#include <kinematic_tree.h>

Inheritance diagram for exotica::KinematicTree:

Collaboration diagram for exotica::KinematicTree:

Public Member Functions
void	Instantiate (const std::string &joint_group, robot_model::RobotModelPtr model, const std::string &name)

const std::string &	GetRootFrameName () const

const std::string &	GetRootJointName () const

robot_model::RobotModelPtr	GetRobotModel () const

BaseType	GetModelBaseType () const

BaseType	GetControlledBaseType () const

std::shared_ptr< KinematicResponse >	RequestFrames (const KinematicsRequest &request)

void	Update (Eigen::VectorXdRefConst x)

void	ResetJointLimits ()

const Eigen::MatrixXd &	GetJointLimits () const

void	SetJointLimitsLower (Eigen::VectorXdRefConst lower_in)

void	SetJointLimitsUpper (Eigen::VectorXdRefConst upper_in)

void	SetJointVelocityLimits (Eigen::VectorXdRefConst velocity_in)

void	SetJointAccelerationLimits (Eigen::VectorXdRefConst acceleration_in)

void	SetFloatingBaseLimitsPosXYZEulerZYX (const std::vector< double > &lower, const std::vector< double > &upper)

void	SetFloatingBaseLimitsPosXYZEulerZYX (const std::vector< double > &lower, const std::vector< double > &upper, const std::vector< double > &velocity, const std::vector< double > &acceleration)

void	SetPlanarBaseLimitsPosXYEulerZ (const std::vector< double > &lower, const std::vector< double > &upper)

void	SetPlanarBaseLimitsPosXYEulerZ (const std::vector< double > &lower, const std::vector< double > &upper, const std::vector< double > &velocity, const std::vector< double > &acceleration)

std::map< std::string, std::vector< double > >	GetUsedJointLimits () const

const bool &	HasAccelerationLimits () const

const Eigen::VectorXd &	GetAccelerationLimits () const

const Eigen::VectorXd &	GetVelocityLimits () const

int	GetNumControlledJoints () const

int	GetNumModelJoints () const

void	PublishFrames (const std::string &tf_prefix="exotica")

const std::vector< std::string > &	GetControlledJointNames () const

const std::vector< std::string > &	GetControlledLinkNames () const

const std::vector< std::string > &	GetModelJointNames () const

const std::vector< std::string > &	GetModelLinkNames () const

bool	HasModelLink (const std::string &link) const

Eigen::VectorXd	GetControlledLinkMass () const

KDL::Frame	FK (KinematicFrame &frame) const

KDL::Frame	FK (std::shared_ptr< KinematicElement > element_A, const KDL::Frame &offset_a, std::shared_ptr< KinematicElement > element_B, const KDL::Frame &offset_b) const

KDL::Frame	FK (const std::string &element_A, const KDL::Frame &offset_a, const std::string &element_B, const KDL::Frame &offset_b) const

Eigen::MatrixXd	Jacobian (std::shared_ptr< KinematicElement > element_A, const KDL::Frame &offset_a, std::shared_ptr< KinematicElement > element_B, const KDL::Frame &offset_b) const

Eigen::MatrixXd	Jacobian (const std::string &element_A, const KDL::Frame &offset_a, const std::string &element_B, const KDL::Frame &offset_b) const

exotica::Hessian	Hessian (std::shared_ptr< KinematicElement > element_A, const KDL::Frame &offset_a, std::shared_ptr< KinematicElement > element_B, const KDL::Frame &offset_b) const

exotica::Hessian	Hessian (const std::string &element_A, const KDL::Frame &offset_a, const std::string &element_B, const KDL::Frame &offset_b) const

void	ResetModel ()

std::shared_ptr< KinematicElement >	AddElement (const std::string &name, const Eigen::Isometry3d &transform, const std::string &parent="", shapes::ShapeConstPtr shape=shapes::ShapeConstPtr(nullptr), const KDL::RigidBodyInertia &inertia=KDL::RigidBodyInertia::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const std::vector< VisualElement > &visual={}, bool is_controlled=false)

std::shared_ptr< KinematicElement >	AddEnvironmentElement (const std::string &name, const Eigen::Isometry3d &transform, const std::string &parent="", shapes::ShapeConstPtr shape=shapes::ShapeConstPtr(nullptr), const KDL::RigidBodyInertia &inertia=KDL::RigidBodyInertia::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const std::vector< VisualElement > &visual={}, bool is_controlled=false)

