The OFKT node is contains multiple trasformation which are described below. More...

#include <ofkt_node.h>

Inheritance diagram for tesseract_scene_graph::OFKTNode:

[legend]

Public Types
using	UPtr = std::unique_ptr< OFKTNode >

using	Ptr = std::shared_ptr< OFKTNode >

using	ConstPtr = std::shared_ptr< const OFKTNode >

Public Member Functions
	OFKTNode ()=default

virtual	~OFKTNode ()=default

	OFKTNode (const OFKTNode &)=delete

OFKTNode &	operator= (const OFKTNode &)=delete

	OFKTNode (OFKTNode &&)=delete

OFKTNode &	operator= (OFKTNode &&)=delete

virtual JointType	getType () const =0
	Get the type of joint associated with the node. More...

virtual void	setParent (OFKTNode *parent)=0
	Set the parent node. More...

virtual OFKTNode *	getParent ()=0
	Get the parent node. More...

virtual const OFKTNode *	getParent () const =0
	Get the parent node (const) More...

virtual const std::string &	getLinkName () const =0
	Get the link name associated with the node. More...

virtual const std::string &	getJointName () const =0
	Get the joint name associated with the node. More...

virtual void	storeJointValue (double joint_value)=0
	Set the nodes joint value if it has one. More...

virtual double	getJointValue () const =0
	Get the current joint value. More...

virtual bool	hasJointValueChanged () const =0
	Indicates that the joint value has changed and that local and world transformation need to be recomputed. More...

virtual void	setStaticTransformation (Eigen::Isometry3d static_tf)=0
	Set the static transformation. More...

virtual const Eigen::Isometry3d &	getStaticTransformation () const =0
	Get the nodes static transformation. More...

virtual void	computeAndStoreLocalTransformation ()=0
	Compute and save the local transformation 'L = S * J(Joint Value)'. More...

virtual const Eigen::Isometry3d &	getLocalTransformation () const =0
	Get the local transformation: 'L = S * J'. More...

virtual Eigen::Isometry3d	computeLocalTransformation (double joint_value) const =0
	Compute the local tranformation but do not save. More...

virtual void	computeAndStoreWorldTransformation ()=0
	Compute and store the nodes world transformation. More...

virtual const Eigen::Isometry3d &	getWorldTransformation () const =0
	Get the nodes world transformation. More...

virtual bool	updateWorldTransformationRequired () const =0
	Indicates if an update of the world transformation is required. More...

virtual Eigen::Matrix< double, 6, 1 >	getLocalTwist () const =0
	Return the twist of the node in its local frame. More...

virtual void	addChild (OFKTNode *node)=0
	Add a child node. More...

virtual void	removeChild (const OFKTNode *node)=0
	Remove a child node assiciated with this node. More...

virtual std::vector< OFKTNode * > &	getChildren ()=0
	Get a vector of child nodes associated with this node. More...

virtual const std::vector< const OFKTNode * > &	getChildren () const =0
	Get a vector of child nodes associated with this node (Const) More...

Detailed Description

The OFKT node is contains multiple trasformation which are described below.

Static Transformation: (S)
Joint Transformation: (J) this if a fuction of the joint value if not fixed
Local Transformation: L = S * J
World Transformation: W = W(parent) * L

Member Typedef Documentation

◆ ConstPtr

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

◆ Ptr

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

◆ UPtr

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

Constructor & Destructor Documentation

◆ OFKTNode() [1/3]

tesseract_scene_graph::OFKTNode::OFKTNode ( )

default

◆ ~OFKTNode()

virtual tesseract_scene_graph::OFKTNode::~OFKTNode ( )

virtualdefault

◆ OFKTNode() [2/3]

tesseract_scene_graph::OFKTNode::OFKTNode ( const OFKTNode & )

delete

◆ OFKTNode() [3/3]

tesseract_scene_graph::OFKTNode::OFKTNode ( OFKTNode && )

delete

Member Function Documentation

◆ addChild()

virtual void tesseract_scene_graph::OFKTNode::addChild ( OFKTNode * node )

pure virtual

Add a child node.

