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構成 | Public 型 | Public メソッド | Static Public メソッド | Protected メソッド | Protected 変数 | すべてのメンバ一覧
クラス OpenRAVE::RobotBase

[interface] A robot is a kinematic body that has attached manipulators, sensors, and controllers. If not specified, method is not multi-thread safe. See Robot Concepts. [詳細]

#include <robot.h>

OpenRAVE::RobotBaseに対する継承グラフ
Inheritance graph
[凡例]
OpenRAVE::RobotBaseのコラボレーション図
Collaboration graph
[凡例]

構成

class  AttachedSensor
 Attaches a sensor to a link on the robot. [詳細]
 
class  AttachedSensorInfo
 holds all user-set attached sensor information used to initialize the AttachedSensor class. [詳細]
 
class  GrabbedInfo
 holds all user-set attached sensor information used to initialize the AttachedSensor class. [詳細]
 
class  Manipulator
 Defines a chain of joints for an arm and set of joints for a gripper. Simplifies operating with them. [詳細]
 
class  ManipulatorInfo
 holds all user-set manipulator information used to initialize the Manipulator class. [詳細]
 
class  RobotStateSaver
 Helper class derived from KinBodyStateSaver to additionaly save robot information. [詳細]
 

Public 型

typedef boost::shared_ptr
< ManipulatorInfo
ManipulatorInfoPtr
 
typedef boost::shared_ptr
< ManipulatorInfo const > 
ManipulatorInfoConstPtr
 
typedef boost::shared_ptr
< RobotBase::Manipulator
ManipulatorPtr
 
typedef boost::shared_ptr
< RobotBase::Manipulator const > 
ManipulatorConstPtr
 
typedef boost::weak_ptr
< RobotBase::Manipulator
ManipulatorWeakPtr
 
typedef boost::shared_ptr
< AttachedSensorInfo
AttachedSensorInfoPtr
 
typedef boost::shared_ptr
< AttachedSensorInfo const > 
AttachedSensorInfoConstPtr
 
typedef boost::shared_ptr
< RobotBase::AttachedSensor
AttachedSensorPtr
 
typedef boost::shared_ptr
< RobotBase::AttachedSensor
const > 
AttachedSensorConstPtr
 
typedef boost::shared_ptr
< GrabbedInfo
GrabbedInfoPtr
 
typedef boost::shared_ptr
< GrabbedInfo const > 
GrabbedInfoConstPtr
 
typedef boost::shared_ptr
< RobotStateSaver
RobotStateSaverPtr
 
- Public 型 inherited from OpenRAVE::KinBody
enum  KinBodyProperty {
  Prop_JointMimic =0x1, Prop_JointLimits =0x2, Prop_JointOffset =0x4, Prop_JointProperties =0x8,
  Prop_JointAccelerationVelocityTorqueLimits =0x10, Prop_Joints =Prop_JointMimic|Prop_JointLimits|Prop_JointOffset|Prop_JointProperties|Prop_JointAccelerationVelocityTorqueLimits, Prop_Name =0x20, Prop_LinkDraw =0x40,
  Prop_LinkGeometry =0x80, Prop_LinkStatic =0x400, Prop_LinkEnable =0x800, Prop_LinkDynamics =0x1000,
  Prop_Links =Prop_LinkDraw|Prop_LinkGeometry|Prop_LinkStatic|Prop_LinkEnable|Prop_LinkDynamics, Prop_JointCustomParameters = 0x2000, Prop_LinkCustomParameters = 0x4000, Prop_RobotSensors = 0x00020000,
  Prop_Sensors = 0x00020000, Prop_RobotSensorPlacement = 0x00040000, Prop_SensorPlacement = 0x00040000, Prop_RobotActiveDOFs = 0x00080000,
  Prop_RobotManipulatorTool = 0x00100000, Prop_RobotManipulatorName = 0x00200000, Prop_RobotManipulatorSolver = 0x00400000, Prop_RobotManipulators = Prop_RobotManipulatorTool | Prop_RobotManipulatorName | Prop_RobotManipulatorSolver
}
 A set of properties for the kinbody. These properties are used to describe a set of variables used in KinBody. [詳細]
 
enum  CheckLimitsAction { CLA_Nothing = 0, CLA_CheckLimits = 1, CLA_CheckLimitsSilent = 2, CLA_CheckLimitsThrow = 3 }
 used for specifying the type of limit checking and the messages associated with it [詳細]
 
enum  JointType {
  JointNone = 0, JointHinge = 0x01, JointRevolute = 0x01, JointSlider = 0x11,
  JointPrismatic = 0x11, JointRR = 0x02, JointRP = 0x12, JointPR = 0x22,
  JointPP = 0x32, JointSpecialBit = 0x80000000, JointUniversal = 0x80000001, JointHinge2 = 0x80000002,
  JointSpherical = 0x80000003, JointTrajectory = 0x80000004
}
 The type of joint movement. [詳細]
 