std::shared_ptr< KinematicElement >	AddElement (const std::string &name, const Eigen::Isometry3d &transform, const std::string &parent, const std::string &shape_resource_path, Eigen::Vector3d scale=Eigen::Vector3d::Ones(), const KDL::RigidBodyInertia &inertia=KDL::RigidBodyInertia::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const std::vector< VisualElement > &visual={}, bool is_controlled=false)

void	UpdateModel ()

void	ChangeParent (const std::string &name, const std::string &parent, const KDL::Frame &pose, bool relative)

int	IsControlled (std::shared_ptr< KinematicElement > joint)

int	IsControlledLink (const std::string &link_name)

Eigen::VectorXd	GetModelState () const

std::map< std::string, double >	GetModelStateMap () const

std::vector< std::string >	GetKinematicChain (const std::string &begin, const std::string &end) const
	GetKinematicChain get list of joints in a kinematic chain. More...

std::vector< std::string >	GetKinematicChainLinks (const std::string &begin, const std::string &end) const
	GetKinematicChainLinks get the links between begin and end of kinematic chain. More...

void	SetModelState (Eigen::VectorXdRefConst x)

void	SetModelState (const std::map< std::string, double > &x)

Eigen::VectorXd	GetControlledState () const

const std::vector< std::weak_ptr< KinematicElement > > &	GetTree () const

const std::vector< std::shared_ptr< KinematicElement > > &	GetModelTree () const

const std::map< std::string, std::weak_ptr< KinematicElement > > &	GetTreeMap () const

const std::map< std::string, std::weak_ptr< KinematicElement > > &	GetCollisionTreeMap () const

bool	DoesLinkWithNameExist (std::string name) const
	Checks whether a link with this name exists in any of the trees. More...

std::shared_ptr< KinematicElement >	FindKinematicElementByName (const std::string &frame_name)

const std::vector< std::weak_ptr< KinematicElement > > &	GetControlledJoints () const

const std::map< std::string, std::weak_ptr< KinematicElement > > &	GetControlledJointsMap () const

const std::map< std::string, std::weak_ptr< KinematicElement > > &	GetModelJointsMap () const

std::map< std::string, shapes::ShapeType >	GetCollisionObjectTypes () const

void	SetSeed (const uint_fast32_t seed)
	SetSeed sets the seed of the random generator for deterministic joint state sampling. More...

Eigen::VectorXd	GetRandomControlledState ()
	Random state generation. More...

void	SetKinematicResponse (std::shared_ptr< KinematicResponse > response_in)

std::shared_ptr< KinematicResponse >	GetKinematicResponse ()

Public Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default

	~Uncopyable ()=default

Public Attributes
bool	debug = false

Private Member Functions
void	BuildTree (const KDL::Tree &RobotKinematics)

void	AddElementFromSegmentMapIterator (KDL::SegmentMap::const_iterator segment, std::shared_ptr< KinematicElement > parent)

void	UpdateTree ()

void	UpdateFK ()

void	UpdateJ ()

void	ComputeJ (KinematicFrame &frame, KDL::Jacobian &jacobian) const

void	UpdateH ()

void	ComputeH (KinematicFrame &frame, const KDL::Jacobian &jacobian, exotica::Hessian &hessian) const

void	UpdateJointLimits ()

Private Attributes
Eigen::MatrixXd	joint_limits_

Eigen::VectorXd	velocity_limits_

Eigen::VectorXd	acceleration_limits_

bool	has_acceleration_limit_ = false

std::random_device	rd_

std::mt19937	generator_

std::vector< std::uniform_real_distribution< double > >	random_state_distributions_

BaseType	model_base_type_

BaseType	controlled_base_type_ = BaseType::FIXED

int	num_controlled_joints_
	Number of controlled joints in the joint group. More...

int	num_joints_
	Number of joints of the model (including floating/planar base, passive joints, and uncontrolled joints). More...

