The class of EXOTica Scene. More...

#include <scene.h>

Inheritance diagram for exotica::Scene:

Collaboration diagram for exotica::Scene:

Public Member Functions
	Scene (const std::string &name)

	Scene ()

virtual	~Scene ()

virtual void	Instantiate (const SceneInitializer &init)

void	RequestKinematics (KinematicsRequest &request, std::function< void(std::shared_ptr< KinematicResponse >)> callback)

const std::string &	GetName () const

void	Update (Eigen::VectorXdRefConst x, double t=0)

const CollisionScenePtr &	GetCollisionScene () const
	Returns a pointer to the CollisionScene. More...

std::shared_ptr< DynamicsSolver >	GetDynamicsSolver () const
	Returns a pointer to the CollisionScene. More...

std::string	GetRootFrameName ()

std::string	GetRootJointName ()

exotica::KinematicTree &	GetKinematicTree ()

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

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

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

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

Eigen::VectorXd	GetControlledState ()

Eigen::VectorXd	GetModelState ()

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

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

void	SetModelState (Eigen::VectorXdRefConst x, double t=0, bool update_traj=true)

void	SetModelState (const std::map< std::string, double > &x, double t=0, bool update_traj=true)

void	AddTrajectoryFromFile (const std::string &link, const std::string &traj)

void	AddTrajectory (const std::string &link, const std::string &traj)

void	AddTrajectory (const std::string &link, std::shared_ptr< Trajectory > traj)

std::shared_ptr< Trajectory >	GetTrajectory (const std::string &link)

void	RemoveTrajectory (const std::string &link)

void	UpdateSceneFrames ()
	Updates exotica scene object frames from the MoveIt scene. More...

void	AttachObject (const std::string &name, const std::string &parent)
	Attaches existing object to a new parent. E.g. attaching a grasping target to the end-effector. The relative transformation will be computed from current object and new parent transformations in the world frame. More...

void	AttachObjectLocal (const std::string &name, const std::string &parent, const KDL::Frame &pose)
	Attaches existing object to a new parent specifying an offset in the new parent local frame. More...

void	AttachObjectLocal (const std::string &name, const std::string &parent, const Eigen::VectorXd &pose)

void	DetachObject (const std::string &name)
	Detaches an object and leaves it a at its current world location. This effectively attaches the object to the world frame. More...

bool	HasAttachedObject (const std::string &name)

void	AddObject (const std::string &name, const KDL::Frame &transform=KDL::Frame(), 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 bool update_collision_scene=true)

void	AddObject (const std::string &name, const KDL::Frame &transform=KDL::Frame(), const std::string &parent="", const std::string &shape_resource_path="", const 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 bool update_collision_scene=true)

void	AddObjectToEnvironment (const std::string &name, const KDL::Frame &transform=KDL::Frame(), shapes::ShapeConstPtr shape=nullptr, const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const bool update_collision_scene=true)

void	RemoveObject (const std::string &name)

void	UpdatePlanningSceneWorld (const moveit_msgs::PlanningSceneWorldConstPtr &world)
	Update the collision scene from a moveit_msgs::PlanningSceneWorld. More...

void	UpdatePlanningScene (const moveit_msgs::PlanningScene &scene)
	Update the collision scene from a moveit_msgs::PlanningScene. More...

moveit_msgs::PlanningScene	GetPlanningSceneMsg ()
	Returns the current robot configuration and collision environment as a moveit_msgs::PlanningScene. More...

void	UpdateCollisionObjects ()

void	UpdateTrajectoryGenerators (double t=0)

void	PublishScene ()

void	PublishProxies (const std::vector< CollisionProxy > &proxies)

visualization_msgs::Marker	ProxyToMarker (const std::vector< CollisionProxy > &proxies, const std::string &frame)

void	LoadScene (const std::string &scene, const Eigen::Isometry3d &offset=Eigen::Isometry3d::Identity(), bool update_collision_scene=true)

void	LoadScene (const std::string &scene, const KDL::Frame &offset=KDL::Frame(), bool update_collision_scene=true)

void	LoadSceneFile (const std::string &file_name, const Eigen::Isometry3d &offset=Eigen::Isometry3d::Identity(), bool update_collision_scene=true)

void	LoadSceneFile (const std::string &file_name, const KDL::Frame &offset=KDL::Frame(), bool update_collision_scene=true)

std::string	GetScene ()

void	CleanScene ()

bool	AlwaysUpdatesCollisionScene () const
	Whether the collision scene transforms get updated on every scene update. More...