enum  SaveParameters {
  Save_LinkTransformation =0x00000001, Save_LinkEnable =0x00000002, Save_LinkVelocities =0x00000004, Save_JointMaxVelocityAndAcceleration =0x00000008,
  Save_ActiveDOF =0x00010000, Save_ActiveManipulator =0x00020000, Save_GrabbedBodies =0x00040000
}
 Parameters passed into the state savers to control what information gets saved. [詳細]
 
enum  AdjacentOptions { AO_Enabled = 1, AO_ActiveDOFs = 2 }
 specifies the type of adjacent link information to receive [詳細]
 
typedef boost::shared_ptr
< GeometryInfo
GeometryInfoPtr
 
typedef boost::shared_ptr
< GeometryInfo const > 
GeometryInfoConstPtr
 
typedef boost::shared_ptr
< LinkInfo
LinkInfoPtr
 
typedef boost::shared_ptr
< LinkInfo const > 
LinkInfoConstPtr
 
typedef boost::shared_ptr
< KinBody::Link
LinkPtr
 
typedef boost::shared_ptr
< KinBody::Link const > 
LinkConstPtr
 
typedef boost::weak_ptr
< KinBody::Link
LinkWeakPtr
 
typedef boost::shared_ptr
< MimicInfo
MimicInfoPtr
 
typedef boost::shared_ptr
< MimicInfo const > 
MimicInfoConstPtr
 
typedef boost::shared_ptr< MimicMimicPtr
 
typedef boost::shared_ptr
< Mimic const > 
MimicConstPtr
 
typedef boost::shared_ptr
< JointInfo
JointInfoPtr
 
typedef boost::shared_ptr
< JointInfo const > 
JointInfoConstPtr
 
typedef boost::shared_ptr
< KinBody::Joint
JointPtr
 
typedef boost::shared_ptr
< KinBody::Joint const > 
JointConstPtr
 
typedef boost::weak_ptr
< KinBody::Joint
JointWeakPtr
 
typedef boost::shared_ptr
< KinBody::BodyState
BodyStatePtr
 
typedef boost::shared_ptr
< KinBody::BodyState const > 
BodyStateConstPtr
 
typedef boost::shared_ptr
< KinBody::ManageData
ManageDataPtr
 
typedef boost::shared_ptr
< KinBody::ManageData const > 
ManageDataConstPtr
 
typedef boost::shared_ptr
< KinBodyStateSaver
KinBodyStateSaverPtr
 
typedef std::map< int,
std::pair< Vector, Vector > > 
ForceTorqueMap
 link index and the linear forces and torques. Value.first is linear force acting on the link's COM and Value.second is torque
 
- Public 型 inherited from OpenRAVE::InterfaceBase
typedef std::map< std::string,
XMLReadablePtr,
CaseInsensitiveCompare
READERSMAP
 

Public メソッド

virtual ~RobotBase ()
 
virtual void Destroy ()
 
virtual bool Init (const std::vector< LinkInfoConstPtr > &linkinfos, const std::vector< JointInfoConstPtr > &jointinfos, const std::vector< ManipulatorInfoConstPtr > &manipinfos, const std::vector< AttachedSensorInfoConstPtr > &attachedsensorinfos)
 initializes a robot with links, joints, manipulators, and sensors
 
virtual std::vector
< ManipulatorPtr > & 
GetManipulators ()
 Returns the manipulators of the robot.
 
virtual std::vector
< AttachedSensorPtr > & 
GetAttachedSensors ()
 
virtual void SetName (const std::string &name)
 Set the name of the body, notifies the environment and checks for uniqueness.
 
virtual void SetDOFValues (const std::vector< dReal > &vJointValues, uint32_t checklimits=1, const std::vector< int > &dofindices=std::vector< int >())
 Sets the joint values of the robot.
 
virtual void SetDOFValues (const std::vector< dReal > &vJointValues, const Transform &transbase, uint32_t checklimits=1)
 Sets the joint values and transformation of the body.
 
virtual void SetLinkTransformations (const std::vector< Transform > &transforms)
 sets the transformations of all the links at once
 
virtual void SetLinkTransformations (const std::vector< Transform > &transforms, const std::vector< int > &dofbranches)
 sets the transformations of all the links and dof branches at once.
 
virtual bool SetVelocity (const Vector &linearvel, const Vector &angularvel)
 Set the velocity of the base link, rest of links are set to a consistent velocity so entire robot moves correctly.
 
virtual void SetDOFVelocities (const std::vector< dReal > &dofvelocities, const Vector &linearvel, const Vector &angularvel, uint32_t checklimits=1)
 Sets the velocity of the base link and each of the joints.
 
