Main namespace. More...

Classes
struct	KinematicsInformation
	This hold the kinematics information used to create the SRDF and is the data container for the manipulator manager. More...

class	SRDFModel
	Representation of semantic information about the robot. More...

Typedefs
using	GroupsJointState = std::unordered_map< std::string, double >

using	GroupsJointStates = std::unordered_map< std::string, GroupsJointState >

using	GroupJointStates = std::unordered_map< std::string, GroupsJointStates >

using	GroupsTCPs = tesseract_common::AlignedMap< std::string, Eigen::Isometry3d >

using	GroupTCPs = tesseract_common::AlignedMap< std::string, GroupsTCPs >

using	ChainGroup = std::vector< std::pair< std::string, std::string > >

using	ChainGroups = std::unordered_map< std::string, ChainGroup >

using	JointGroup = std::vector< std::string >

using	JointGroups = std::unordered_map< std::string, JointGroup >

using	LinkGroup = std::vector< std::string >

using	LinkGroups = std::unordered_map< std::string, LinkGroup >

using	GroupNames = std::set< std::string >

using	CollisionMarginData = tesseract_common::CollisionMarginData

using	PairsCollisionMarginData = tesseract_common::PairsCollisionMarginData

Functions
std::shared_ptr< tesseract_common::CollisionMarginData >	parseCollisionMargins (const tesseract_scene_graph::SceneGraph &scene_graph, const tinyxml2::XMLElement *srdf_xml, const std::array< int, 3 > &version)
	Parse allowed collisions from srdf xml element. More...

tesseract_common::fs::path	parseConfigFilePath (const tesseract_common::ResourceLocator &locator, const tinyxml2::XMLElement *xml_element, const std::array< int, 3 > &version)
	Parse a config xml element. More...

tesseract_common::CalibrationInfo	parseCalibrationConfig (const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_common::ResourceLocator &locator, const tinyxml2::XMLElement *xml_element, const std::array< int, 3 > &version)
	Parse calibration config xml element. More...

tesseract_common::KinematicsPluginInfo	parseKinematicsPluginConfig (const tesseract_common::ResourceLocator &locator, const tinyxml2::XMLElement *xml_element, const std::array< int, 3 > &version)
	Parse kinematics plugin config xml element. More...

tesseract_common::ContactManagersPluginInfo	parseContactManagersPluginConfig (const tesseract_common::ResourceLocator &locator, const tinyxml2::XMLElement *xml_element, const std::array< int, 3 > &version)
	Parse contact managers plugin config xml element. More...

tesseract_common::AllowedCollisionMatrix	parseDisabledCollisions (const tesseract_scene_graph::SceneGraph &scene_graph, const tinyxml2::XMLElement *srdf_xml, const std::array< int, 3 > &version)
	Parse allowed collisions from srdf xml element. More...

GroupJointStates	parseGroupStates (const tesseract_scene_graph::SceneGraph &scene_graph, const GroupNames &group_names, const tinyxml2::XMLElement *srdf_xml, const std::array< int, 3 > &version)
	Parse groups states from srdf xml element. More...

GroupTCPs	parseGroupTCPs (const tesseract_scene_graph::SceneGraph &scene_graph, const tinyxml2::XMLElement *srdf_xml, const std::array< int, 3 > &version)
	Parse groups tool center points from srdf xml element. More...

std::tuple< GroupNames, ChainGroups, JointGroups, LinkGroups >	parseGroups (const tesseract_scene_graph::SceneGraph &scene_graph, const tinyxml2::XMLElement *srdf_xml, const std::array< int, 3 > &version)
	Parse groups from srdf xml element. More...

void	processSRDFAllowedCollisions (tesseract_scene_graph::SceneGraph &scene_graph, const SRDFModel &srdf_model)
	Add allowed collisions to the scene graph. More...

bool	compareLinkPairAlphabetically (std::reference_wrapper< const tesseract_common::LinkNamesPair > pair1, std::reference_wrapper< const tesseract_common::LinkNamesPair > pair2)
	Used to sort a pair of strings alphabetically - first by the pair.first and then by pair.second. More...

std::vector< std::reference_wrapper< const tesseract_common::LinkNamesPair > >	getAlphabeticalACMKeys (const tesseract_common::AllowedCollisionEntries &allowed_collision_entries)
	Returns an alphabetically sorted vector of ACM keys (the link pairs) More...

