tesseract_robotics.tesseract_environment

The tesseract_robotics.tesseract_environment module contains the core classes for representing the environment. These are typically constructed using URDF and SRDF files. The functions in the environment can be used to access collision checkers and kinematics utility classes. Planners require an environment to plan in.

The environment can be modified using “Environment Command” classes, that are executed using the applyCommand or applyCommands functions.

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

CommandType_ADD_CONTACT_MANAGERS_PLUGIN_INFO
CommandType_ADD_KINEMATICS_INFORMATION
CommandType_ADD_LINK
CommandType_ADD_SCENE_GRAPH
CommandType_ADD_TRAJECTORY_LINK
CommandType_CHANGE_COLLISION_MARGINS
CommandType_CHANGE_JOINT_ACCELERATION_LIMITS
CommandType_CHANGE_JOINT_ORIGIN
CommandType_CHANGE_JOINT_POSITION_LIMITS
CommandType_CHANGE_JOINT_VELOCITY_LIMITS
CommandType_CHANGE_LINK_COLLISION_ENABLED
CommandType_CHANGE_LINK_ORIGIN
CommandType_CHANGE_LINK_VISIBILITY
CommandType_MODIFY_ALLOWED_COLLISIONS
CommandType_MOVE_JOINT
CommandType_MOVE_LINK
CommandType_REMOVE_ALLOWED_COLLISION_LINK
CommandType_REMOVE_JOINT
CommandType_REMOVE_LINK
CommandType_REPLACE_JOINT
CommandType_SET_ACTIVE_CONTINUOUS_CONTACT_MANAGER
CommandType_SET_ACTIVE_DISCRETE_CONTACT_MANAGER
CommandType_UNINITIALIZED
Events_COMMAND_APPLIED
Events_SCENE_STATE_CHANGED
ModifyAllowedCollisionsType_ADD
ModifyAllowedCollisionsType_REMOVE
ModifyAllowedCollisionsType_REPLACE

Container Templates

Commands -> std::vector<tesseract_environment::Command::ConstPtr>