virtual void SetDOFVelocities (const std::vector< dReal > &dofvelocities, uint32_t checklimits=1, const std::vector< int > &dofindices=std::vector< int >())
 Sets the velocity of the joints.
 
virtual void SetTransform (const Transform &trans)
 
virtual void SimulationStep (dReal fElapsedTime)
 Simulate the robot and update the grabbed bodies and attached sensors.
 
virtual bool CheckSelfCollision (CollisionReportPtr report=CollisionReportPtr()) const
 Check if body is self colliding. Links that are joined together are ignored.
 
virtual bool CheckLinkCollision (int ilinkindex, const Transform &tlinktrans, CollisionReportPtr report=CollisionReportPtr())
 checks collision of a robot link with the surrounding environment. Attached/Grabbed bodies to this link are also checked for collision.
 
virtual bool CheckLinkSelfCollision (int ilinkindex, const Transform &tlinktrans, CollisionReportPtr report=CollisionReportPtr())
 checks self-collision of a robot link with the other robot links. Attached/Grabbed bodies to this link are also checked for self-collision.
 
virtual void Clone (InterfaceBaseConstPtr preference, int cloningoptions)
 does not clone the grabbed bodies since it requires pointers from other bodies (that might not be initialized yet)
 
virtual bool IsRobot () const
 
virtual void serialize (std::ostream &o, int options) const
 only used for hashes...
 
virtual const std::string & GetRobotStructureHash () const
 
virtual ControllerBasePtr GetController () const
 gets the robot controller
 
virtual bool SetController (ControllerBasePtr controller, const std::vector< int > &dofindices, int nControlTransformation)
 set a controller for a robot
 
void GetFullTrajectoryFromActive (TrajectoryBasePtr pfulltraj, TrajectoryBaseConstPtr pActiveTraj, bool bOverwriteTransforms=true) RAVE_DEPRECATED
 
Grabbing Bodies

A grabbed body becomes part of the robot and its relative pose with respect to a robot's link will be fixed. KinBody::_AttachBody is called for every grabbed body in order to make the grabbed body a part of the robot. Once grabbed, the inter-collisions between the robot and the body are regarded as self-collisions; any outside collisions of the body and the environment are regarded as environment collisions with the robot.

virtual bool Grab (KinBodyPtr body, LinkPtr pRobotLinkToGrabWith, const std::set< int > &setRobotLinksToIgnore)
 Grab the body with the specified link.
 
virtual bool Grab (KinBodyPtr body, LinkPtr pRobotLinkToGrabWith)
 Grab a body with the specified link.
 
virtual bool Grab (KinBodyPtr body, const std::set< int > &setRobotLinksToIgnore)
 Grabs the body with the active manipulator's end effector.
 
virtual bool Grab (KinBodyPtr body)
 Grabs the body with the active manipulator's end effector.
 
virtual void Release (KinBodyPtr body)
 Release the body if grabbed.
 
virtual void ReleaseAllGrabbed ()
 Release all grabbed bodies.
 
virtual void RegrabAll ()
 Releases and grabs all bodies, has the effect of recalculating all the initial collision with the bodies.
 
virtual LinkPtr IsGrabbing (KinBodyConstPtr body) const
 return the robot link that is currently grabbing the body. If the body is not grabbed, will return an empty pointer.
 
virtual void GetGrabbed (std::vector< KinBodyPtr > &vbodies) const
 gets all grabbed bodies of the robot
 
virtual void GetGrabbedInfo (std::vector< GrabbedInfoPtr > &vgrabbedinfo) const
 gets all grabbed bodies of the robot
 
virtual void ResetGrabbed (const std::vector< GrabbedInfoConstPtr > &vgrabbedinfo)
 resets the grabbed bodies of the robot
 
virtual void GetIgnoredLinksOfGrabbed (KinBodyConstPtr body, std::list< KinBody::LinkConstPtr > &ignorelinks) const
 returns all the links of the robot whose links are being ignored by the grabbed body.
 
- Public メソッド inherited from OpenRAVE::KinBody
virtual ~KinBody ()
 
virtual bool InitFromBoxes (const std::vector< AABB > &boxes, bool visible)
 Create a kinbody with one link composed of an array of aligned bounding boxes.
 
virtual bool InitFromBoxes (const std::vector< OBB > &boxes, bool visible)
 Create a kinbody with one link composed of an array of oriented bounding boxes.
 
virtual bool InitFromSpheres (const std::vector< Vector > &spheres, bool visible)
 Create a kinbody with one link composed of an array of spheres.
 
virtual bool InitFromTrimesh (const TriMesh &trimesh, bool visible)
 Create a kinbody with one link composed of a triangle mesh surface.
 