int	state_size_ = -1

Eigen::VectorXd	tree_state_

robot_model::RobotModelPtr	model_

std::string	root_joint_name_ = ""

std::vector< std::weak_ptr< KinematicElement > >	tree_

std::vector< std::shared_ptr< KinematicElement > >	model_tree_

std::vector< std::shared_ptr< KinematicElement > >	environment_tree_

std::map< std::string, std::weak_ptr< KinematicElement > >	tree_map_

std::map< std::string, std::weak_ptr< KinematicElement > >	collision_tree_map_

std::shared_ptr< KinematicElement >	root_

std::vector< std::weak_ptr< KinematicElement > >	controlled_joints_

std::map< std::string, std::weak_ptr< KinematicElement > >	controlled_joints_map_

std::map< std::string, std::weak_ptr< KinematicElement > >	model_joints_map_

std::vector< std::string >	model_joints_names_

std::vector< std::string >	controlled_joints_names_

std::vector< std::string >	model_link_names_

std::vector< std::string >	controlled_link_names_

std::shared_ptr< KinematicResponse >	solution_ = std::make_shared<KinematicResponse>()

KinematicRequestFlags	flags_

std::vector< tf::StampedTransform >	debug_tree_

std::vector< tf::StampedTransform >	debug_frames_

ros::Publisher	shapes_pub_

ros::Publisher	octomap_pub_

bool	debug_scene_changed_

visualization_msgs::MarkerArray	marker_array_msg_

std::string	name_

Member Function Documentation

◆ AddElement() [1/2]

std::shared_ptr<KinematicElement> exotica::KinematicTree::AddElement	(	const std::string &	name,
		const Eigen::Isometry3d &	transform,
		const std::string &	parent,
		const std::string &	shape_resource_path,
		Eigen::Vector3d	scale = `Eigen::Vector3d::Ones()`,
		const KDL::RigidBodyInertia &	inertia = `KDL::RigidBodyInertia::Zero()`,
		const Eigen::Vector4d &	color = `Eigen::Vector4d(0.5, 0.5, 0.5, 1.0)`,
		const std::vector< VisualElement > &	visual = `{}`,
		bool	is_controlled = `false`
	)

◆ AddElement() [2/2]

std::shared_ptr<KinematicElement> exotica::KinematicTree::AddElement	(	const std::string &	name,
		const Eigen::Isometry3d &	transform,
		const std::string &	parent = `""`,
		shapes::ShapeConstPtr	shape = `shapes::ShapeConstPtr(nullptr)`,
		const KDL::RigidBodyInertia &	inertia = `KDL::RigidBodyInertia::Zero()`,
		const Eigen::Vector4d &	color = `Eigen::Vector4d(0.5, 0.5, 0.5, 1.0)`,
		const std::vector< VisualElement > &	visual = `{}`,
		bool	is_controlled = `false`
	)

◆ AddElementFromSegmentMapIterator()

void exotica::KinematicTree::AddElementFromSegmentMapIterator	(	KDL::SegmentMap::const_iterator	segment,
		std::shared_ptr< KinematicElement >	parent
	)

private

◆ AddEnvironmentElement()

std::shared_ptr<KinematicElement> exotica::KinematicTree::AddEnvironmentElement	(	const std::string &	name,
		const Eigen::Isometry3d &	transform,
		const std::string &	parent = `""`,
		shapes::ShapeConstPtr	shape = `shapes::ShapeConstPtr(nullptr)`,
		const KDL::RigidBodyInertia &	inertia = `KDL::RigidBodyInertia::Zero()`,
		const Eigen::Vector4d &	color = `Eigen::Vector4d(0.5, 0.5, 0.5, 1.0)`,
		const std::vector< VisualElement > &	visual = `{}`,
		bool	is_controlled = `false`
	)

◆ BuildTree()

void exotica::KinematicTree::BuildTree ( const KDL::Tree & RobotKinematics )

private

◆ ChangeParent()

void exotica::KinematicTree::ChangeParent	(	const std::string &	name,
		const std::string &	parent,
		const KDL::Frame &	pose,
		bool	relative
	)

◆ ComputeH()

void exotica::KinematicTree::ComputeH	(	KinematicFrame &	frame,
		const KDL::Jacobian &	jacobian,
		exotica::Hessian &	hessian
	)		const

private

◆ ComputeJ()

void exotica::KinematicTree::ComputeJ	(	KinematicFrame &	frame,
		KDL::Jacobian &	jacobian
	)		const

private

◆ DoesLinkWithNameExist()

bool exotica::KinematicTree::DoesLinkWithNameExist ( std::string name ) const

Checks whether a link with this name exists in any of the trees.

