API Reference

API Reference:

• tesseract_common
  • Introduction
    • Eigen Geometry
    • Resource Locators
    • Boost Filesystem
    • Boost Uuid
    • Console Bridge
    • TinyXML2 Support
  • Classes
    • AllowedCollisionMatrix Class
    • AngleAxisd Class
    • AnyPoly Class
    • BytesResource Class
    • CollisionMarginData Class
    • FilesystemPath Class
    • GeneralResourceLocator Class
    • Isometry3d Class
    • JointState Class
    • JointStates Class
    • JointTrajectory Class
    • KinematicLimits Class
    • ManipulatorInfo Class
    • OutputHandler Class
    • PairHash Class
    • Quaterniond Class
    • Resource Class
    • ResourceLocator Class
    • SimpleLocatedResource Class
    • SimpleResourceLocatorFn Class
    • SimpleResourceLocatorFnBase Class
    • Timer Class
    • Translation3d Class
    • TypeErasureInterface Class
    • Uuid Class
    • VectorFilesystemPath Class
    • XMLAttribute Class
    • XMLComment Class
    • XMLConstHandle Class
    • XMLDeclaration Class
    • XMLDocument Class
    • XMLElement Class
    • XMLHandle Class
    • XMLNode Class
    • XMLPrinter Class
    • XMLText Class
    • XMLUnknown Class
    • XMLUtil Class
    • XMLVisitor Class
    • type_index Class
  • Functions
    • AnyPoly_as_double Function
    • AnyPoly_as_string Function
    • AnyPoly_is_double Function
    • AnyPoly_is_string Function
    • AnyPoly_wrap_double Function
    • AnyPoly_wrap_string Function
    • getLogLevel Function
    • isWithinLimits Function
    • log Function
    • makeOrderedLinkPair Function
    • newRandomUuid Function
    • noOutputHandler Function
    • restorePreviousOutputHandler Function
    • satisfiesLimits Function
    • setLogLevel Function
    • useOutputHandler Function
  • Constants
  • Container Templates
• tesseract_geometry
  • Classes
    • Box Class
    • Capsule Class
    • CompoundMesh Class
    • Cone Class
    • ConvexMesh Class
    • Cylinder Class
    • Geometry Class
    • Mesh Class
    • MeshMaterial Class
    • MeshTexture Class
    • OcTree Class
    • Octree Class
    • Plane Class
    • PolygonMesh Class
    • SDFMesh Class
    • Sphere Class
  • Functions
    • createConvexMeshFromBytes Function
    • createConvexMeshFromPath Function
    • createConvexMeshFromResource Function
    • createMeshFromBytes Function
    • createMeshFromPath Function
    • createMeshFromResource Function
    • createSDFMeshFromBytes Function
    • createSDFMeshFromPath Function
    • createSDFMeshFromResource Function
    • isIdentical Function
  • Constants
  • Container Templates
• tesseract_collision
  • Classes
    • CollisionCheckConfig Class
    • ContactManagerConfig Class
    • ContactManagersPluginFactory Class
    • ContactRequest Class
    • ContactResult Class
    • ContactResultMap Class
    • ContactTrajectoryResults Class
    • ContactTrajectoryStepResults Class
    • ContactTrajectorySubstepResults Class
    • ContinuousContactManager Class
    • ContinuousContactManagerFactory Class
    • ContinuousContactManagerUPtr Class
    • DiscreteContactManager Class
    • DiscreteContactManagerFactory Class
    • DiscreteContactManagerUPtr Class
    • IsContactAllowedFn Class
    • IsContactAllowedFnBase Class
    • IsContactValidFn Class
    • IsContactValidFnBase Class
  • Constants
  • Container Templates
• tesseract_scene_graph
  • Classes
    • Collision Class
    • Inertial Class
    • Joint Class
    • JointCalibration Class
    • JointDynamics Class
    • JointLimits Class