virtual bool InitFromGeometries (const std::vector< KinBody::GeometryInfoConstPtr > &geometries)
 Create a kinbody with one link composed of a list of geometries.
 
virtual bool InitFromGeometries (const std::list< KinBody::GeometryInfo > &geometries)
 
virtual bool Init (const std::vector< LinkInfoConstPtr > &linkinfos, const std::vector< JointInfoConstPtr > &jointinfos)
 initializes an complex kinematics body with links and joints
 
virtual const std::string & GetName () const
 Unique name of the robot.
 
virtual void SubtractDOFValues (std::vector< dReal > &values1, const std::vector< dReal > &values2, const std::vector< int > &dofindices=std::vector< int >()) const
 Computes the configuration difference values1-values2 and stores it in values1.
 
virtual void SetDOFTorques (const std::vector< dReal > &torques, bool add)
 Adds a torque to every joint.
 
virtual const std::vector
< LinkPtr > & 
GetLinks () const
 Returns all the rigid links of the body.
 
virtual LinkPtr GetLink (const std::string &name) const
 return a pointer to the link with the given name
 
virtual void GetLinkTransformations (std::vector< Transform > &transforms) const
 get the transformations of all the links at once
 
virtual void GetLinkTransformations (std::vector< Transform > &transforms, std::vector< int > &dofbranches) const
 get the transformations of all the links and the dof branches at once.
 
virtual void GetBodyTransformations (std::vector< Transform > &transforms) const RAVE_DEPRECATED
 
virtual Transform GetTransform () const
 queries the transfromation of the first link of the body
 
virtual void GetLinkVelocities (std::vector< std::pair< Vector, Vector > > &velocities) const
 Returns the linear and angular velocities for each link.
 
virtual void GetLinkAccelerations (const std::vector< dReal > &dofaccelerations, std::vector< std::pair< Vector, Vector > > &linkaccelerations) const
 Returns the linear and angular accelerations for each link given the dof accelerations.
 
virtual AABB ComputeAABB () const
 Return an axis-aligned bounding box of the entire object in the world coordinate system.
 
virtual Vector GetCenterOfMass () const
 Return the center of mass of entire robot in the world coordinate system.
 
virtual void Enable (bool enable)
 Enables or disables all the links.
 
virtual bool IsEnabled () const
 
virtual bool SetVisible (bool visible)
 Sets all the links as visible or not visible.
 
virtual bool IsVisible () const
 
virtual void SetJointValues (const std::vector< dReal > &values, bool checklimits=true)
 
virtual void SetJointValues (const std::vector< dReal > &values, const Transform &transform, bool checklimits=true)
 
virtual void SetBodyTransformations (const std::vector< Transform > &transforms) RAVE_DEPRECATED
 
virtual void SetLinkVelocities (const std::vector< std::pair< Vector, Vector > > &velocities)
 sets the link velocities
 
virtual void ComputeJacobianTranslation (int linkindex, const Vector &position, std::vector< dReal > &jacobian, const std::vector< int > &dofindices=std::vector< int >()) const
 Computes the translation jacobian with respect to a world position.
 
virtual void CalculateJacobian (int linkindex, const Vector &position, std::vector< dReal > &jacobian) const
 calls std::vector version of ComputeJacobian internally
 
virtual void CalculateJacobian (int linkindex, const Vector &position, boost::multi_array< dReal, 2 > &jacobian) const
 calls std::vector version of ComputeJacobian internally, a little inefficient since it copies memory
 
virtual void CalculateRotationJacobian (int linkindex, const Vector &quat, std::vector< dReal > &jacobian) const
 Computes the rotational jacobian as a quaternion with respect to an initial rotation.
 
virtual void CalculateRotationJacobian (int linkindex, const Vector &quat, boost::multi_array< dReal, 2 > &jacobian) const
 calls std::vector version of CalculateRotationJacobian internally, a little inefficient since it copies memory
 
virtual void ComputeJacobianAxisAngle (int linkindex, std::vector< dReal > &jacobian, const std::vector< int > &dofindices=std::vector< int >()) const
 Computes the angular velocity jacobian of a specified link about the axes of world coordinates.
 
virtual void CalculateAngularVelocityJacobian (int linkindex, std::vector< dReal > &jacobian) const
 Computes the angular velocity jacobian of a specified link about the axes of world coordinates.
 
virtual void CalculateAngularVelocityJacobian (int linkindex, boost::multi_array< dReal, 2 > &jacobian) const
 calls std::vector version of CalculateAngularVelocityJacobian internally, a little inefficient since it copies memory
 
virtual void ComputeHessianTranslation (int linkindex, const Vector &position, std::vector< dReal > &hessian, const std::vector< int > &dofindices=std::vector< int >()) const
 Computes the DOFx3xDOF hessian of the linear translation.
 
