tesseract_scene_graph Namespace Reference

Namespaces
namespace	test_suite

Classes
class	Collision
class	Inertial
class	Joint
class	JointCalibration
class	JointDynamics
class	JointLimits
class	JointMimic
class	JointSafety
	Parameters for Joint Safety Controllers. More...
struct	kdl_sub_tree_builder
	Every time a vertex is visited for the first time add a new segment to the KDL Tree;. More...
struct	kdl_tree_builder
	Every time a vertex is visited for the first time add a new segment to the KDL Tree;. More...
class	KDLStateSolver
struct	KDLTreeData
	The KDLTreeData populated when parsing scene graph. More...
class	Link
class	Material
class	MutableStateSolver
	A mutable state solver allows you to reconfigure the solver's links and joints. More...
struct	ofkt_builder
	Every time a vertex is visited for the first time add a new node to the tree. More...
class	OFKTBaseNode
class	OFKTContinuousNode
class	OFKTFixedNode
class	OFKTNode
	The OFKT node is contains multiple trasformation which are described below. More...
class	OFKTPrismaticNode
class	OFKTRevoluteNode
class	OFKTRootNode
class	OFKTStateSolver
	An implementation of the Optimized Forward Kinematic Tree as a stat solver. More...
class	SceneGraph
struct	SceneState
	This holds a state of the scene. More...
struct	ShortestPath
	Holds the shortest path information. More...
class	StateSolver
struct	ugraph_vertex_copier
class	Visual

Typedefs
using	GraphProperty = boost::property< boost::graph_name_t, std::string, boost::property< boost::graph_root_t, std::string > >
	Defines the boost graph property. More...
using	VertexProperty = boost::property< boost::vertex_link_t, Link::Ptr, boost::property< boost::vertex_link_visible_t, bool, boost::property< boost::vertex_link_collision_enabled_t, bool > > >
	Defines the boost graph vertex property. More...
using	EdgeProperty = boost::property< boost::edge_joint_t, Joint::Ptr, boost::property< boost::edge_weight_t, double > >
	EdgeProperty. More...
using	Graph = boost::adjacency_list< boost::listS, boost::listS, boost::bidirectionalS, VertexProperty, EdgeProperty, GraphProperty >
using	UGraph = boost::adjacency_list< boost::listS, boost::listS, boost::undirectedS, VertexProperty, EdgeProperty, GraphProperty >

Enumerations
enum class	JointType {   UNKNOWN , REVOLUTE , CONTINUOUS , PRISMATIC ,   FLOATING , PLANAR , FIXED }

Functions
std::ostream &	operator<< (std::ostream &os, const ShortestPath &path)
std::ostream &	operator<< (std::ostream &os, const JointType &type)
KDL::Frame	convert (const Eigen::Isometry3d &transform)
	Convert Eigen::Isometry3d to KDL::Frame. More...
Eigen::Isometry3d	convert (const KDL::Frame &frame)
	Convert KDL::Frame to Eigen::Isometry3d. More...
KDL::Vector	convert (const Eigen::Vector3d &vector)
	Convert Eigen::Vector3d to KDL::Vector. More...
Eigen::Vector3d	convert (const KDL::Vector &vector)
	Convert KDL::Vector to Eigen::Vector3d. More...
Eigen::MatrixXd	convert (const KDL::Jacobian &jacobian)
	Convert KDL::Jacobian to Eigen::Matrix. More...
KDL::Jacobian	convert (const Eigen::MatrixXd &jacobian)
	Convert Eigen::Matrix to KDL::Jacobian. More...
Eigen::MatrixXd	convert (const KDL::Jacobian &jacobian, const std::vector< int > &q_nrs)
	Convert a subset of KDL::Jacobian to Eigen::Matrix. More...
KDL::Joint	convert (const Joint::ConstPtr &joint)
	Convert Tesseract Joint to KDL Joint. More...
KDL::RigidBodyInertia	convert (const Inertial::ConstPtr &inertial)
	Convert Tesseract Inertail to KDL Inertial. More...
KDLTreeData	parseSceneGraph (const SceneGraph &scene_graph)
	Convert a Tesseract SceneGraph into a KDL Tree. More...
KDLTreeData	parseSceneGraph (const SceneGraph &scene_graph, const std::vector< std::string > &joint_names, const std::unordered_map< std::string, double > &joint_values)
	Convert a portion of a Tesseract SceneGraph into a KDL Tree. More...

Variables
static const auto	DEFAULT_TESSERACT_MATERIAL = std::make_shared<Material>("default_tesseract_material")

Typedef Documentation

EdgeProperty

using tesseract_scene_graph::EdgeProperty = typedef boost::property<boost::edge_joint_t, Joint::Ptr, boost::property<boost::edge_weight_t, double> >

EdgeProperty.

The edge_weight represents the distance between the two links

Graph

using tesseract_scene_graph::Graph = typedef boost:: adjacency_list<boost::listS, boost::listS, boost::bidirectionalS, VertexProperty, EdgeProperty, GraphProperty>

GraphProperty

using tesseract_scene_graph::GraphProperty = typedef boost::property<boost::graph_name_t, std::string, boost::property<boost::graph_root_t, std::string> >

Defines the boost graph property.