Parameters

node	The node which is a child of this node

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ computeAndStoreLocalTransformation()

virtual void tesseract_scene_graph::OFKTNode::computeAndStoreLocalTransformation ( )

pure virtual

Compute and save the local transformation 'L = S * J(Joint Value)'.

This should reset the flag such that hasJointValueChanged() returns false

Implemented in tesseract_scene_graph::OFKTRootNode, tesseract_scene_graph::OFKTFixedNode, tesseract_scene_graph::OFKTRevoluteNode, tesseract_scene_graph::OFKTContinuousNode, and tesseract_scene_graph::OFKTPrismaticNode.

◆ computeAndStoreWorldTransformation()

virtual void tesseract_scene_graph::OFKTNode::computeAndStoreWorldTransformation ( )

pure virtual

Compute and store the nodes world transformation.

This should reset the flag such that updateWorldTransformationRequired() returns false

Implemented in tesseract_scene_graph::OFKTBaseNode, and tesseract_scene_graph::OFKTRootNode.

◆ computeLocalTransformation()

virtual Eigen::Isometry3d tesseract_scene_graph::OFKTNode::computeLocalTransformation ( double joint_value ) const

pure virtual

Compute the local tranformation but do not save.

This provides a const method for computing the local transform.

Parameters

joint_value The joint value for calculating the local transformation

Returns: The local transformation for the provided joint value

Implemented in tesseract_scene_graph::OFKTBaseNode, tesseract_scene_graph::OFKTRootNode, tesseract_scene_graph::OFKTFixedNode, tesseract_scene_graph::OFKTRevoluteNode, tesseract_scene_graph::OFKTContinuousNode, and tesseract_scene_graph::OFKTPrismaticNode.

◆ getChildren() [1/2]

virtual const std::vector< const OFKTNode * > & tesseract_scene_graph::OFKTNode::getChildren ( ) const

pure virtual

Get a vector of child nodes associated with this node (Const)

Returns: A vector of child nodes

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ getChildren() [2/2]

virtual std::vector< OFKTNode * > & tesseract_scene_graph::OFKTNode::getChildren ( )

pure virtual

Get a vector of child nodes associated with this node.

Returns: A vector of child nodes

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ getJointName()

virtual const std::string & tesseract_scene_graph::OFKTNode::getJointName ( ) const

pure virtual

Get the joint name associated with the node.

Returns: The link name

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ getJointValue()

virtual double tesseract_scene_graph::OFKTNode::getJointValue ( ) const

pure virtual

Get the current joint value.

Returns: The current joint value

Implemented in tesseract_scene_graph::OFKTBaseNode, and tesseract_scene_graph::OFKTFixedNode.

◆ getLinkName()

virtual const std::string & tesseract_scene_graph::OFKTNode::getLinkName ( ) const

pure virtual

Get the link name associated with the node.

Returns: The link name

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ getLocalTransformation()

virtual const Eigen::Isometry3d & tesseract_scene_graph::OFKTNode::getLocalTransformation ( ) const

pure virtual

Get the local transformation: 'L = S * J'.

Returns: The nodes local transformation

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ getLocalTwist()

virtual Eigen::Matrix< double, 6, 1 > tesseract_scene_graph::OFKTNode::getLocalTwist ( ) const

pure virtual

Return the twist of the node in its local frame.

Returns: The node twist

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ getParent() [1/2]

virtual const OFKTNode * tesseract_scene_graph::OFKTNode::getParent ( ) const

pure virtual

Get the parent node (const)

Returns: The parent node

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ getParent() [2/2]

virtual OFKTNode * tesseract_scene_graph::OFKTNode::getParent ( )

pure virtual

Get the parent node.

Returns: The parent node

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ getStaticTransformation()

virtual const Eigen::Isometry3d & tesseract_scene_graph::OFKTNode::getStaticTransformation ( ) const

pure virtual

Get the nodes static transformation.