Detailed Description

Main namespace.

Typedef Documentation

◆ ChainGroup

using tesseract_srdf::ChainGroup = typedef std::vector<std::pair<std::string, std::string> >

◆ ChainGroups

using tesseract_srdf::ChainGroups = typedef std::unordered_map<std::string, ChainGroup>

◆ CollisionMarginData

using tesseract_srdf::CollisionMarginData = typedef tesseract_common::CollisionMarginData

◆ GroupJointStates

using tesseract_srdf::GroupJointStates = typedef std::unordered_map<std::string, GroupsJointStates>

◆ GroupNames

using tesseract_srdf::GroupNames = typedef std::set<std::string>

◆ GroupsJointState

using tesseract_srdf::GroupsJointState = typedef std::unordered_map<std::string, double>

◆ GroupsJointStates

using tesseract_srdf::GroupsJointStates = typedef std::unordered_map<std::string, GroupsJointState>

◆ GroupsTCPs

using tesseract_srdf::GroupsTCPs = typedef tesseract_common::AlignedMap<std::string, Eigen::Isometry3d>

◆ GroupTCPs

using tesseract_srdf::GroupTCPs = typedef tesseract_common::AlignedMap<std::string, GroupsTCPs>

◆ JointGroup

using tesseract_srdf::JointGroup = typedef std::vector<std::string>

◆ JointGroups

using tesseract_srdf::JointGroups = typedef std::unordered_map<std::string, JointGroup>

◆ LinkGroup

using tesseract_srdf::LinkGroup = typedef std::vector<std::string>

◆ LinkGroups

using tesseract_srdf::LinkGroups = typedef std::unordered_map<std::string, LinkGroup>

◆ PairsCollisionMarginData

using tesseract_srdf::PairsCollisionMarginData = typedef tesseract_common::PairsCollisionMarginData

Function Documentation

◆ compareLinkPairAlphabetically()

bool tesseract_srdf::compareLinkPairAlphabetically	(	std::reference_wrapper< const tesseract_common::LinkNamesPair >	pair1,
		std::reference_wrapper< const tesseract_common::LinkNamesPair >	pair2
	)

Used to sort a pair of strings alphabetically - first by the pair.first and then by pair.second.

Parameters

pair1	First pair of strings
pair2	Second pair of strings

Returns: True if pair1 should go before pair2 (is closer to A)

◆ getAlphabeticalACMKeys()

std::vector< std::reference_wrapper< const tesseract_common::LinkNamesPair > > tesseract_srdf::getAlphabeticalACMKeys ( const tesseract_common::AllowedCollisionEntries & allowed_collision_entries )

Returns an alphabetically sorted vector of ACM keys (the link pairs)

Parameters

allowed_collision_entries Entries to be sorted

Returns: An alphabetically sorted vector of ACM keys (the link pairs)

◆ parseCalibrationConfig()

tesseract_common::CalibrationInfo tesseract_srdf::parseCalibrationConfig	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_common::ResourceLocator &	locator,
		const tinyxml2::XMLElement *	xml_element,
		const std::array< int, 3 > &	version
	)

Parse calibration config xml element.

Parameters

scene_graph	The scene graph
locator	The locator used to process the file name URL
xml_element	The xml element to process
version	The SRDF version

Returns: The calibration information

◆ parseCollisionMargins()

tesseract_common::CollisionMarginData::Ptr tesseract_srdf::parseCollisionMargins	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tinyxml2::XMLElement *	srdf_xml,
		const std::array< int, 3 > &	version
	)

Parse allowed collisions from srdf xml element.

Parameters

scene_graph	The tesseract scene graph
srdf_xml	The xml element to parse
version	The srdf version number

Returns: Allowed Collision Matrix

◆ parseConfigFilePath()

tesseract_common::fs::path tesseract_srdf::parseConfigFilePath	(	const tesseract_common::ResourceLocator &	locator,
		const tinyxml2::XMLElement *	xml_element,
		const std::array< int, 3 > &	version
	)

Parse a config xml element.