◆ FindKinematicElementByName()

std::shared_ptr<KinematicElement> exotica::KinematicTree::FindKinematicElementByName ( const std::string & frame_name )

◆ FK() [1/3]

KDL::Frame exotica::KinematicTree::FK	(	const std::string &	element_A,
		const KDL::Frame &	offset_a,
		const std::string &	element_B,
		const KDL::Frame &	offset_b
	)		const

◆ FK() [2/3]

KDL::Frame exotica::KinematicTree::FK ( KinematicFrame & frame ) const

◆ FK() [3/3]

KDL::Frame exotica::KinematicTree::FK	(	std::shared_ptr< KinematicElement >	element_A,
		const KDL::Frame &	offset_a,
		std::shared_ptr< KinematicElement >	element_B,
		const KDL::Frame &	offset_b
	)		const

◆ GetAccelerationLimits()

const Eigen::VectorXd& exotica::KinematicTree::GetAccelerationLimits ( ) const

inline

◆ GetCollisionObjectTypes()

std::map<std::string, shapes::ShapeType> exotica::KinematicTree::GetCollisionObjectTypes ( ) const

◆ GetCollisionTreeMap()

const std::map<std::string, std::weak_ptr<KinematicElement> >& exotica::KinematicTree::GetCollisionTreeMap ( ) const

inline

◆ GetControlledBaseType()

BaseType exotica::KinematicTree::GetControlledBaseType ( ) const

◆ GetControlledJointNames()

const std::vector<std::string>& exotica::KinematicTree::GetControlledJointNames ( ) const

inline

◆ GetControlledJoints()

const std::vector<std::weak_ptr<KinematicElement> >& exotica::KinematicTree::GetControlledJoints ( ) const

inline

◆ GetControlledJointsMap()

const std::map<std::string, std::weak_ptr<KinematicElement> >& exotica::KinematicTree::GetControlledJointsMap ( ) const

inline

◆ GetControlledLinkMass()

Eigen::VectorXd exotica::KinematicTree::GetControlledLinkMass ( ) const

◆ GetControlledLinkNames()

const std::vector<std::string>& exotica::KinematicTree::GetControlledLinkNames ( ) const

inline

◆ GetControlledState()

Eigen::VectorXd exotica::KinematicTree::GetControlledState ( ) const

◆ GetJointLimits()

const Eigen::MatrixXd& exotica::KinematicTree::GetJointLimits ( ) const

inline

◆ GetKinematicChain()

std::vector<std::string> exotica::KinematicTree::GetKinematicChain	(	const std::string &	begin,
		const std::string &	end
	)		const

GetKinematicChain get list of joints in a kinematic chain.

Parameters

begin	link name from which the chain starts
end	link name at which the chain ends

Returns: list joints between begin and end

◆ GetKinematicChainLinks()

std::vector<std::string> exotica::KinematicTree::GetKinematicChainLinks	(	const std::string &	begin,
		const std::string &	end
	)		const

GetKinematicChainLinks get the links between begin and end of kinematic chain.

Parameters

begin	link name from which the chain starts
end	link name at which the chain ends

Returns: list link between begin and end

◆ GetKinematicResponse()

std::shared_ptr<KinematicResponse> exotica::KinematicTree::GetKinematicResponse ( )

inline

◆ GetModelBaseType()

BaseType exotica::KinematicTree::GetModelBaseType ( ) const

◆ GetModelJointNames()

const std::vector<std::string>& exotica::KinematicTree::GetModelJointNames ( ) const

inline

◆ GetModelJointsMap()

const std::map<std::string, std::weak_ptr<KinematicElement> >& exotica::KinematicTree::GetModelJointsMap ( ) const

inline

◆ GetModelLinkNames()

const std::vector<std::string>& exotica::KinematicTree::GetModelLinkNames ( ) const

inline

◆ GetModelState()

Eigen::VectorXd exotica::KinematicTree::GetModelState ( ) const

◆ GetModelStateMap()

std::map<std::string, double> exotica::KinematicTree::GetModelStateMap ( ) const

◆ GetModelTree()

const std::vector<std::shared_ptr<KinematicElement> >& exotica::KinematicTree::GetModelTree ( ) const

inline

◆ GetNumControlledJoints()

int exotica::KinematicTree::GetNumControlledJoints ( ) const

◆ GetNumModelJoints()

int exotica::KinematicTree::GetNumModelJoints ( ) const

◆ GetRandomControlledState()

Eigen::VectorXd exotica::KinematicTree::GetRandomControlledState ( )

Random state generation.

