tesseract_robotics.tesseract_common

Introduction

tesseract_common contains functionality that is common to all tesseract modules. This includes general types, container templates, utility functions, and more. The Python wrappers contain additional functionality for using with Eigen Geometry, Boost Filesystem, Boost Uuid, console_bridge, and TinyXML2.

Eigen Geometry

Matrix and vector types for Eigen are automatically converted to NumPy arrays when returned from a function, and NumPy arrays are automatically converted to Eigen types when passed into a function. This works for matrices and vectors, but does not work well for the Eigen geometry types used by Tesseract. The following Eigen classes are available in tesseract_common:

Quaterniond - Represents a Quaternion in (w,x,y,z) format
AngleAxisd - Represents a rotation as an angle around an axis
Translation3d - Represents a translation in 3D space
Isometry3d - Represents a rotation and translation in 3D space. This is used by Tesseract to represent transforms and poses.

Resource Locators

Resource locators are used by Tesseract to locate resources such as meshes, urdfs, srdfs, etc. The tesseract_common.GeneralResourceLocator class is available to locate resources in Python. This class searches paths in the environmental variable TESSERACT_RESOURCE_PATH to find resources. Each package://<dir>/ will search for the subdirectory <dir> in each path in TESSERACT_RESOURCE_PATH.

Auto-configuration: When you import tesseract_robotics, the following environment variables are automatically set to point to bundled data (if not already set):

TESSERACT_RESOURCE_PATH - Path to bundled resources for package:// URL resolution
TESSERACT_SUPPORT_DIR - Path to bundled tesseract_support directory
TESSERACT_TASK_COMPOSER_CONFIG_FILE - Path to bundled task composer config

This means package://tesseract_support/urdf/... URLs work out of the box without manual configuration.

Boost Filesystem

boost::filesystem::path is used by Tesseract to represent file paths. Because of function overloads, it is not possible to use strings for filesystems. The FileSystem path class is used as a container for paths to allow the correct function overloads to be selected.

Boost Uuid

The boost::uuids::uuid is used by Tesseract to represent unique identifiers. The Uuid class is available to represent boost::uuids::uuid in Python.

The newRandomUuid function is available to generate a random Uuid in Python.

Console Bridge

The console_bridge package is used by Tesseract to provide logging functionality. Several functions are available to modify the logging level and to log messages:

The following module level functions are available to modify the logging behavior:

getLogLevel()
setLogLevel()
useOutputHandler()
noOutputHandler()

The following module level constants are available for setting the logging level:

CONSOLE_BRIDGE_LOG_NONE
CONSOLE_BRIDGE_LOG_ERROR
CONSOLE_BRIDGE_LOG_WARN
CONSOLE_BRIDGE_LOG_INFO
CONSOLE_BRIDGE_LOG_DEBUG

The useOutputHandler() function can be used with the OutputHandler class to capture logging messages in Python:

class MyOutputHandler(tesseract_common.OutputHandler):
    def __init__(self):
        super().__init__()

    def log(self, text, level, filename, line):
        # Do something with the logging message
        print(text)

output_handler = MyOutputHandler()
tesseract_common.useOutputHandler(output_handler)

# Always restore the original output handler when done to avoid segfaults on exit
tesseract_common.restorePreviousOutputHandler()

TinyXML2 Support

The tinyxml2 package is used to serialize and deserialize Tesseract types. The tinyxml2 wrappers are included in the tesseract_common package to allow for serialization and deserialization of Tesseract types in Python.