virtual void ComputeHessianAxisAngle (int linkindex, std::vector< dReal > &hessian, const std::vector< int > &dofindices=std::vector< int >()) const
 Computes the DOFx3xDOF hessian of the rotation represented as angle-axis.
 
virtual void ComputeInverseDynamics (std::vector< dReal > &doftorques, const std::vector< dReal > &dofaccelerations, const ForceTorqueMap &externalforcetorque=ForceTorqueMap()) const
 Computes the inverse dynamics (torques) from the current robot position, velocity, and acceleration.
 
virtual void ComputeInverseDynamics (boost::array< std::vector< dReal >, 3 > &doftorquecomponents, const std::vector< dReal > &dofaccelerations, const ForceTorqueMap &externalforcetorque=ForceTorqueMap()) const
 Computes the separated inverse dynamics torque terms from the current robot position, velocity, and acceleration.
 
virtual bool IsAttached (KinBodyConstPtr body) const
 
virtual void GetAttached (std::set< KinBodyPtr > &setAttached) const
 Recursively get all attached bodies of this body, including this body.
 
virtual int GetEnvironmentId () const
 return a unique id of the body used in the environment.
 
virtual int8_t DoesAffect (int jointindex, int linkindex) const
 Returns a nonzero value if the joint effects the link transformation.
 
virtual UserDataPtr GetViewerData () const RAVE_DEPRECATED
 
virtual const std::set< int > & GetAdjacentLinks () const
 return all possible link pairs whose collisions are ignored.
 
virtual UserDataPtr GetPhysicsData () const RAVE_DEPRECATED
 
virtual UserDataPtr GetCollisionData () const RAVE_DEPRECATED
 
virtual ManageDataPtr GetManageData () const
 
virtual int GetUpdateStamp () const
 Return a unique id for every transformation state change of any link. Used to check if robot state has changed.
 
virtual UserDataPtr RegisterChangeCallback (int properties, const boost::function< void()> &callback) const
 Register a callback with the interface.
 
void Serialize (BaseXMLWriterPtr writer, int options=0) const
 serializes the interface
 
virtual const std::string & GetKinematicsGeometryHash () const
 A md5 hash unique to the particular kinematic and geometric structure of a KinBody.
 
virtual void SetZeroConfiguration ()
 Sets the joint offsets so that the current configuration becomes the new zero state of the robot.
 
virtual void SetNonCollidingConfiguration ()
 Treats the current pose as a pose not in collision, which sets the adjacent pairs of links.
 
virtual int GetDOF () const
 Number controllable degrees of freedom of the body.
 
virtual void GetDOFValues (std::vector< dReal > &v, const std::vector< int > &dofindices=std::vector< int >()) const
 Returns all the joint values as organized by the DOF indices.
 
virtual void GetDOFVelocities (std::vector< dReal > &v, const std::vector< int > &dofindices=std::vector< int >()) const
 Returns all the joint velocities as organized by the DOF indices.
 
virtual void GetDOFLimits (std::vector< dReal > &lowerlimit, std::vector< dReal > &upperlimit, const std::vector< int > &dofindices=std::vector< int >()) const
 Returns all the joint limits as organized by the DOF indices.
 
virtual void GetDOFVelocityLimits (std::vector< dReal > &lowerlimit, std::vector< dReal > &upperlimit, const std::vector< int > &dofindices=std::vector< int >()) const
 Returns all the joint velocity limits as organized by the DOF indices.
 
virtual void GetDOFVelocityLimits (std::vector< dReal > &maxvelocities, const std::vector< int > &dofindices=std::vector< int >()) const
 Returns the max velocity for each DOF.
 
virtual void GetDOFAccelerationLimits (std::vector< dReal > &maxaccelerations, const std::vector< int > &dofindices=std::vector< int >()) const
 Returns the max acceleration for each DOF.
 
virtual void GetDOFTorqueLimits (std::vector< dReal > &maxaccelerations) const
 Returns the max torque for each DOF.
 
virtual void GetDOFMaxVel (std::vector< dReal > &v) const RAVE_DEPRECATED
 
virtual void GetDOFMaxAccel (std::vector< dReal > &v) const RAVE_DEPRECATED
 
virtual void GetDOFMaxTorque (std::vector< dReal > &v) const
 
virtual void GetDOFResolutions (std::vector< dReal > &v, const std::vector< int > &dofindices=std::vector< int >()) const
 get the dof resolutions
 
virtual void GetDOFWeights (std::vector< dReal > &v, const std::vector< int > &dofindices=std::vector< int >()) const
 get dof weights
 
virtual void SetDOFVelocityLimits (const std::vector< dReal > &maxlimits)
 
virtual void SetDOFAccelerationLimits (const std::vector< dReal > &maxlimits)
 
virtual void SetDOFTorqueLimits (const std::vector< dReal > &maxlimits)
 
virtual void SetDOFWeights (const std::vector< dReal > &weights, const std::vector< int > &dofindices=std::vector< int >())
 sets dof weights
 
virtual void SetDOFLimits (const std::vector< dReal > &lower, const std::vector< dReal > &upper)
 
const std::vector< JointPtr > & GetJoints () const
 Returns the joints making up the controllable degrees of freedom of the body.
 