const std::map< std::string, std::vector< std::string > > &	GetModelLinkToCollisionLinkMap () const
	Returns a map between a model link name and the names of associated collision links. More...

const std::map< std::string, std::vector< std::shared_ptr< KinematicElement > > > &	GetModelLinkToCollisionElementMap () const
	Returns a map between a model link name and the KinematicElement of associated collision links. More...

const std::map< std::string, std::vector< std::string > > &	GetControlledJointToCollisionLinkMap () const
	Returns a map between controlled robot joint names and associated collision link names. Here we consider all fixed links between controlled links as belonging to the previous controlled joint (as if the collision links had been fused). More...

const std::set< std::string > &	get_world_links_to_exclude_from_collision_scene () const
	Returns world links that are to be excluded from collision checking. More...

int	get_num_positions () const

int	get_num_velocities () const

int	get_num_controls () const

int	get_num_state () const

int	get_num_state_derivative () const

bool	get_has_quaternion_floating_base () const

Public Member Functions inherited from exotica::Object
	Object ()

virtual	~Object ()

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

virtual std::string	Print (const std::string &prepend) const

Public Member Functions inherited from exotica::Instantiable< SceneInitializer >
void	InstantiateInternal (const Initializer &init) override

Initializer	GetInitializerTemplate () override

std::vector< Initializer >	GetAllTemplates () const override

const SceneInitializer &	GetParameters () const

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

virtual	~InstantiableBase ()=default

virtual void	InstantiateBase (const Initializer &init)

virtual std::vector< Initializer >	GetAllTemplates () const =0

Private Member Functions
void	UpdateInternalFrames (bool update_request=true)

void	UpdateMoveItPlanningScene ()
	Updates the internal state of the MoveIt PlanningScene from Kinematica. More...

void	LoadSceneFromStringStream (std::istream &in, const Eigen::Isometry3d &offset, bool update_collision_scene)

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

	~Uncopyable ()=default

Private Attributes
bool	has_quaternion_floating_base_ = false
	Whether the state includes a SE(3) floating base. More...

exotica::KinematicTree	kinematica_
	The kinematica tree. More...

CollisionScenePtr	collision_scene_
	The collision scene. More...

std::shared_ptr< DynamicsSolver >	dynamics_solver_ = std::shared_ptr<DynamicsSolver>(nullptr)
	The dynamics solver. More...

int	num_positions_ = 0
	"nq" More...

int	num_velocities_ = 0
	"nv" More...

int	num_controls_ = 0
	"nu" More...

int	num_state_ = 0
	"nx" More...

int	num_state_derivative_ = 0
	"ndx" More...

planning_scene::PlanningScenePtr	ps_
	Internal MoveIt planning scene. More...

ros::Publisher	ps_pub_
	Visual debug. More...

ros::Publisher	proxy_pub_

std::map< std::string, AttachedObject >	attached_objects_
	List of attached objects These objects will be reattached if the scene gets reloaded. More...

std::vector< std::shared_ptr< KinematicElement > >	custom_links_
	List of frames/links added on top of robot links and scene objects defined in the MoveIt scene. More...

std::map< std::string, std::pair< std::weak_ptr< KinematicElement >, std::shared_ptr< Trajectory > > >	trajectory_generators_

bool	force_collision_

std::map< std::string, std::vector< std::string > >	model_link_to_collision_link_map_
	Mapping between model link names and collision links. More...

std::map< std::string, std::vector< std::shared_ptr< KinematicElement > > >	model_link_to_collision_element_map_

std::map< std::string, std::vector< std::string > >	controlled_joint_to_collision_link_map_
	Mapping between controlled joint name and collision links. More...

std::set< std::string >	robot_links_to_exclude_from_collision_scene_
	List of robot links to be excluded from the collision scene. More...

std::set< std::string >	world_links_to_exclude_from_collision_scene_
	List of world links to be excluded from the collision scene. More...

KinematicsRequest	kinematic_request_

std::shared_ptr< KinematicResponse >	kinematic_solution_

std::function< void(std::shared_ptr< KinematicResponse >)>	kinematic_request_callback_

bool	request_needs_updating_

Additional Inherited Members
Public Attributes inherited from exotica::Object
std::string	ns_

std::string	object_name_

bool	debug_

Protected Attributes inherited from exotica::Instantiable< SceneInitializer >
SceneInitializer	parameters_

Detailed Description

The class of EXOTica Scene.

