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

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>