const std::vector< JointPtr > & GetPassiveJoints () const
 Returns the passive joints, order does not matter.
 
virtual const std::vector
< JointPtr > & 
GetDependencyOrderedJoints () const
 Returns the joints in hierarchical order starting at the base link.
 
virtual const std::vector
< std::vector< std::pair
< LinkPtr, JointPtr > > > & 
GetClosedLoops () const
 Return the set of unique closed loops of the kinematics hierarchy.
 
virtual bool GetChain (int linkindex1, int linkindex2, std::vector< JointPtr > &vjoints) const
 2つのリンクを繋ぐ関節の最短経路を計算する.
 
virtual bool GetChain (int linkindex1, int linkindex2, std::vector< LinkPtr > &vlinks) const
 similar to GetChain(int,int,std::vector<JointPtr>&) except returns the links along the path.
 
virtual bool IsDOFInChain (int linkindex1, int linkindex2, int dofindex) const
 Returns true if the dof index affects the relative transformation between the two links.
 
virtual int GetJointIndex (const std::string &name) const
 Return the index of the joint with the given name, else -1.
 
virtual JointPtr GetJoint (const std::string &name) const
 Return a pointer to the joint with the given name. Search in the regular and passive joints.
 
virtual JointPtr GetJointFromDOFIndex (int dofindex) const
 Returns the joint that covers the degree of freedom index.
 
virtual ConfigurationSpecification GetConfigurationSpecification (const std::string &interpolation="") const
 return the configuration specification of the joint values and transform
 
virtual ConfigurationSpecification GetConfigurationSpecificationIndices (const std::vector< int > &indices, const std::string &interpolation="") const
 return the configuration specification of the specified joint indices.
 
virtual void SetConfigurationValues (std::vector< dReal >::const_iterator itvalues, uint32_t checklimits=CLA_CheckLimits)
 sets joint values and transform of the body using configuration values as specified by GetConfigurationSpecification()
 
virtual void GetConfigurationValues (std::vector< dReal > &v) const
 returns the configuration values as specified by GetConfigurationSpecification()
 
- Public メソッド inherited from OpenRAVE::InterfaceBase
 InterfaceBase (InterfaceType type, EnvironmentBasePtr penv)
 
virtual ~InterfaceBase ()
 
InterfaceType GetInterfaceType () const
 
const std::string & GetXMLId () const
 
const std::string & GetPluginName () const
 
EnvironmentBasePtr GetEnv () const
 
const READERSMAPGetReadableInterfaces () const
 Returns the raw map reference, this is not multithread safe and the GetInterfaceMutex should be locked before using.
 
virtual XMLReadablePtr GetReadableInterface (const std::string &xmltag) const
 Returns the readable interface. [multi-thread safe]
 
virtual XMLReadablePtr SetReadableInterface (const std::string &xmltag, XMLReadablePtr readable)
 Set a new readable interface and return the previously set interface if it exists. [multi-thread safe]
 
virtual const std::string & GetDescription () const
 Documentation of the interface in reStructuredText format. See Documenting Interfaces. [multi-thread safe]
 
virtual void SetDescription (const std::string &description)
 sets a description [multi-thread safe]
 
virtual void SetUserData (const std::string &key, UserDataPtr data) const
 set user data for a specific key. [multi-thread safe]
 
virtual UserDataPtr GetUserData (const std::string &key=std::string()) const
 return the user custom data [multi-thread safe]
 
virtual bool RemoveUserData (const std::string &key) const
 removes a user data pointer. if user data pointer does not exist, then return 0, otherwise 1. [multi-thread safe]
 
virtual void SetUserData (UserDataPtr data) RAVE_DEPRECATED
 
virtual const std::string & GetURI () const
 the URI used to load the interface (sometimes this is not possible if the definition lies inside an environment file). [multi-thread safe]
 
virtual const std::string & GetXMLFilename () const
 
virtual bool SendCommand (std::ostream &os, std::istream &is)
 Used to send special commands to the interface and receive output.
 

Static Public メソッド

static InterfaceType GetInterfaceTypeStatic ()
 Return the static interface type this class points to (used for safe casting).
 
