tesseract_robotics.tesseract_srdf

Classes

KinematicsInformation Class

class tesseract_robotics.tesseract_srdf.KinematicsInformation

This hold the kinematics information used to create the SRDF and is the data container for the manipulator manager.

addChainGroup(group_name, chain_group)

Add chain group

addGroupJointState(group_name, state_name, joint_state)

Add group joint state

addGroupTCP(group_name, tcp_name, tcp)

Add group tool center point

addJointGroup(group_name, joint_group)

Add joint group

addLinkGroup(group_name, link_group)

Add link group

property chain_groups

A map of chains groups

clear()

Clear the kinematics information

property group_names

A set of group names

property group_states

A map of group states

property group_tcps

A map of group tool center points

hasChainGroup(group_name)

Check if chain group exists

hasGroup(group_name)

Check if group exists

hasGroupJointState(group_name, state_name)

Check if group joint state exists

hasGroupTCP(group_name, tcp_name)

Check if group tool center point exists

hasJointGroup(group_name)

Check if joint group exists

hasLinkGroup(group_name)

Check if link group exists

insert(other)

Insert the content of an other KinematicsInformation

property joint_groups

A map of joint groups

property kinematics_plugin_info

The kinematics plugin information

property link_groups

A map of link groups

removeChainGroup(group_name)

Remove chain group

removeGroupJointState(group_name, state_name)

Remove group joint state

removeGroupTCP(group_name, tcp_name)

Remove group tool center point

removeJointGroup(group_name)

Remove joint group

removeLinkGroup(group_name)

Remove link group

SRDFModel Class

class tesseract_robotics.tesseract_srdf.SRDFModel(*args)

Representation of semantic information about the robot

property acm

The allowed collision matrix

property calibration_info

The calibration information

clear()

Clear the model

property collision_margin_data

Collision margin data

property contact_managers_plugin_info

The contact managers plugin information

initFile(scene_graph, filename, locator)

Load Model given a filename

Raises:

std::nested_exception if an error occurs during parsing srdf

initString(scene_graph, xmlstring, locator)

Load Model from a XML-string

Raises:

std::nested_exception if an error occurs during parsing srdf

property kinematics_information

Contact information related to kinematics

property name

The name of the srdf model

saveToFile(file_path)

Save the model to a file

property version

The version number major.minor[.patch]

Functions

compareLinkPairAlphabetically Function

tesseract_robotics.tesseract_srdf.compareLinkPairAlphabetically(pair1, pair2)

Used to sort a pair of strings alphabetically - first by the pair.first and then by pair.second

Parameters:

  • pair1 (std::reference_wrapper< tesseract_common::LinkNamesPair const >) – First pair of strings

  • pair2 (std::reference_wrapper< tesseract_common::LinkNamesPair const >) – Second pair of strings

Return type:

boolean

Returns:

True if pair1 should go before pair2 (is closer to A)

getAlphabeticalACMKeys Function

tesseract_robotics.tesseract_srdf.getAlphabeticalACMKeys(allowed_collision_entries)

Returns an alphabetically sorted vector of ACM keys (the link pairs)

Parameters:

allowed_collision_entries (AllowedCollisionEntries) – Entries to be sorted

Return type:

std::vector< std::reference_wrapper< tesseract_common::LinkNamesPair const >,std::allocator< std::reference_wrapper< tesseract_common::LinkNamesPair const > > >

Returns:

An alphabetically sorted vector of ACM keys (the link pairs)

parseCalibrationConfigString Function

tesseract_robotics.tesseract_srdf.parseCalibrationConfigString(scene_graph, yaml_str)

parseContactManagersPluginConfigString Function

tesseract_robotics.tesseract_srdf.parseContactManagersPluginConfigString(yaml_str)

parseKinematicsPluginConfigString Function

tesseract_robotics.tesseract_srdf.parseKinematicsPluginConfigString(yaml_str)

processSRDFAllowedCollisions Function

tesseract_robotics.tesseract_srdf.processSRDFAllowedCollisions(scene_graph, srdf_model)

Add allowed collisions to the scene graph

Parameters:

  • scene_graph (SceneGraph) – The scene graph to add allowed collisions data

  • srdf_model (SRDFModel) – The srdf model to extract allowed collisions