UGraph

using tesseract_scene_graph::UGraph = typedef boost::adjacency_list<boost::listS, boost::listS, boost::undirectedS, VertexProperty, EdgeProperty, GraphProperty>

VertexProperty

using tesseract_scene_graph::VertexProperty = typedef boost::property< boost::vertex_link_t, Link::Ptr, boost::property<boost::vertex_link_visible_t, bool, boost::property<boost::vertex_link_collision_enabled_t, bool> >>

Defines the boost graph vertex property.

Enumeration Type Documentation

JointType

enum class tesseract_scene_graph::JointType

strong

Enumerator
UNKNOWN
REVOLUTE
CONTINUOUS
PRISMATIC
FLOATING
PLANAR
FIXED

Function Documentation

convert() [1/9]

KDL::Frame tesseract_scene_graph::convert

(

const Eigen::Isometry3d &

transform

)

Convert Eigen::Isometry3d to KDL::Frame.

Parameters

transform

Input Eigen transform (Isometry3d)

Returns

frame Output KDL Frame

convert() [2/9]

KDL::Jacobian tesseract_scene_graph::convert

(

const Eigen::MatrixXd &

jacobian

)

Convert Eigen::Matrix to KDL::Jacobian.

Parameters

jacobian

Input Eigen MatrixXd

Returns

KDL Jacobian

convert() [3/9]

KDL::Vector tesseract_scene_graph::convert

(

const Eigen::Vector3d &

vector

)

Convert Eigen::Vector3d to KDL::Vector.

Parameters

vector

Input Eigen Vector3d

Returns

vector Output KDL Vector

convert() [4/9]

KDL::RigidBodyInertia tesseract_scene_graph::convert

(

const Inertial::ConstPtr &

inertial

)

Convert Tesseract Inertail to KDL Inertial.

Parameters

inertial

Returns

convert() [5/9]

KDL::Joint tesseract_scene_graph::convert

(

const Joint::ConstPtr &

joint

)

Convert Tesseract Joint to KDL Joint.

Parameters

joint

Tesseract Joint

Returns

A KDL Joint

convert() [6/9]

Eigen::Isometry3d tesseract_scene_graph::convert

(

const KDL::Frame &

frame

)

Convert KDL::Frame to Eigen::Isometry3d.

Parameters

frame

Input KDL Frame

Returns

Eigen transform (Isometry3d)

convert() [7/9]

Eigen::MatrixXd tesseract_scene_graph::convert

(

const KDL::Jacobian &

jacobian

)

Convert KDL::Jacobian to Eigen::Matrix.

Parameters

jacobian

Input KDL Jacobian

Returns

Eigen MatrixXd

convert() [8/9]

Eigen::MatrixXd tesseract_scene_graph::convert	(	const KDL::Jacobian &	jacobian,
		const std::vector< int > &	q_nrs
	)

Convert a subset of KDL::Jacobian to Eigen::Matrix.

Parameters

jacobian	Input KDL Jacobian
q_nrs	Input the columns to use

Returns

Eigen MatrixXd

convert() [9/9]

Eigen::Vector3d tesseract_scene_graph::convert

(

const KDL::Vector &

vector

)

Convert KDL::Vector to Eigen::Vector3d.

Parameters

transform

Input KDL Vector

Returns

frame Output Eigen Vector3d

operator<<() [1/2]

std::ostream & tesseract_scene_graph::operator<< ( std::ostream &  os, const JointType &  type  )

inline

operator<<() [2/2]

std::ostream & tesseract_scene_graph::operator<< ( std::ostream &  os, const ShortestPath &  path  )

inline

parseSceneGraph() [1/2]

KDLTreeData tesseract_scene_graph::parseSceneGraph

(

const SceneGraph &

scene_graph

)

Convert a Tesseract SceneGraph into a KDL Tree.

Exceptions

If	graph is not a tree

Parameters

scene_graph	The Tesseract Scene Graph
tree	The KDL Tree to populate.

Returns

Returns KDL tree data representation of the scene graph

parseSceneGraph() [2/2]

KDLTreeData tesseract_scene_graph::parseSceneGraph	(	const SceneGraph &	scene_graph,
		const std::vector< std::string > &	joint_names,
		const std::unordered_map< std::string, double > &	joint_values
	)

Convert a portion of a Tesseract SceneGraph into a KDL Tree.

This will create a new tree from multiple sub tree defined by the provided joint names The values are used to convert non fixed joints that are not listed in joint_names to a fixed joint. The first tree found a link is defined attaching world to the base link and all other trees are attached to this link by a fixed joint.

Exceptions

If	graph is not a tree it will return false.

Parameters

scene_graph	The Tesseract Scene Graph
tree	The KDL Tree to populate.

Returns

Returns KDL tree representation of the sub scene graph

Variable Documentation

DEFAULT_TESSERACT_MATERIAL

const auto tesseract_scene_graph::DEFAULT_TESSERACT_MATERIAL = std::make_shared<Material>("default_tesseract_material")

static