- Static Public メソッド inherited from OpenRAVE::KinBody
static InterfaceType GetInterfaceTypeStatic ()
 return the static interface type this class points to (used for safe casting)
 

Protected メソッド

 RobotBase (EnvironmentBasePtr penv)
 
RobotBasePtr shared_robot ()
 
RobotBaseConstPtr shared_robot_const () const
 
virtual void _Regrab (UserDataPtr pgrabbed)
 internal use only Releases and grabs the body inside the grabbed structure from _vGrabbedBodies.
 
virtual void _ComputeInternalInformation ()
 Proprocess the manipulators and sensors and build the specific robot hashes.
 
virtual void _ParametersChanged (int parameters)
 Called to notify the body that certain groups of parameters have been changed.
 
virtual void _UpdateGrabbedBodies ()
 
virtual void _UpdateAttachedSensors ()
 
- Protected メソッド inherited from OpenRAVE::KinBody
 KinBody (InterfaceType type, EnvironmentBasePtr penv)
 constructors declared protected so that user always goes through environment to create bodies
 
KinBodyPtr shared_kinbody ()
 
KinBodyConstPtr shared_kinbody_const () const
 
virtual void SetPhysicsData (UserDataPtr pdata) RAVE_DEPRECATED
 
virtual void SetCollisionData (UserDataPtr pdata) RAVE_DEPRECATED
 
virtual void SetViewerData (UserDataPtr pdata) RAVE_DEPRECATED
 
virtual void SetManageData (ManageDataPtr pdata)
 
virtual void _ComputeDOFLinkVelocities (std::vector< dReal > &dofvelocities, std::vector< std::pair< Vector, Vector > > &linkvelocities, bool usebaselinkvelocity=true) const
 returns the dof velocities and link velocities
 
virtual void _ComputeLinkAccelerations (const std::vector< dReal > &dofvelocities, const std::vector< dReal > &dofaccelerations, const std::vector< std::pair< Vector, Vector > > &linkvelocities, std::vector< std::pair< Vector, Vector > > &linkaccelerations, const Vector &gravity) const
 Computes accelerations of the links given all the necessary data of the robot.
 
virtual bool _IsAttached (KinBodyConstPtr body, std::set< KinBodyConstPtr > &setChecked) const
 Return true if two bodies should be considered as one during collision (ie one is grabbing the other)
 
virtual void _AttachBody (KinBodyPtr body)
 adds an attached body
 
virtual bool _RemoveAttachedBody (KinBodyPtr body)
 removes an attached body
 
virtual void _ResetInternalCollisionCache ()
 resets cached information dependent on the collision checker (usually called when the collision checker is switched or some big mode is set.
 
- Protected メソッド inherited from OpenRAVE::InterfaceBase
virtual void RegisterCommand (const std::string &cmdname, InterfaceCommandFn fncmd, const std::string &strhelp)
 Registers a command and its help string. [multi-thread safe]
 
virtual void UnregisterCommand (const std::string &cmdname)
 Unregisters the command. [multi-thread safe]
 
virtual boost::shared_mutex & GetInterfaceMutex () const
 

Protected 変数

std::vector< UserDataPtr_vGrabbedBodies
 vector of grabbed bodies
 
std::vector< ManipulatorPtr_vecManipulators
 
ManipulatorPtr _pManipActive
 
std::vector< AttachedSensorPtr_vecSensors
 
std::vector< int > _vActiveDOFIndices
 
std::vector< int > _vAllDOFIndices
 
Vector vActvAffineRotationAxis
 
int _nActiveDOF
 Active degrees of freedom; if -1, use robot dofs.
 
int _nAffineDOFs
 dofs describe what affine transformations are allowed
 
Vector _vTranslationLowerLimits
 
Vector _vTranslationUpperLimits
 
Vector _vTranslationMaxVels
 
Vector _vTranslationResolutions
 
Vector _vTranslationWeights
 
Vector _vRotationAxisLowerLimits
 the xyz components are used if the rotation axis is solely about X,Y,or Z; otherwise the W component is used.
 
Vector _vRotationAxisUpperLimits
 
Vector _vRotationAxisMaxVels
 
Vector _vRotationAxisResolutions
 
Vector _vRotationAxisWeights
 
Vector _vRotation3DLowerLimits
 
Vector _vRotation3DUpperLimits
 
Vector _vRotation3DMaxVels
 
Vector _vRotation3DResolutions
 
Vector _vRotation3DWeights
 
Vector _vRotationQuatLimitStart
 
dReal _fQuatLimitMaxAngle
 
dReal _fQuatMaxAngleVelocity
 
dReal _fQuatAngleResolution
 
dReal _fQuatAngleWeight
 
ConfigurationSpecification _activespec
 
- Protected 変数 inherited from OpenRAVE::KinBody
std::string _name
 name of body
 
std::vector< JointPtr_vecjoints
 
std::vector< JointPtr_vTopologicallySortedJoints
 
std::vector< JointPtr_vTopologicallySortedJointsAll
 Similar to _vDependencyOrderedJoints except includes _vecjoints and _vPassiveJoints.
 