Constructor & Destructor Documentation

◆ Scene() [1/2]

exotica::Scene::Scene ( const std::string & name )

◆ Scene() [2/2]

exotica::Scene::Scene ( )

◆ ~Scene()

virtual exotica::Scene::~Scene ( )

virtual

Member Function Documentation

◆ AddObject() [1/2]

void exotica::Scene::AddObject	(	const std::string &	name,
		const KDL::Frame &	transform = `KDL::Frame()`,
		const std::string &	parent = `""`,
		const std::string &	shape_resource_path = `""`,
		const 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 bool	update_collision_scene = `true`
	)

◆ AddObject() [2/2]

void exotica::Scene::AddObject	(	const std::string &	name,
		const KDL::Frame &	transform = `KDL::Frame()`,
		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 bool	update_collision_scene = `true`
	)

◆ AddObjectToEnvironment()

void exotica::Scene::AddObjectToEnvironment	(	const std::string &	name,
		const KDL::Frame &	transform = `KDL::Frame()`,
		shapes::ShapeConstPtr	shape = `nullptr`,
		const Eigen::Vector4d &	color = `Eigen::Vector4d(0.5, 0.5, 0.5, 1.0)`,
		const bool	update_collision_scene = `true`
	)

◆ AddTrajectory() [1/2]

void exotica::Scene::AddTrajectory	(	const std::string &	link,
		const std::string &	traj
	)

◆ AddTrajectory() [2/2]

void exotica::Scene::AddTrajectory	(	const std::string &	link,
		std::shared_ptr< Trajectory >	traj
	)

◆ AddTrajectoryFromFile()

void exotica::Scene::AddTrajectoryFromFile	(	const std::string &	link,
		const std::string &	traj
	)

◆ AlwaysUpdatesCollisionScene()

bool exotica::Scene::AlwaysUpdatesCollisionScene ( ) const

inline

Whether the collision scene transforms get updated on every scene update.

Returns: Whether collision scene transforms are force updated on every scene update.

◆ AttachObject()

void exotica::Scene::AttachObject	(	const std::string &	name,
		const std::string &	parent
	)

Attaches existing object to a new parent. E.g. attaching a grasping target to the end-effector. The relative transformation will be computed from current object and new parent transformations in the world frame.

Parameters

name	Name of the object to attach.
parent	Name of the new parent frame.

◆ AttachObjectLocal() [1/2]

void exotica::Scene::AttachObjectLocal	(	const std::string &	name,
		const std::string &	parent,
		const Eigen::VectorXd &	pose
	)

◆ AttachObjectLocal() [2/2]

void exotica::Scene::AttachObjectLocal	(	const std::string &	name,
		const std::string &	parent,
		const KDL::Frame &	pose
	)

Attaches existing object to a new parent specifying an offset in the new parent local frame.

Parameters

name	Name of the object to attach.
parent	Name of the new parent frame.
pose	Relative pose of the attached object in the new parent's local frame.

◆ CleanScene()

void exotica::Scene::CleanScene ( )

◆ DetachObject()

void exotica::Scene::DetachObject ( const std::string & name )

Detaches an object and leaves it a at its current world location. This effectively attaches the object to the world frame.

Parameters

name	Name of the object to detach.

◆ get_has_quaternion_floating_base()

bool exotica::Scene::get_has_quaternion_floating_base ( ) const

◆ get_num_controls()

int exotica::Scene::get_num_controls ( ) const

◆ get_num_positions()

int exotica::Scene::get_num_positions ( ) const

◆ get_num_state()

int exotica::Scene::get_num_state ( ) const

◆ get_num_state_derivative()

int exotica::Scene::get_num_state_derivative ( ) const

◆ get_num_velocities()

int exotica::Scene::get_num_velocities ( ) const

◆ get_world_links_to_exclude_from_collision_scene()

const std::set<std::string>& exotica::Scene::get_world_links_to_exclude_from_collision_scene ( ) const

inline

Returns world links that are to be excluded from collision checking.

◆ GetCollisionScene()

const CollisionScenePtr& exotica::Scene::GetCollisionScene ( ) const

Returns a pointer to the CollisionScene.