    • JointMimic Class
    • JointSafety Class
    • Link Class
    • Material Class
    • SceneGraph Class
    • SceneGraphUPtr Class
    • SceneState Class
    • ShortestPath Class
    • Visual Class
  • Constants
  • Container Templates
• tesseract_srdf
  • Classes
    • KinematicsInformation Class
    • SRDFModel Class
  • Functions
    • compareLinkPairAlphabetically Function
    • getAlphabeticalACMKeys Function
    • parseCalibrationConfigString Function
    • parseContactManagersPluginConfigString Function
    • parseKinematicsPluginConfigString Function
    • processSRDFAllowedCollisions Function
• tesseract_urdf
  • Classes
  • Functions
    • parseURDFFile Function
    • parseURDFString Function
    • writeURDFFile Function
• tesseract_state_solver
  • Classes
    • KDLStateSolver Class
    • MutableStateSolver Class
    • MutableStateSolverUPtr Class
    • OFKTStateSolver Class
    • StateSolver Class
    • StateSolverUPtr Class
• tesseract_kinematics
  • Classes
    • ForwardKinematics Class
    • ForwardKinematicsUPtr Class
    • FwdKinFactory Class
    • InvKinFactory Class
    • InverseKinematics Class
    • InverseKinematicsUPtr Class
    • JointGroup Class
    • JointGroupUPtr Class
    • KinGroupIKInput Class
    • KinematicGroup Class
    • KinematicGroupUPtr Class
    • KinematicsPluginFactory Class
    • Manipulability Class
    • ManipulabilityEllipsoid Class
    • URParameters Class
  • Functions
    • calcManipulability Function
    • dampedPInv Function
    • getRedundantSolutions Function
    • isNearSingularity Function
    • numericalJacobian Function
    • solvePInv Function
  • Container Templates
• tesseract_environment
  • Classes
    • AddContactManagersPluginInfoCommand Class
    • AddKinematicsInformationCommand Class
    • AddLinkCommand Class
    • AddSceneGraphCommand Class
    • AddTrajectoryLinkCommand Class
    • ChangeCollisionMarginsCommand Class
    • ChangeJointAccelerationLimitsCommand Class
    • ChangeJointOriginCommand Class
    • ChangeJointPositionLimitsCommand Class
    • ChangeJointVelocityLimitsCommand Class
    • ChangeLinkCollisionEnabledCommand Class
    • ChangeLinkOriginCommand Class
    • ChangeLinkVisibilityCommand Class
    • Command Class
    • CommandAppliedEvent Class
    • Environment Class
    • EnvironmentUPtr Class
    • Event Class
    • EventCallbackFn Class
    • EventCallbackFnBase Class
    • FindTCPOffsetCallbackFn Class
    • FindTCPOffsetCallbackFnBase Class
    • ModifyAllowedCollisionsCommand Class
    • MoveJointCommand Class
    • MoveLinkCommand Class
    • RemoveAllowedCollisionLinkCommand Class
    • RemoveJointCommand Class
    • RemoveLinkCommand Class
    • ReplaceJointCommand Class
    • SceneStateChangedEvent Class
    • SetActiveContinuousContactManagerCommand Class
    • SetActiveDiscreteContactManagerCommand Class
  • Functions
    • AnyPoly_as_Environment Function
    • AnyPoly_as_EnvironmentConst Function
    • AnyPoly_is_Environment Function
    • AnyPoly_is_EnvironmentConst Function
    • AnyPoly_wrap_Environment Function
    • AnyPoly_wrap_EnvironmentConst Function
    • cast_CommandAppliedEvent Function
    • cast_SceneStateChangedEvent Function
  • Constants
  • Container Templates
• tesseract_visualization
  • Classes
    • ArrowMarker Class
    • AxisMarker Class
    • ContactResultsMarker Class
    • GeometryMarker Class
    • Marker Class
    • ToolpathMarker Class
    • TrajectoryInterpolator Class
    • TrajectoryPlayer Class