◆ GetRobotModel()

robot_model::RobotModelPtr exotica::KinematicTree::GetRobotModel ( ) const

◆ GetRootFrameName()

const std::string& exotica::KinematicTree::GetRootFrameName ( ) const

◆ GetRootJointName()

const std::string& exotica::KinematicTree::GetRootJointName ( ) const

◆ GetTree()

const std::vector<std::weak_ptr<KinematicElement> >& exotica::KinematicTree::GetTree ( ) const

inline

◆ GetTreeMap()

const std::map<std::string, std::weak_ptr<KinematicElement> >& exotica::KinematicTree::GetTreeMap ( ) const

inline

◆ GetUsedJointLimits()

std::map<std::string, std::vector<double> > exotica::KinematicTree::GetUsedJointLimits ( ) const

◆ GetVelocityLimits()

const Eigen::VectorXd& exotica::KinematicTree::GetVelocityLimits ( ) const

inline

◆ HasAccelerationLimits()

const bool& exotica::KinematicTree::HasAccelerationLimits ( ) const

inline

◆ HasModelLink()

bool exotica::KinematicTree::HasModelLink ( const std::string & link ) const

◆ Hessian() [1/2]

exotica::Hessian exotica::KinematicTree::Hessian	(	const std::string &	element_A,
		const KDL::Frame &	offset_a,
		const std::string &	element_B,
		const KDL::Frame &	offset_b
	)		const

◆ Hessian() [2/2]

exotica::Hessian exotica::KinematicTree::Hessian	(	std::shared_ptr< KinematicElement >	element_A,
		const KDL::Frame &	offset_a,
		std::shared_ptr< KinematicElement >	element_B,
		const KDL::Frame &	offset_b
	)		const

◆ Instantiate()

void exotica::KinematicTree::Instantiate	(	const std::string &	joint_group,
		robot_model::RobotModelPtr	model,
		const std::string &	name
	)

◆ IsControlled()

int exotica::KinematicTree::IsControlled ( std::shared_ptr< KinematicElement > joint )

◆ IsControlledLink()

int exotica::KinematicTree::IsControlledLink ( const std::string & link_name )

◆ Jacobian() [1/2]

Eigen::MatrixXd exotica::KinematicTree::Jacobian	(	const std::string &	element_A,
		const KDL::Frame &	offset_a,
		const std::string &	element_B,
		const KDL::Frame &	offset_b
	)		const

◆ Jacobian() [2/2]

Eigen::MatrixXd exotica::KinematicTree::Jacobian	(	std::shared_ptr< KinematicElement >	element_A,
		const KDL::Frame &	offset_a,
		std::shared_ptr< KinematicElement >	element_B,
		const KDL::Frame &	offset_b
	)		const

◆ PublishFrames()

void exotica::KinematicTree::PublishFrames ( const std::string & tf_prefix = "exotica" )

◆ RequestFrames()

std::shared_ptr<KinematicResponse> exotica::KinematicTree::RequestFrames ( const KinematicsRequest & request )

◆ ResetJointLimits()

void exotica::KinematicTree::ResetJointLimits ( )

◆ ResetModel()

void exotica::KinematicTree::ResetModel ( )

◆ SetFloatingBaseLimitsPosXYZEulerZYX() [1/2]

void exotica::KinematicTree::SetFloatingBaseLimitsPosXYZEulerZYX	(	const std::vector< double > &	lower,
		const std::vector< double > &	upper
	)

◆ SetFloatingBaseLimitsPosXYZEulerZYX() [2/2]

void exotica::KinematicTree::SetFloatingBaseLimitsPosXYZEulerZYX	(	const std::vector< double > &	lower,
		const std::vector< double > &	upper,
		const std::vector< double > &	velocity,
		const std::vector< double > &	acceleration
	)

◆ SetJointAccelerationLimits()

void exotica::KinematicTree::SetJointAccelerationLimits ( Eigen::VectorXdRefConst acceleration_in )

◆ SetJointLimitsLower()

void exotica::KinematicTree::SetJointLimitsLower ( Eigen::VectorXdRefConst lower_in )

◆ SetJointLimitsUpper()

void exotica::KinematicTree::SetJointLimitsUpper ( Eigen::VectorXdRefConst upper_in )

◆ SetJointVelocityLimits()

void exotica::KinematicTree::SetJointVelocityLimits ( Eigen::VectorXdRefConst velocity_in )