◆ GetControlledJointNames()

std::vector<std::string> exotica::Scene::GetControlledJointNames ( )

◆ GetControlledJointToCollisionLinkMap()

const std::map<std::string, std::vector<std::string> >& exotica::Scene::GetControlledJointToCollisionLinkMap ( ) const

inline

Returns a map between controlled robot joint names and associated collision link names. Here we consider all fixed links between controlled links as belonging to the previous controlled joint (as if the collision links had been fused).

Returns: Map between controlled joints and associated collision links.

◆ GetControlledLinkNames()

std::vector<std::string> exotica::Scene::GetControlledLinkNames ( )

◆ GetControlledState()

Eigen::VectorXd exotica::Scene::GetControlledState ( )

◆ GetDynamicsSolver()

std::shared_ptr<DynamicsSolver> exotica::Scene::GetDynamicsSolver ( ) const

Returns a pointer to the CollisionScene.

◆ GetKinematicTree()

exotica::KinematicTree& exotica::Scene::GetKinematicTree ( )

◆ GetModelJointNames()

std::vector<std::string> exotica::Scene::GetModelJointNames ( )

◆ GetModelLinkNames()

std::vector<std::string> exotica::Scene::GetModelLinkNames ( )

◆ GetModelLinkToCollisionElementMap()

const std::map<std::string, std::vector<std::shared_ptr<KinematicElement> > >& exotica::Scene::GetModelLinkToCollisionElementMap ( ) const

inline

Returns a map between a model link name and the KinematicElement of associated collision links.

Returns: Map between model links and all the KinematicElements of the associated collision links.

◆ GetModelLinkToCollisionLinkMap()

const std::map<std::string, std::vector<std::string> >& exotica::Scene::GetModelLinkToCollisionLinkMap ( ) const

inline

Returns a map between a model link name and the names of associated collision links.

Returns: Map between model links and all associated collision links.

◆ GetModelState()

Eigen::VectorXd exotica::Scene::GetModelState ( )

◆ GetModelStateMap()

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

◆ GetName()

const std::string& exotica::Scene::GetName ( ) const

◆ GetPlanningSceneMsg()

moveit_msgs::PlanningScene exotica::Scene::GetPlanningSceneMsg ( )

Returns the current robot configuration and collision environment as a moveit_msgs::PlanningScene.

◆ GetRootFrameName()

std::string exotica::Scene::GetRootFrameName ( )

◆ GetRootJointName()

std::string exotica::Scene::GetRootJointName ( )

◆ GetScene()

std::string exotica::Scene::GetScene ( )

◆ GetTrajectory()

std::shared_ptr<Trajectory> exotica::Scene::GetTrajectory ( const std::string & link )

◆ GetTreeMap()

std::map<std::string, std::weak_ptr<KinematicElement> > exotica::Scene::GetTreeMap ( )

◆ HasAttachedObject()

bool exotica::Scene::HasAttachedObject ( const std::string & name )

◆ Instantiate()

virtual void exotica::Scene::Instantiate ( const SceneInitializer & init )

virtual

Reimplemented from exotica::Instantiable< SceneInitializer >.

◆ LoadScene() [1/2]

void exotica::Scene::LoadScene	(	const std::string &	scene,
		const Eigen::Isometry3d &	offset = `Eigen::Isometry3d::Identity()`,
		bool	update_collision_scene = `true`
	)

◆ LoadScene() [2/2]

void exotica::Scene::LoadScene	(	const std::string &	scene,
		const KDL::Frame &	offset = `KDL::Frame()`,
		bool	update_collision_scene = `true`
	)

◆ LoadSceneFile() [1/2]

void exotica::Scene::LoadSceneFile	(	const std::string &	file_name,
		const Eigen::Isometry3d &	offset = `Eigen::Isometry3d::Identity()`,
		bool	update_collision_scene = `true`
	)

◆ LoadSceneFile() [2/2]

void exotica::Scene::LoadSceneFile	(	const std::string &	file_name,
		const KDL::Frame &	offset = `KDL::Frame()`,
		bool	update_collision_scene = `true`
	)