Returns: The static transformation

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ getType()

virtual JointType tesseract_scene_graph::OFKTNode::getType ( ) const

pure virtual

Get the type of joint associated with the node.

Returns: The Joint Type

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ getWorldTransformation()

virtual const Eigen::Isometry3d & tesseract_scene_graph::OFKTNode::getWorldTransformation ( ) const

pure virtual

Get the nodes world transformation.

Returns: The nodes world transformation

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ hasJointValueChanged()

virtual bool tesseract_scene_graph::OFKTNode::hasJointValueChanged ( ) const

pure virtual

Indicates that the joint value has changed and that local and world transformation need to be recomputed.

Returns: If true, local and world transformation need to be recompute

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ operator=() [1/2]

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

delete

◆ operator=() [2/2]

OFKTNode & tesseract_scene_graph::OFKTNode::operator= ( OFKTNode && )

delete

◆ removeChild()

virtual void tesseract_scene_graph::OFKTNode::removeChild ( const OFKTNode * node )

pure virtual

Remove a child node assiciated with this node.

Parameters

node	The child node to be removed

Implemented in tesseract_scene_graph::OFKTBaseNode.

◆ setParent()

virtual void tesseract_scene_graph::OFKTNode::setParent ( OFKTNode * parent )

pure virtual

Set the parent node.

This should indicate that updateWorldTransformationRequired() = true

Parameters

parent The parent node

Implemented in tesseract_scene_graph::OFKTBaseNode, and tesseract_scene_graph::OFKTRootNode.

◆ setStaticTransformation()

virtual void tesseract_scene_graph::OFKTNode::setStaticTransformation ( Eigen::Isometry3d static_tf )

pure virtual

Set the static transformation.

This should recompute the local transformation and updateWorldTransformationRequired() = true.

Parameters

static_tf The new static transformation

Implemented in tesseract_scene_graph::OFKTBaseNode, tesseract_scene_graph::OFKTRootNode, and tesseract_scene_graph::OFKTFixedNode.

◆ storeJointValue()

virtual void tesseract_scene_graph::OFKTNode::storeJointValue ( double joint_value )

pure virtual

Set the nodes joint value if it has one.

This should indicate hasJointValueChanged() = true

Parameters

joint_value The joint value

Implemented in tesseract_scene_graph::OFKTBaseNode, tesseract_scene_graph::OFKTRootNode, tesseract_scene_graph::OFKTFixedNode, and tesseract_scene_graph::OFKTRevoluteNode.

◆ updateWorldTransformationRequired()

virtual bool tesseract_scene_graph::OFKTNode::updateWorldTransformationRequired ( ) const

pure virtual

Indicates if an update of the world transformation is required.

This should get set to true when either of the following happen.

If setParent() was called
If setStaticTransformation() was called

Note: setJointValue() is not handle here because that is captured by hasJointValueChanged()

Returns: If true, the world transformation need to be recalculated.

Implemented in tesseract_scene_graph::OFKTBaseNode, and tesseract_scene_graph::OFKTRootNode.

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

tesseract_state_solver/include/tesseract_state_solver/ofkt/ofkt_node.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ OFKTNode() [1/3]

◆ ~OFKTNode()

◆ OFKTNode() [2/3]

◆ OFKTNode() [3/3]

Member Function Documentation

◆ addChild()

◆ computeAndStoreLocalTransformation()

◆ computeAndStoreWorldTransformation()

◆ computeLocalTransformation()

◆ getChildren() [1/2]

◆ getChildren() [2/2]

◆ getJointName()

◆ getJointValue()

◆ getLinkName()

◆ getLocalTransformation()

◆ getLocalTwist()

◆ getParent() [1/2]

◆ getParent() [2/2]

◆ getStaticTransformation()

◆ getType()

◆ getWorldTransformation()

◆ hasJointValueChanged()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ removeChild()

◆ setParent()

◆ setStaticTransformation()

◆ storeJointValue()

◆ updateWorldTransformationRequired()