tesseract_robotics.tesseract_command_language

The command language is used to describe a sequence of commands that can be executed by a robot. The command language is used to provide input waypoint sequences to the planner, and receive output trajectories from the planner.

The command language makes heavy use of type erasure. Unfortunately type erasure does not work with Python, so module level utility functions must be used to create and cast instructions and waypoints. Example commands that are frequently used are CartesianWaypointPoly_wrap_CartesianWaypoint, MoveInstructionPoly_wrap_MoveInstruction, InstructionPoly_as_MoveInstructionPoly, and WaypointPoly_as_StateWaypointPoly, howevere there are many more. While these conversions can be done implicitly in C++, they must be done explicitly in Python.

The ProfileDictionary has a similar problem, and must use special accessor functions that are created for each types that is stored in the dictionary. For instance, for OMPLDefaultPlanProfile the accessor function ProfileDictionary_addProfile_OMPLPlanProfile must be used to store the profile in the dictionary. See the planning examples for examples of using the accessors for the profile dictionary, and see the ProfileDictionary_* accessor functions available in each module.

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

• CompositeInstructionOrder_ORDERED

• CompositeInstructionOrder_ORDERED_AND_REVERABLE

• CompositeInstructionOrder_UNORDERED

• DEFAULT_PROFILE_KEY

• MoveInstructionType_CIRCULAR

• MoveInstructionType_FREESPACE

• MoveInstructionType_LINEAR

• TimerInstructionType_DIGITAL_OUTPUT_HIGH

• TimerInstructionType_DIGITAL_OUTPUT_LOW

• WaitInstructionType_DIGITAL_INPUT_HIGH

• WaitInstructionType_DIGITAL_INPUT_LOW

• WaitInstructionType_DIGITAL_OUTPUT_HIGH

• WaitInstructionType_DIGITAL_OUTPUT_LOW

• WaitInstructionType_TIME

Container Templates

• Instructions -> std::vector<tesseract_planning::InstructionPoly>

• MoveInstructionPolyVector -> std::vector<tesseract_planning::MoveInstructionPoly>

• Waypoints -> std::vector<tesseract_planning::WaypointPoly>