It expects the element to have the attribute 'filename'

Parameters

locator	The locator used to process the file name URL
xml_element	The xml element to process
version	The SRDF version

Returns: The extracted file path

◆ parseContactManagersPluginConfig()

tesseract_common::ContactManagersPluginInfo tesseract_srdf::parseContactManagersPluginConfig	(	const tesseract_common::ResourceLocator &	locator,
		const tinyxml2::XMLElement *	xml_element,
		const std::array< int, 3 > &	version
	)

Parse contact managers plugin config xml element.

Parameters

locator	The locator used to process the file name URL
xml_element	The xml element to process
version	The SRDF version

Returns: The contact managers plugin information

◆ parseDisabledCollisions()

tesseract_common::AllowedCollisionMatrix tesseract_srdf::parseDisabledCollisions	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tinyxml2::XMLElement *	srdf_xml,
		const std::array< int, 3 > &	version
	)

Parse allowed collisions from srdf xml element.

Parameters

scene_graph	The tesseract scene graph
srdf_xml	The xml element to parse
version	The srdf version number

Returns: Allowed Collision Matrix

◆ parseGroups()

std::tuple< GroupNames, ChainGroups, JointGroups, LinkGroups > tesseract_srdf::parseGroups	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tinyxml2::XMLElement *	srdf_xml,
		const std::array< int, 3 > &	version
	)

Parse groups from srdf xml element.

Parameters

scene_graph	The tesseract scene graph
srdf_xml	The xml element to parse
version	The srdf version number

Returns: GroupNames, ChainGroups, JointGroups, LinkGroups

◆ parseGroupStates()

GroupJointStates tesseract_srdf::parseGroupStates	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const GroupNames &	group_names,
		const tinyxml2::XMLElement *	srdf_xml,
		const std::array< int, 3 > &	version
	)

Parse groups states from srdf xml element.

Parameters

scene_graph	The tesseract scene graph
srdf_xml	The xml element to parse
version	The srdf version number

Returns: Group states

◆ parseGroupTCPs()

GroupTCPs tesseract_srdf::parseGroupTCPs	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tinyxml2::XMLElement *	srdf_xml,
		const std::array< int, 3 > &	version
	)

Parse groups tool center points from srdf xml element.

Parameters

scene_graph	The tesseract scene graph
srdf_xml	The xml element to parse
version	The srdf version number

Returns: Group Tool Center Points

◆ parseKinematicsPluginConfig()

tesseract_common::KinematicsPluginInfo tesseract_srdf::parseKinematicsPluginConfig	(	const tesseract_common::ResourceLocator &	locator,
		const tinyxml2::XMLElement *	xml_element,
		const std::array< int, 3 > &	version
	)

Parse kinematics plugin config xml element.

Parameters

locator	The locator used to process the file name URL
xml_element	The xml element to process
version	The SRDF version

Returns: The kinematics plugin information

◆ processSRDFAllowedCollisions()

void tesseract_srdf::processSRDFAllowedCollisions	(	tesseract_scene_graph::SceneGraph &	scene_graph,
		const SRDFModel &	srdf_model
	)

Add allowed collisions to the scene graph.

Parameters

scene_graph	The scene graph to add allowed collisions data
srdf_model	The srdf model to extract allowed collisions

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ ChainGroup

◆ ChainGroups

◆ CollisionMarginData

◆ GroupJointStates

◆ GroupNames

◆ GroupsJointState

◆ GroupsJointStates

◆ GroupsTCPs

◆ GroupTCPs

◆ JointGroup

◆ JointGroups

◆ LinkGroup

◆ LinkGroups

◆ PairsCollisionMarginData

Function Documentation

◆ compareLinkPairAlphabetically()

◆ getAlphabeticalACMKeys()

◆ parseCalibrationConfig()

◆ parseCollisionMargins()

◆ parseConfigFilePath()

◆ parseContactManagersPluginConfig()

◆ parseDisabledCollisions()

◆ parseGroups()

◆ parseGroupStates()

◆ parseGroupTCPs()

◆ parseKinematicsPluginConfig()

◆ processSRDFAllowedCollisions()