A mutable state solver allows you to reconfigure the solver's links and joints. More...

#include <mutable_state_solver.h>

Inheritance diagram for tesseract_scene_graph::MutableStateSolver:

Collaboration diagram for tesseract_scene_graph::MutableStateSolver:

Public Types
using	Ptr = std::shared_ptr< MutableStateSolver >

using	ConstPtr = std::shared_ptr< const MutableStateSolver >

using	UPtr = std::unique_ptr< MutableStateSolver >

using	ConstUPtr = std::unique_ptr< const MutableStateSolver >

Public Types inherited from tesseract_scene_graph::StateSolver
using	Ptr = std::shared_ptr< StateSolver >

using	ConstPtr = std::shared_ptr< const StateSolver >

using	UPtr = std::unique_ptr< StateSolver >

using	ConstUPtr = std::unique_ptr< const StateSolver >

Public Member Functions
	MutableStateSolver ()=default

	~MutableStateSolver () override=default

	MutableStateSolver (const MutableStateSolver &)=default

MutableStateSolver &	operator= (const MutableStateSolver &)=default

	MutableStateSolver (MutableStateSolver &&)=default

MutableStateSolver &	operator= (MutableStateSolver &&)=default

virtual void	setRevision (int revision)=0
	Set the state solver revision number. More...

virtual int	getRevision () const =0
	Get the state solver revision number. More...

virtual bool	addLink (const Link &link, const Joint &joint)=0
	Adds a link/joint to the solver. More...

virtual bool	moveLink (const Joint &joint)=0
	Move a link. More...

virtual bool	removeLink (const std::string &name)=0
	Removes a link from the graph. More...

virtual bool	replaceJoint (const Joint &joint)=0
	Replace and existing joint with the provided one. More...

virtual bool	removeJoint (const std::string &name)=0
	Removes a joint from the graph. More...

virtual bool	moveJoint (const std::string &name, const std::string &parent_link)=0
	Move joint to new parent link. More...

virtual bool	changeJointOrigin (const std::string &name, const Eigen::Isometry3d &new_origin)=0
	Changes the "origin" transform of the joint and recomputes the associated edge. More...

virtual bool	changeJointPositionLimits (const std::string &name, double lower, double upper)=0
	Changes the position limits associated with a joint. More...

virtual bool	changeJointVelocityLimits (const std::string &name, double limit)=0
	Changes the velocity limits associated with a joint. More...

virtual bool	changeJointAccelerationLimits (const std::string &name, double limit)=0
	Changes the acceleration limits associated with a joint. More...

virtual bool	insertSceneGraph (const SceneGraph &scene_graph, const Joint &joint, const std::string &prefix="")=0
	Merge a scene into the current solver. More...

Public Member Functions inherited from tesseract_scene_graph::StateSolver
	StateSolver ()=default

virtual	~StateSolver ()=default

	StateSolver (const StateSolver &)=default

StateSolver &	operator= (const StateSolver &)=default

	StateSolver (StateSolver &&)=default

StateSolver &	operator= (StateSolver &&)=default

virtual StateSolver::UPtr	clone () const =0
	This should clone the object so it may be used in a multi threaded application where each thread would clone the solver. More...

virtual void	setState (const Eigen::Ref< const Eigen::VectorXd > &joint_values)=0
	Set the current state of the solver. More...

virtual void	setState (const std::unordered_map< std::string, double > &joint_values)=0
	Set the current state of the solver. More...

virtual void	setState (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values)=0

virtual SceneState	getState (const Eigen::Ref< const Eigen::VectorXd > &joint_values) const =0
	Get the state of the solver given the joint values. More...

virtual SceneState	getState (const std::unordered_map< std::string, double > &joint_values) const =0
	Get the state of the scene for a given set or subset of joint values. More...

virtual SceneState	getState (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values) const =0

virtual SceneState	getState () const =0
	Get the current state of the scene. More...

virtual Eigen::MatrixXd	getJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name) const =0
	Get the jacobian of the solver given the joint values. More...

virtual Eigen::MatrixXd	getJacobian (const std::unordered_map< std::string, double > &joint_values, const std::string &link_name) const =0
	Get the jacobian of the scene for a given set or subset of joint values. More...

virtual Eigen::MatrixXd	getJacobian (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name) const =0

virtual SceneState	getRandomState () const =0
	Get the random state of the environment. More...

virtual std::vector< std::string >	getJointNames () const =0
	Get the vector of joint names. More...

virtual std::vector< std::string >	getActiveJointNames () const =0
	Get the vector of joint names which align with the limits. More...

virtual std::string	getBaseLinkName () const =0
	Get the base link name. More...

virtual std::vector< std::string >	getLinkNames () const =0
	Get the vector of link names. More...

virtual std::vector< std::string >	getActiveLinkNames () const =0
	Get the vector of active link names. More...

virtual std::vector< std::string >	getStaticLinkNames () const =0
	Get a vector of static link names in the environment. More...

virtual bool	isActiveLinkName (const std::string &link_name) const =0
	Check if link is an active link. More...

virtual bool	hasLinkName (const std::string &link_name) const =0
	Check if link name exists. More...

virtual tesseract_common::VectorIsometry3d	getLinkTransforms () const =0
	Get all of the links transforms. More...

virtual Eigen::Isometry3d	getLinkTransform (const std::string &link_name) const =0
	Get the transform corresponding to the link. More...

virtual Eigen::Isometry3d	getRelativeLinkTransform (const std::string &from_link_name, const std::string &to_link_name) const =0
	Get transform between two links using the current state. More...

virtual tesseract_common::KinematicLimits	getLimits () const =0
	Getter for kinematic limits. More...