◆ LoadSceneFromStringStream()

void exotica::Scene::LoadSceneFromStringStream	(	std::istream &	in,
		const Eigen::Isometry3d &	offset,
		bool	update_collision_scene
	)

private

◆ ProxyToMarker()

visualization_msgs::Marker exotica::Scene::ProxyToMarker	(	const std::vector< CollisionProxy > &	proxies,
		const std::string &	frame
	)

◆ PublishProxies()

void exotica::Scene::PublishProxies ( const std::vector< CollisionProxy > & proxies )

◆ PublishScene()

void exotica::Scene::PublishScene ( )

◆ RemoveObject()

void exotica::Scene::RemoveObject ( const std::string & name )

◆ RemoveTrajectory()

void exotica::Scene::RemoveTrajectory ( const std::string & link )

◆ RequestKinematics()

void exotica::Scene::RequestKinematics	(	KinematicsRequest &	request,
		std::function< void(std::shared_ptr< KinematicResponse >)>	callback
	)

◆ SetModelState() [1/2]

void exotica::Scene::SetModelState	(	const std::map< std::string, double > &	x,
		double	t = `0`,
		bool	update_traj = `true`
	)

◆ SetModelState() [2/2]

void exotica::Scene::SetModelState	(	Eigen::VectorXdRefConst	x,
		double	t = `0`,
		bool	update_traj = `true`
	)

◆ Update()

void exotica::Scene::Update	(	Eigen::VectorXdRefConst	x,
		double	t = `0`
	)

◆ UpdateCollisionObjects()

void exotica::Scene::UpdateCollisionObjects ( )

◆ UpdateInternalFrames()

void exotica::Scene::UpdateInternalFrames ( bool update_request = true )

private

◆ UpdateMoveItPlanningScene()

void exotica::Scene::UpdateMoveItPlanningScene ( )

private

Updates the internal state of the MoveIt PlanningScene from Kinematica.

◆ UpdatePlanningScene()

void exotica::Scene::UpdatePlanningScene ( const moveit_msgs::PlanningScene & scene )

Update the collision scene from a moveit_msgs::PlanningScene.

Parameters

[in] scene moveit_msgs::PlanningScene

◆ UpdatePlanningSceneWorld()

void exotica::Scene::UpdatePlanningSceneWorld ( const moveit_msgs::PlanningSceneWorldConstPtr & world )

Update the collision scene from a moveit_msgs::PlanningSceneWorld.

Parameters

[in] world moveit_msgs::PlanningSceneWorld

◆ UpdateSceneFrames()

void exotica::Scene::UpdateSceneFrames ( )

Updates exotica scene object frames from the MoveIt scene.

◆ UpdateTrajectoryGenerators()

void exotica::Scene::UpdateTrajectoryGenerators ( double t = 0 )

Member Data Documentation

◆ attached_objects_

std::map<std::string, AttachedObject> exotica::Scene::attached_objects_

private

List of attached objects These objects will be reattached if the scene gets reloaded.

◆ collision_scene_

CollisionScenePtr exotica::Scene::collision_scene_

private

The collision scene.

◆ controlled_joint_to_collision_link_map_

std::map<std::string, std::vector<std::string> > exotica::Scene::controlled_joint_to_collision_link_map_

private

Mapping between controlled joint name and collision links.

◆ custom_links_

std::vector<std::shared_ptr<KinematicElement> > exotica::Scene::custom_links_

private

List of frames/links added on top of robot links and scene objects defined in the MoveIt scene.

◆ dynamics_solver_

std::shared_ptr<DynamicsSolver> exotica::Scene::dynamics_solver_ = std::shared_ptr<DynamicsSolver>(nullptr)

private

The dynamics solver.

◆ force_collision_

bool exotica::Scene::force_collision_

private

◆ has_quaternion_floating_base_

bool exotica::Scene::has_quaternion_floating_base_ = false

private

Whether the state includes a SE(3) floating base.

◆ kinematic_request_

KinematicsRequest exotica::Scene::kinematic_request_

private

◆ kinematic_request_callback_

std::function<void(std::shared_ptr<KinematicResponse>)> exotica::Scene::kinematic_request_callback_

private

◆ kinematic_solution_

std::shared_ptr<KinematicResponse> exotica::Scene::kinematic_solution_

private

◆ kinematica_

exotica::KinematicTree exotica::Scene::kinematica_

private

The kinematica tree.