    • Visualization Class
    • VisualizationLoader Class
  • Constants
• tesseract_command_language
  • Classes
    • CartesianWaypoint Class
    • CartesianWaypointPoly Class
    • CompositeInstruction Class
    • InstructionPoly Class
    • JointWaypoint Class
    • JointWaypointPoly Class
    • MoveInstruction Class
    • MoveInstructionPoly Class
    • Profile Class
    • ProfileDictionary Class
    • SetAnalogInstruction Class
    • SetToolInstruction Class
    • StateWaypoint Class
    • StateWaypointPoly Class
    • TimerInstruction Class
    • WaitInstruction Class
    • WaypointPoly Class
    • flattenFilterFn Class
    • flattenFilterFnBase Class
    • locateFilterFn Class
    • locateFilterFnBase Class
  • Functions
    • AnyPoly_as_CartesianWaypoint Function
    • AnyPoly_as_CartesianWaypointPoly Function
    • AnyPoly_as_CompositeInstruction Function
    • AnyPoly_as_JointWaypoint Function
    • AnyPoly_as_JointWaypointPoly Function
    • AnyPoly_as_MoveInstruction Function
    • AnyPoly_as_MoveInstructionPoly Function
    • AnyPoly_as_ProfileDictionary Function
    • AnyPoly_as_ProfileDictionaryConst Function
    • AnyPoly_as_SetAnalogInstruction Function
    • AnyPoly_as_SetToolInstruction Function
    • AnyPoly_as_StateWaypoint Function
    • AnyPoly_as_StateWaypointPoly Function
    • AnyPoly_as_TimerInstruction Function
    • AnyPoly_as_WaitInstruction Function
    • AnyPoly_is_CartesianWaypoint Function
    • AnyPoly_is_CartesianWaypointPoly Function
    • AnyPoly_is_CompositeInstruction Function
    • AnyPoly_is_JointWaypoint Function
    • AnyPoly_is_JointWaypointPoly Function
    • AnyPoly_is_MoveInstruction Function
    • AnyPoly_is_MoveInstructionPoly Function
    • AnyPoly_is_ProfileDictionary Function
    • AnyPoly_is_ProfileDictionaryConst Function
    • AnyPoly_is_SetAnalogInstruction Function
    • AnyPoly_is_SetToolInstruction Function
    • AnyPoly_is_StateWaypoint Function
    • AnyPoly_is_StateWaypointPoly Function
    • AnyPoly_is_TimerInstruction Function
    • AnyPoly_is_WaitInstruction Function
    • AnyPoly_wrap_CartesianWaypoint Function
    • AnyPoly_wrap_CartesianWaypointPoly Function
    • AnyPoly_wrap_CompositeInstruction Function
    • AnyPoly_wrap_JointWaypoint Function
    • AnyPoly_wrap_JointWaypointPoly Function
    • AnyPoly_wrap_MoveInstruction Function
    • AnyPoly_wrap_MoveInstructionPoly Function
    • AnyPoly_wrap_ProfileDictionary Function
    • AnyPoly_wrap_ProfileDictionaryConst Function
    • AnyPoly_wrap_SetAnalogInstruction Function
    • AnyPoly_wrap_SetToolInstruction Function
    • AnyPoly_wrap_StateWaypoint Function
    • AnyPoly_wrap_StateWaypointPoly Function
    • AnyPoly_wrap_TimerInstruction Function
    • AnyPoly_wrap_WaitInstruction Function
    • CartesianWaypointPoly_as_WaypointPoly Function
    • CartesianWaypointPoly_wrap_CartesianWaypoint Function
    • InstructionPoly_as_CompositeInstruction Function
    • InstructionPoly_as_MoveInstruction Function
    • InstructionPoly_as_MoveInstructionPoly Function
    • InstructionPoly_as_SetAnalogInstruction Function
    • InstructionPoly_as_SetToolInstruction Function
    • InstructionPoly_as_TimerInstruction Function
    • InstructionPoly_as_WaitInstruction Function
    • InstructionPoly_wrap_CompositeInstruction Function
    • InstructionPoly_wrap_MoveInstruction Function
    • InstructionPoly_wrap_SetAnalogInstruction Function
    • InstructionPoly_wrap_SetToolInstruction Function
    • InstructionPoly_wrap_TimerInstruction Function