Detailed Description

A mutable state solver allows you to reconfigure the solver's links and joints.

Member Typedef Documentation

◆ ConstPtr

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

◆ ConstUPtr

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

◆ Ptr

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

◆ UPtr

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

Constructor & Destructor Documentation

◆ MutableStateSolver() [1/3]

tesseract_scene_graph::MutableStateSolver::MutableStateSolver ( )

default

◆ ~MutableStateSolver()

tesseract_scene_graph::MutableStateSolver::~MutableStateSolver ( )

overridedefault

◆ MutableStateSolver() [2/3]

tesseract_scene_graph::MutableStateSolver::MutableStateSolver ( const MutableStateSolver & )

default

◆ MutableStateSolver() [3/3]

tesseract_scene_graph::MutableStateSolver::MutableStateSolver ( MutableStateSolver && )

default

Member Function Documentation

◆ addLink()

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

pure virtual

Adds a link/joint to the solver.

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

Implemented in tesseract_scene_graph::OFKTStateSolver.

◆ changeJointAccelerationLimits()

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

pure virtual

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

Implemented in tesseract_scene_graph::OFKTStateSolver.

◆ changeJointOrigin()

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

pure virtual

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.

Implemented in tesseract_scene_graph::OFKTStateSolver.

◆ changeJointPositionLimits()

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

pure virtual

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.

Implemented in tesseract_scene_graph::OFKTStateSolver.

◆ changeJointVelocityLimits()

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

pure virtual

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

Implemented in tesseract_scene_graph::OFKTStateSolver.

◆ getRevision()

virtual int tesseract_scene_graph::MutableStateSolver::getRevision ( ) const

pure virtual

Get the state solver revision number.

Returns: revision number

Implemented in tesseract_scene_graph::OFKTStateSolver.

◆ insertSceneGraph()

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

pure virtual

Merge a scene into the current solver.

Parameters

scene_graph	Const ref to the graph to be merged
joint	The joint that connects current scene with the inserted scene
prefix	string Will be prepended to every link and joint of the merged scene

Returns: Return False if any link or joint name collides with current solver, otherwise True The prefix argument is meant to allow adding multiple copies of the same subgraph with different names

Implemented in tesseract_scene_graph::OFKTStateSolver.

◆ moveJoint()

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

pure virtual

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.

Implemented in tesseract_scene_graph::OFKTStateSolver.

◆ moveLink()

virtual bool tesseract_scene_graph::MutableStateSolver::moveLink ( const Joint & joint )

pure virtual

Move a link.

Parameters

joint The associated joint that defines the move

Returns: Return False if link does not exist or if joint name already exists, otherwise true

Implemented in tesseract_scene_graph::OFKTStateSolver.

◆ operator=() [1/2]

MutableStateSolver & tesseract_scene_graph::MutableStateSolver::operator= ( const MutableStateSolver & )

default

◆ operator=() [2/2]

MutableStateSolver & tesseract_scene_graph::MutableStateSolver::operator= ( MutableStateSolver && )

default

◆ removeJoint()

virtual bool tesseract_scene_graph::MutableStateSolver::removeJoint ( const std::string & name )

pure virtual

Removes a joint from the graph.

Parameters

name	Name of the joint to be removed

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

Implemented in tesseract_scene_graph::OFKTStateSolver.

◆ removeLink()

virtual bool tesseract_scene_graph::MutableStateSolver::removeLink ( const std::string & name )

pure virtual

Removes a link from the graph.

Note: this will remove all inbound and outbound edges

Parameters

name	Name of the link to be removed

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

Implemented in tesseract_scene_graph::OFKTStateSolver.

◆ replaceJoint()

virtual bool tesseract_scene_graph::MutableStateSolver::replaceJoint ( const Joint & joint )

pure virtual

Replace and existing joint with the provided one.

Parameters

joint The replacement joint

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

Implemented in tesseract_scene_graph::OFKTStateSolver.

◆ setRevision()

virtual void tesseract_scene_graph::MutableStateSolver::setRevision ( int revision )

pure virtual

Set the state solver revision number.

Parameters

revision The revision number to assign

Implemented in tesseract_scene_graph::OFKTStateSolver.

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

tesseract_state_solver/include/tesseract_state_solver/mutable_state_solver.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ MutableStateSolver() [1/3]

◆ ~MutableStateSolver()

◆ MutableStateSolver() [2/3]

◆ MutableStateSolver() [3/3]

Member Function Documentation

◆ addLink()

◆ changeJointAccelerationLimits()

◆ changeJointOrigin()

◆ changeJointPositionLimits()

◆ changeJointVelocityLimits()

◆ getRevision()

◆ insertSceneGraph()

◆ moveJoint()

◆ moveLink()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ removeJoint()

◆ removeLink()

◆ replaceJoint()

◆ setRevision()