◆ model_link_to_collision_element_map_

std::map<std::string, std::vector<std::shared_ptr<KinematicElement> > > exotica::Scene::model_link_to_collision_element_map_

private

◆ model_link_to_collision_link_map_

std::map<std::string, std::vector<std::string> > exotica::Scene::model_link_to_collision_link_map_

private

Mapping between model link names and collision links.

◆ num_controls_

int exotica::Scene::num_controls_ = 0

private

"nu"

◆ num_positions_

int exotica::Scene::num_positions_ = 0

private

"nq"

◆ num_state_

int exotica::Scene::num_state_ = 0

private

"nx"

◆ num_state_derivative_

int exotica::Scene::num_state_derivative_ = 0

private

"ndx"

◆ num_velocities_

int exotica::Scene::num_velocities_ = 0

private

"nv"

◆ proxy_pub_

ros::Publisher exotica::Scene::proxy_pub_

private

◆ ps_

planning_scene::PlanningScenePtr exotica::Scene::ps_

private

Internal MoveIt planning scene.

◆ ps_pub_

ros::Publisher exotica::Scene::ps_pub_

private

Visual debug.

◆ request_needs_updating_

bool exotica::Scene::request_needs_updating_

private

◆ robot_links_to_exclude_from_collision_scene_

std::set<std::string> exotica::Scene::robot_links_to_exclude_from_collision_scene_

private

List of robot links to be excluded from the collision scene.

◆ trajectory_generators_

std::map<std::string, std::pair<std::weak_ptr<KinematicElement>, std::shared_ptr<Trajectory> > > exotica::Scene::trajectory_generators_

private

◆ world_links_to_exclude_from_collision_scene_

std::set<std::string> exotica::Scene::world_links_to_exclude_from_collision_scene_

private

List of world links to be excluded from the collision scene.

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

/tmp/exotica/exotica_core/include/exotica_core/scene.h

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Scene() [1/2]

◆ Scene() [2/2]

◆ ~Scene()

Member Function Documentation

◆ AddObject() [1/2]

◆ AddObject() [2/2]

◆ AddObjectToEnvironment()

◆ AddTrajectory() [1/2]

◆ AddTrajectory() [2/2]

◆ AddTrajectoryFromFile()

◆ AlwaysUpdatesCollisionScene()

◆ AttachObject()

◆ AttachObjectLocal() [1/2]

◆ AttachObjectLocal() [2/2]

◆ CleanScene()

◆ DetachObject()

◆ get_has_quaternion_floating_base()

◆ get_num_controls()

◆ get_num_positions()

◆ get_num_state()

◆ get_num_state_derivative()

◆ get_num_velocities()

◆ get_world_links_to_exclude_from_collision_scene()

◆ GetCollisionScene()

◆ GetControlledJointNames()

◆ GetControlledJointToCollisionLinkMap()

◆ GetControlledLinkNames()

◆ GetControlledState()

◆ GetDynamicsSolver()

◆ GetKinematicTree()

◆ GetModelJointNames()

◆ GetModelLinkNames()

◆ GetModelLinkToCollisionElementMap()

◆ GetModelLinkToCollisionLinkMap()

◆ GetModelState()

◆ GetModelStateMap()

◆ GetName()

◆ GetPlanningSceneMsg()

◆ GetRootFrameName()

◆ GetRootJointName()

◆ GetScene()

◆ GetTrajectory()

◆ GetTreeMap()

◆ HasAttachedObject()

◆ Instantiate()

◆ LoadScene() [1/2]

◆ LoadScene() [2/2]

◆ LoadSceneFile() [1/2]

◆ LoadSceneFile() [2/2]

◆ LoadSceneFromStringStream()

◆ ProxyToMarker()

◆ PublishProxies()

◆ PublishScene()

◆ RemoveObject()

◆ RemoveTrajectory()

◆ RequestKinematics()

◆ SetModelState() [1/2]

◆ SetModelState() [2/2]

◆ Update()

◆ UpdateCollisionObjects()

◆ UpdateInternalFrames()

◆ UpdateMoveItPlanningScene()

◆ UpdatePlanningScene()

◆ UpdatePlanningSceneWorld()

◆ UpdateSceneFrames()

◆ UpdateTrajectoryGenerators()

Member Data Documentation

◆ attached_objects_

◆ collision_scene_

◆ controlled_joint_to_collision_link_map_

◆ custom_links_

◆ dynamics_solver_

◆ force_collision_

◆ has_quaternion_floating_base_