    • InstructionPoly_wrap_WaitInstruction Function
    • JointWaypointPoly_as_WaypointPoly Function
    • JointWaypointPoly_wrap_JointWaypoint Function
    • MoveInstructionPoly_as_InstructionPoly Function
    • MoveInstructionPoly_wrap_MoveInstruction Function
    • StateWaypointPoly_as_WaypointPoly Function
    • StateWaypointPoly_wrap_StateWaypoint Function
    • WaypointPoly_as_CartesianWaypoint Function
    • WaypointPoly_as_CartesianWaypointPoly Function
    • WaypointPoly_as_JointWaypoint Function
    • WaypointPoly_as_JointWaypointPoly Function
    • WaypointPoly_as_StateWaypoint Function
    • WaypointPoly_as_StateWaypointPoly Function
    • WaypointPoly_wrap_CartesianWaypoint Function
    • WaypointPoly_wrap_JointWaypoint Function
    • WaypointPoly_wrap_StateWaypoint Function
    • checkJointPositionFormat Function
    • clampToJointLimits Function
    • formatJointPosition Function
    • getJointNames Function
    • getJointPosition Function
    • isSetAnalogInstruction Function
    • isSetToolInstruction Function
    • isTimerInstruction Function
    • isWaitInstruction Function
    • isWithinJointLimits Function
    • setJointPosition Function
    • toDelimitedFile Function
    • toJointTrajectory Function
  • Constants
  • Container Templates
• tesseract_motion_planners
  • Classes
    • MotionPlanner Class
    • MotionPlannerUPtr Class
    • PlannerRequest Class
    • PlannerResponse Class
  • Functions
    • assignCurrentStateAsSeed Function
    • contactCheckProgram Function
    • formatProgram Function
    • getJointTurns Function
    • getRobotConfig Function
    • toToolpath Function
  • Constants
• tesseract_motion_planners_descartes
  • Classes
    • DescartesDefaultPlanProfileD Class
    • DescartesMotionPlannerD Class
    • DescartesPlanProfileD Class
    • PoseSamplerFn Class
    • PoseSamplerFnBase Class
  • Functions
    • cast_DescartesPlanProfileD Function
    • sampleFixed Function
    • sampleToolAxis Function
    • sampleToolXAxis Function
    • sampleToolYAxis Function
    • sampleToolZAxis Function
  • Container Templates
• tesseract_motion_planners_trajopt
  • Classes
    • BasicInfo Class
    • BasicTrustRegionSQPParameters Class
    • CartPoseTermInfo Class
    • CartVelTermInfo Class
    • CollisionConstraintConfig Class
    • CollisionCostConfig Class
    • CollisionTermInfo Class
    • DynamicCartPoseTermInfo Class
    • InitInfo Class
    • JointAccTermInfo Class
    • JointJerkTermInfo Class
    • JointPosTermInfo Class
    • JointVelTermInfo Class
    • ModelType Class
    • ProblemConstructionInfo Class
    • SafetyMarginData Class
    • SafetyMarginDataPtr_vector Class
    • TermInfo Class
    • TermInfoPtr_vector Class
    • TotalTimeTermInfo Class
    • TrajOptCartesianWaypointConfig Class
    • TrajOptCompositeProfile Class
    • TrajOptDefaultCompositeProfile Class
    • TrajOptDefaultPlanProfile Class
    • TrajOptJointWaypointConfig Class
    • TrajOptMotionPlanner Class
    • TrajOptPlanProfile Class
    • TrajOptProb Class
    • TrajOptResult Class
    • TrajOptSolverProfile Class
    • TrajOptTermInfos Class
    • TrajOptWaypointInfo Class
  • Functions
    • ConstructProblem Function
    • OptimizeProblem Function
    • createAvoidSingularityTermInfo Function
    • createCartesianWaypointTermInfo Function
    • createCollisionTermInfo Function
    • createDynamicCartesianWaypointTermInfo Function
    • createJointWaypointTermInfo Function
    • createKinematicGroup Function
