A group referencing the values of one body in the environment.
[詳細]
#include <openrave.h>
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int | offset |
| For each data point, the number of values to offset before data for this group starts.
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int | dof |
| The number of values in this group.
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std::string | name |
| semantic information on what part of the environment the group refers to.
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std::string | interpolation |
| Describes how the data should be interpolated. Common methods are:
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A group referencing the values of one body in the environment.
openrave.h の 945 行で定義されています。
OpenRAVE::ConfigurationSpecification::Group::Group |
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bool OpenRAVE::ConfigurationSpecification::Group::operator!= |
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const Group & |
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bool OpenRAVE::ConfigurationSpecification::Group::operator== |
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const Group & |
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int OpenRAVE::ConfigurationSpecification::Group::dof |
std::string OpenRAVE::ConfigurationSpecification::Group::interpolation |
Describes how the data should be interpolated. Common methods are:
- previous - the previous waypoint's value is always chosen
- next - the next waypoint's value is always chosen
- linear - linear interpolation (default)
- quadratic - position is piecewise-quadratic, velocity is piecewise-linear, acceleration is one of -amax, 0, or amax
- cubic - 3 degree polynomial
- quadric - 4 degree polynomial
- quintic - 5 degree polynomial
openrave.h の 989 行で定義されています。
std::string OpenRAVE::ConfigurationSpecification::Group::name |
semantic information on what part of the environment the group refers to.
Can be composed of multiple workds; the first word is the group type, and the words following narrow the specifics. Common types are:
- joint_values - The joint values of a kinbody/robot. The joint names with the name of the body can follow.
- joint_velocities - The joint velocities (1/second) of a kinbody/robot. The name of the body with the joint names can follow.
- joint_accelerations - The joint accelerations (1/second^2) of a kinbody/robot. The name of the body with the joint names can follow.
- joint_torques - The joint torques (Newton meter) of a kinbody/robot. The name of the body with the joint names can follow.
- affine_transform - An affine transformation [quaternion, translation]. The name of the body with selected affine dofs (see DOFAffine) can follow.
- affine_velocities - The velocity (1/second) of the affine transformation [rotation axis, translation velocity], the name of the body can follow.
- affine_accelerations - The velocity (1/second^2) of the affine transformation [rotation axis, translation velocity], the name of the body can follow.
- ikparam_values - The values of an IkParmeterization. The ikparam type is stored as the second value in name
- ikparam_velocities - velocity of an IkParmeterization. The ikparam type is stored as the second value in name
- iswaypoint - non-zero if the point represents a major knot point of the trajectory
- grabbody - Grabs the body. The configuration values are 1 for grab and 0 for release. The group name format is: bodyname robotname robotlinkindex [relative_grab_pose]. relative_grab_pose is a 7 value (quaterion + translation) pose of the relative location of the body with respect to the grabbed link. Only 1 DOF is accepted.
openrave.h の 978 行で定義されています。
int OpenRAVE::ConfigurationSpecification::Group::offset |
For each data point, the number of values to offset before data for this group starts.
openrave.h の 959 行で定義されています。
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