◆ SetKinematicResponse()

void exotica::KinematicTree::SetKinematicResponse ( std::shared_ptr< KinematicResponse > response_in )

inline

◆ SetModelState() [1/2]

void exotica::KinematicTree::SetModelState ( const std::map< std::string, double > & x )

◆ SetModelState() [2/2]

void exotica::KinematicTree::SetModelState ( Eigen::VectorXdRefConst x )

◆ SetPlanarBaseLimitsPosXYEulerZ() [1/2]

void exotica::KinematicTree::SetPlanarBaseLimitsPosXYEulerZ	(	const std::vector< double > &	lower,
		const std::vector< double > &	upper
	)

◆ SetPlanarBaseLimitsPosXYEulerZ() [2/2]

void exotica::KinematicTree::SetPlanarBaseLimitsPosXYEulerZ	(	const std::vector< double > &	lower,
		const std::vector< double > &	upper,
		const std::vector< double > &	velocity,
		const std::vector< double > &	acceleration
	)

◆ SetSeed()

void exotica::KinematicTree::SetSeed ( const uint_fast32_t seed )

inline

SetSeed sets the seed of the random generator for deterministic joint state sampling.

Parameters

seed	unsigned integer

◆ Update()

void exotica::KinematicTree::Update ( Eigen::VectorXdRefConst x )

◆ UpdateFK()

void exotica::KinematicTree::UpdateFK ( )

private

◆ UpdateH()

void exotica::KinematicTree::UpdateH ( )

private

◆ UpdateJ()

void exotica::KinematicTree::UpdateJ ( )

private

◆ UpdateJointLimits()

void exotica::KinematicTree::UpdateJointLimits ( )

private

◆ UpdateModel()

void exotica::KinematicTree::UpdateModel ( )

◆ UpdateTree()

void exotica::KinematicTree::UpdateTree ( )

private

Member Data Documentation

◆ acceleration_limits_

Eigen::VectorXd exotica::KinematicTree::acceleration_limits_

private

◆ collision_tree_map_

std::map<std::string, std::weak_ptr<KinematicElement> > exotica::KinematicTree::collision_tree_map_

private

◆ controlled_base_type_

BaseType exotica::KinematicTree::controlled_base_type_ = BaseType::FIXED

private

◆ controlled_joints_

std::vector<std::weak_ptr<KinematicElement> > exotica::KinematicTree::controlled_joints_

private

◆ controlled_joints_map_

std::map<std::string, std::weak_ptr<KinematicElement> > exotica::KinematicTree::controlled_joints_map_

private

◆ controlled_joints_names_

std::vector<std::string> exotica::KinematicTree::controlled_joints_names_

private

◆ controlled_link_names_

std::vector<std::string> exotica::KinematicTree::controlled_link_names_

private

◆ debug

bool exotica::KinematicTree::debug = false

◆ debug_frames_

std::vector<tf::StampedTransform> exotica::KinematicTree::debug_frames_

private

◆ debug_scene_changed_

bool exotica::KinematicTree::debug_scene_changed_

private

◆ debug_tree_

std::vector<tf::StampedTransform> exotica::KinematicTree::debug_tree_

private

◆ environment_tree_

std::vector<std::shared_ptr<KinematicElement> > exotica::KinematicTree::environment_tree_

private

◆ flags_

KinematicRequestFlags exotica::KinematicTree::flags_

private

◆ generator_

std::mt19937 exotica::KinematicTree::generator_

private

◆ has_acceleration_limit_

bool exotica::KinematicTree::has_acceleration_limit_ = false

private

◆ joint_limits_

Eigen::MatrixXd exotica::KinematicTree::joint_limits_

private

◆ marker_array_msg_

visualization_msgs::MarkerArray exotica::KinematicTree::marker_array_msg_

private

◆ model_

robot_model::RobotModelPtr exotica::KinematicTree::model_

private

◆ model_base_type_

BaseType exotica::KinematicTree::model_base_type_

private

◆ model_joints_map_

std::map<std::string, std::weak_ptr<KinematicElement> > exotica::KinematicTree::model_joints_map_

private

◆ model_joints_names_

std::vector<std::string> exotica::KinematicTree::model_joints_names_

private

◆ model_link_names_

std::vector<std::string> exotica::KinematicTree::model_link_names_

private

◆ model_tree_

std::vector<std::shared_ptr<KinematicElement> > exotica::KinematicTree::model_tree_

private

◆ name_

std::string exotica::KinematicTree::name_

private

◆ num_controlled_joints_

int exotica::KinematicTree::num_controlled_joints_

private

Number of controlled joints in the joint group.