    • createNearJointStateTermInfo Function
    • createSafetyMarginDataVector Function
    • createSmoothAccelerationTermInfo Function
    • createSmoothJerkTermInfo Function
    • createSmoothVelocityTermInfo Function
    • createTolerancedJointWaypointTermInfo Function
    • createUserDefinedTermInfo Function
  • Constants
• tesseract_motion_planners_ompl
  • Classes
    • BKPIECE1Configurator Class
    • BiTRRTConfigurator Class
    • ESTConfigurator Class
    • KPIECE1Configurator Class
    • LBKPIECE1Configurator Class
    • LazyPRMstarConfigurator Class
    • OMPLMotionPlanner Class
    • OMPLPlanProfile Class
    • OMPLPlannerConfigurator Class
    • OMPLRealVectorPlanProfile Class
    • PRMConfigurator Class
    • PRMstarConfigurator Class
    • RRTConfigurator Class
    • RRTConnectConfigurator Class
    • RRTstarConfigurator Class
    • SBLConfigurator Class
    • SPARSConfigurator Class
    • TRRTConfigurator Class
  • Constants
  • Container Templates
• tesseract_motion_planners_simple
  • Classes
    • JointGroupInstructionInfo Class
    • KinematicGroupInstructionInfo Class
    • SimpleMotionPlanner Class
    • SimplePlannerCompositeProfile Class
    • SimplePlannerFixedSizeAssignPlanProfile Class
    • SimplePlannerFixedSizePlanProfile Class
    • SimplePlannerLVSNoIKPlanProfile Class
    • SimplePlannerLVSPlanProfile Class
    • SimplePlannerPlanProfile Class
  • Functions
    • generateInterpolatedProgram Function
    • getClosestJointSolution Function
    • getInterpolatedInstructions Function
    • interpolate Function
    • interpolateCartCartWaypoint Function
    • interpolateCartJointWaypoint Function
    • interpolateJointCartWaypoint Function
    • interpolateJointJointWaypoint Function
    • interpolate_waypoint Function
  • Container Templates
• tesseract_time_parameterization
  • Classes
    • InstructionsTrajectory Class
    • IterativeSplineParameterization Class
    • RuckigTrajectorySmoothing Class
    • TimeOptimalTrajectoryGeneration Class
    • TrajectoryContainer Class
• tesseract_task_composer
  • Classes
    • ContactCheckProfile Class
    • FixStateBoundsProfile Class
    • FixStateCollisionProfile Class
    • IterativeSplineParameterizationProfile Class
    • MinLengthProfile Class
    • ProfileSwitchProfile Class
    • RuckigTrajectorySmoothingCompositeProfile Class
    • RuckigTrajectorySmoothingMoveProfile Class
    • TaskComposerContext Class
    • TaskComposerContextUPtr Class
    • TaskComposerDataStorage Class
    • TaskComposerDataStorageUPtr Class
    • TaskComposerExecutor Class
    • TaskComposerExecutorFactory Class
    • TaskComposerExecutorUPtr Class
    • TaskComposerFuture Class
    • TaskComposerFutureUPtr Class
    • TaskComposerGraph Class
    • TaskComposerGraphUPtr Class
    • TaskComposerKeys Class
    • TaskComposerNode Class
    • TaskComposerNodeFactory Class
    • TaskComposerNodeInfo Class
    • TaskComposerNodeInfoContainer Class
    • TaskComposerNodeInfoContainerUPtr Class
    • TaskComposerNodeInfoUPtr Class
    • TaskComposerNodeUPtr Class
    • TaskComposerPipeline Class
    • TaskComposerPipelineUPtr Class
    • TaskComposerPluginFactory Class
    • TaskComposerServer Class
    • TaskComposerTask Class
    • TaskComposerTaskUPtr Class
    • TimeOptimalParameterizationProfile Class
    • UpsampleTrajectoryProfile Class
  • Constants
  • Container Templates
• tesseract_robotics_viewer
  • API
    • tesseract_robotics_viewer Module
    • tesseract_robotics_viewer.tesseract_viewer_aio Module