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

COLLAPSE_WHITESPACE
CONSOLE_BRIDGE_LOG_DEBUG
CONSOLE_BRIDGE_LOG_ERROR
CONSOLE_BRIDGE_LOG_INFO
CONSOLE_BRIDGE_LOG_NONE
CONSOLE_BRIDGE_LOG_WARN
CollisionMarginOverrideType_MODIFY
CollisionMarginOverrideType_MODIFY_PAIR_MARGIN
CollisionMarginOverrideType_NONE
CollisionMarginOverrideType_OVERRIDE_DEFAULT_MARGIN
CollisionMarginOverrideType_OVERRIDE_PAIR_MARGIN
CollisionMarginOverrideType_REPLACE
PEDANTIC_WHITESPACE
PRESERVE_WHITESPACE
TINYXML2_MAJOR_VERSION
TINYXML2_MAX_ELEMENT_DEPTH
TINYXML2_MINOR_VERSION
TINYXML2_PATCH_VERSION
TIXML2_MAJOR_VERSION
TIXML2_MINOR_VERSION
TIXML2_PATCH_VERSION
XML_CAN_NOT_CONVERT_TEXT
XML_ELEMENT_DEPTH_EXCEEDED
XML_ERROR_COUNT
XML_ERROR_EMPTY_DOCUMENT
XML_ERROR_FILE_COULD_NOT_BE_OPENED
XML_ERROR_FILE_NOT_FOUND
XML_ERROR_FILE_READ_ERROR
XML_ERROR_MISMATCHED_ELEMENT
XML_ERROR_PARSING
XML_ERROR_PARSING_ATTRIBUTE
XML_ERROR_PARSING_CDATA
XML_ERROR_PARSING_COMMENT
XML_ERROR_PARSING_DECLARATION
XML_ERROR_PARSING_ELEMENT
XML_ERROR_PARSING_TEXT
XML_ERROR_PARSING_UNKNOWN
XML_NO_ATTRIBUTE
XML_NO_TEXT_NODE
XML_SUCCESS
XML_WRONG_ATTRIBUTE_TYPE

Container Templates

AllowedCollisionEntries -> std::unordered_map<std::pair<std::string,std::string>, std::string, tesseract_common::PairHash>
Array2Double -> std::array<double,2>
Array2Int -> std::array<int,2>
Array2Isometry3d -> std::array<Eigen::Isometry3d,2>
Array2String -> std::array<std::string,2>
Array2Vector3d -> std::array<Eigen::Vector3d,2>
MapStringDouble -> std::unordered_map<std::string, double>
MapStringMapStringDouble -> std::unordered_map<std::string, std::unordered_map<std::string, double> >
MapStringMapStringMapStringDouble -> std::unordered_map<std::string, std::unordered_map<std::string, std::unordered_map<std::string, double> > >
MapStringMapStringString -> std::unordered_map<std::string, std::unordered_map<std::string, std::string> >
MapStringString -> std::unordered_map<std::string, std::string>
MapStringString2 -> std::map<std::string, std::string>
MapStringVectorDouble -> std::unordered_map<std::string, std::vector<double> >
MapStringVectorPairString -> std::unordered_map<std::string, std::vector<std::pair<std::string, std::string>>>
MapStringVectorString -> std::unordered_map<std::string, std::vector<std::string>>
PairString -> std::pair<std::string, std::string>
PairVectorString -> std::pair<std::vector<std::string>, std::vector<std::string>>
PluginInfoMap -> std::map<std::string, tesseract_common::PluginInfo>
SetString -> std::set<std::string>
VectorDouble -> std::vector<double>
VectorEigenIndex -> std::vector<Eigen::Index>
VectorPairString -> std::vector<std::pair<std::string, std::string> >
VectorSizet -> std::vector<std::size_t>
VectorString -> std::vector<std::string>
VectorUInt8 -> std::vector<uint8_t>
VectorUuid -> std::vector<boost::uuids::uuid>
VectorVector3d -> std::vector<Eigen::Vector3d>
VectorVectorXd -> std::vector<Eigen::VectorXd>
TransformMap -> tesseract_common::AlignedMap< std::string, Eigen::Isometry3d>
VectorIsometry3d -> tesseract_common::AlignedVector< Eigen::Isometry3d>
VectorVector2d -> tesseract_common::AlignedVector< Eigen::Vector2d>
VectorVector4d -> tesseract_common::AlignedVector< Eigen::Vector4d>