◆ num_joints_

int exotica::KinematicTree::num_joints_

private

Number of joints of the model (including floating/planar base, passive joints, and uncontrolled joints).

◆ octomap_pub_

ros::Publisher exotica::KinematicTree::octomap_pub_

private

◆ random_state_distributions_

std::vector<std::uniform_real_distribution<double> > exotica::KinematicTree::random_state_distributions_

private

◆ rd_

std::random_device exotica::KinematicTree::rd_

private

◆ root_

std::shared_ptr<KinematicElement> exotica::KinematicTree::root_

private

◆ root_joint_name_

std::string exotica::KinematicTree::root_joint_name_ = ""

private

◆ shapes_pub_

ros::Publisher exotica::KinematicTree::shapes_pub_

private

◆ solution_

std::shared_ptr<KinematicResponse> exotica::KinematicTree::solution_ = std::make_shared<KinematicResponse>()

private

◆ state_size_

int exotica::KinematicTree::state_size_ = -1

private

◆ tree_

std::vector<std::weak_ptr<KinematicElement> > exotica::KinematicTree::tree_

private

◆ tree_map_

std::map<std::string, std::weak_ptr<KinematicElement> > exotica::KinematicTree::tree_map_

private

◆ tree_state_

Eigen::VectorXd exotica::KinematicTree::tree_state_

private

◆ velocity_limits_

Eigen::VectorXd exotica::KinematicTree::velocity_limits_

private

The documentation for this class was generated from the following file:

/tmp/exotica/exotica_core/include/exotica_core/kinematic_tree.h

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Member Function Documentation

◆ AddElement() [1/2]

◆ AddElement() [2/2]

◆ AddElementFromSegmentMapIterator()

◆ AddEnvironmentElement()

◆ BuildTree()

◆ ChangeParent()

◆ ComputeH()

◆ ComputeJ()

◆ DoesLinkWithNameExist()

◆ FindKinematicElementByName()

◆ FK() [1/3]

◆ FK() [2/3]

◆ FK() [3/3]

◆ GetAccelerationLimits()

◆ GetCollisionObjectTypes()

◆ GetCollisionTreeMap()

◆ GetControlledBaseType()

◆ GetControlledJointNames()

◆ GetControlledJoints()

◆ GetControlledJointsMap()

◆ GetControlledLinkMass()

◆ GetControlledLinkNames()

◆ GetControlledState()

◆ GetJointLimits()

◆ GetKinematicChain()

◆ GetKinematicChainLinks()

◆ GetKinematicResponse()

◆ GetModelBaseType()

◆ GetModelJointNames()

◆ GetModelJointsMap()

◆ GetModelLinkNames()

◆ GetModelState()

◆ GetModelStateMap()

◆ GetModelTree()

◆ GetNumControlledJoints()

◆ GetNumModelJoints()

◆ GetRandomControlledState()

◆ GetRobotModel()

◆ GetRootFrameName()

◆ GetRootJointName()

◆ GetTree()

◆ GetTreeMap()

◆ GetUsedJointLimits()

◆ GetVelocityLimits()

◆ HasAccelerationLimits()

◆ HasModelLink()

◆ Hessian() [1/2]

◆ Hessian() [2/2]

◆ Instantiate()

◆ IsControlled()

◆ IsControlledLink()

◆ Jacobian() [1/2]

◆ Jacobian() [2/2]

◆ PublishFrames()

◆ RequestFrames()

◆ ResetJointLimits()

◆ ResetModel()

◆ SetFloatingBaseLimitsPosXYZEulerZYX() [1/2]

◆ SetFloatingBaseLimitsPosXYZEulerZYX() [2/2]

◆ SetJointAccelerationLimits()

◆ SetJointLimitsLower()

◆ SetJointLimitsUpper()

◆ SetJointVelocityLimits()

◆ SetKinematicResponse()

◆ SetModelState() [1/2]

◆ SetModelState() [2/2]

◆ SetPlanarBaseLimitsPosXYEulerZ() [1/2]

◆ SetPlanarBaseLimitsPosXYEulerZ() [2/2]

◆ SetSeed()

◆ Update()

◆ UpdateFK()

◆ UpdateH()

◆ UpdateJ()

◆ UpdateJointLimits()

◆ UpdateModel()