibility()

void tesseract_scene_graph::SceneGraph::setLinkVisibility	(	const std::string &	name,
		bool	visibility
	)

Set a links visibility.

Parameters

visibility True if should be visible, otherwise false

◆ setName()

void tesseract_scene_graph::SceneGraph::setName ( const std::string & name )

Sets the graph name.

Parameters

name	The name of the graph

◆ setRoot()

bool tesseract_scene_graph::SceneGraph::setRoot ( const std::string & name )

Sets the root link name (aka. World Coordinate Frame)

Parameters

name	The name of the link

Returns: Return False if a link does not exists, otherwise true

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Member Data Documentation

◆ acm_

tesseract_common::AllowedCollisionMatrix::Ptr tesseract_scene_graph::SceneGraph::acm_

private

◆ joint_map_

std::unordered_map<std::string, std::pair<Joint::Ptr, Edge> > tesseract_scene_graph::SceneGraph::joint_map_

private

◆ link_map_

std::unordered_map<std::string, std::pair<Link::Ptr, Vertex> > tesseract_scene_graph::SceneGraph::link_map_

private

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

tesseract_scene_graph/include/tesseract_scene_graph/graph.h
tesseract_scene_graph/src/graph.cpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Friends

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Edge

◆ Ptr

◆ UPtr

◆ Vertex

Constructor & Destructor Documentation

◆ SceneGraph() [1/3]

◆ ~SceneGraph()

◆ SceneGraph() [2/3]

◆ SceneGraph() [3/3]

Member Function Documentation

◆ addAllowedCollision()

◆ addJoint()

◆ addJointHelper()

◆ addLink() [1/2]

◆ addLink() [2/2]

◆ addLinkHelper()

◆ changeJointAccelerationLimits()

◆ changeJointLimits()

◆ changeJointOrigin()

◆ changeJointPositionLimits()

◆ changeJointVelocityLimits()

◆ clear()

◆ clearAllowedCollisions()

◆ clone()

◆ getActiveJoints()

◆ getAdjacencyMap()

◆ getAdjacentLinkNames()

◆ getAllowedCollisionMatrix() [1/2]

◆ getAllowedCollisionMatrix() [2/2]

◆ getEdge()

◆ getInboundJoints()

◆ getInvAdjacentLinkNames()

◆ getJoint()

◆ getJointChildrenNames() [1/2]

◆ getJointChildrenNames() [2/2]

◆ getJointLimits()

◆ getJoints()

◆ getLeafLinks()

◆ getLink()

◆ getLinkChildrenHelper()

◆ getLinkChildrenNames()

◆ getLinkCollisionEnabled()

◆ getLinks()

◆ getLinkVisibility()

◆ getName()

◆ getOutboundJoints()

◆ getRoot()

◆ getShortestPath()

◆ getSourceLink()

◆ getTargetLink()

◆ getVertex()

◆ insertSceneGraph() [1/2]

◆ insertSceneGraph() [2/2]

◆ isAcyclic()

◆ isCollisionAllowed()

◆ isEmpty()

◆ isTree()

◆ load()

◆ moveJoint()

◆ moveLink()

◆ operator!=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ rebuildLinkAndJointMaps()

◆ removeAllowedCollision() [1/2]

◆ removeAllowedCollision() [2/2]

◆ removeJoint()

◆ removeLink()

◆ save()