std::vector< int > _vTopologicallySortedJointIndicesAll
 the joint indices of the joints in _vTopologicallySortedJointsAll. Passive joint indices have _vecjoints.size() added to them.
 
std::vector< JointPtr_vDOFOrderedJoints
 all joints of the body ordered on how they are arranged within the degrees of freedom
 
std::vector< LinkPtr_veclinks
 
std::vector< int > _vDOFIndices
 cached start joint indices, indexed by dof indices
 
std::vector< std::pair
< int16_t, int16_t > > 
_vAllPairsShortestPaths
 all-pairs shortest paths through the link hierarchy. The first value describes the parent link index, and the second value is an index into _vecjoints or _vPassiveJoints. If the second value is greater or equal to _vecjoints.size() then it indexes into _vPassiveJoints.
 
std::vector< int8_t > _vJointsAffectingLinks
 joint x link: (jointindex*_veclinks.size()+linkindex). entry is non-zero if the joint affects the link in the forward kinematics. If negative, the partial derivative of ds/dtheta should be negated.
 
std::vector< std::vector
< std::pair< LinkPtr, JointPtr > > > 
_vClosedLoops
 
std::vector< std::vector
< std::pair< int16_t, int16_t > > > 
_vClosedLoopIndices
 
std::vector< JointPtr_vPassiveJoints
 
std::set< int > _setAdjacentLinks
 
std::vector< std::pair
< std::string, std::string > > 
_vForcedAdjacentLinks
 internally stores forced adjacent links
 
std::list< KinBodyWeakPtr_listAttachedBodies
 list of bodies that are directly attached to this body (can have duplicates)
 
std::list< UserDataWeakPtr_listRegisteredCallbacks
 callbacks to call when particular properties of the body change. the registration/deregistration of the list can happen at any point and does not modify the kinbody state exposed to the user, hence it is mutable
 
boost::array< std::set< int >, 4 > _setNonAdjacentLinks
 contains cached versions of the non-adjacent links depending on values in AdjacentOptions. Declared as mutable since data is cached.
 
int _nNonAdjacentLinkCache
 specifies what information is currently valid in the AdjacentOptions. Declared as mutable since data is cached. If 0x80000000 (ie < 0), then everything needs to be recomputed including _setNonAdjacentLinks[0].
 
std::vector< Transform_vInitialLinkTransformations
 the initial transformations of each link specifying at least one pose where the robot is collision free
 
ConfigurationSpecification _spec
 
int _environmentid
 
int _nUpdateStampId
 
int _nParametersChanged
 set of parameters that changed and need callbacks
 
ManageDataPtr _pManageData
 
uint32_t _nHierarchyComputed
 true if the joint heirarchy and other cached information is computed
 
bool _bMakeJoinedLinksAdjacent
 
- Protected 変数 inherited from OpenRAVE::InterfaceBase
std::string __description
 

Affine DOFs

Methods using the active degrees of freedoms of the robot. Active DOFs are a way for the user to specify degrees of freedom of interest for a current execution block. All planners by default use the robot's active DOF and active manipultor. For every Get* method, there is a corresponding GetActive* method rather than the methods when setting joints. The active DOFs also include affine transfomrations of the robot's base. Affine transformation DOFs can be found after the joint DOFs in this order: X, Y, Z, Rotation where rotation can be around a specified axis a full 3D rotation. Usually the affine transforamtion is with respect to the first link in the body

static const DOFAffine
DOF_NoTransform 
RAVE_DEPRECATED = OpenRAVE::DOF_NoTransform
 
static const DOFAffine DOF_X RAVE_DEPRECATED = OpenRAVE::DOF_X
 
static const DOFAffine DOF_Y RAVE_DEPRECATED = OpenRAVE::DOF_Y
 
static const DOFAffine DOF_Z RAVE_DEPRECATED = OpenRAVE::DOF_Z
 
static const DOFAffine
DOF_RotationAxis 
RAVE_DEPRECATED = OpenRAVE::DOF_RotationAxis
 
static const DOFAffine
DOF_Rotation3D 
RAVE_DEPRECATED = OpenRAVE::DOF_Rotation3D
 
static const DOFAffine
DOF_RotationQuat 
RAVE_DEPRECATED = OpenRAVE::DOF_RotationQuat
 
virtual void SetActiveDOFs (const std::vector< int > &dofindices, int affine=OpenRAVE::DOF_NoTransform)
 Set the joint indices and affine transformation dofs that the planner should use. If DOF_RotationAxis is specified, the previously set axis is used.
 
virtual void SetActiveDOFs (const std::vector< int > &dofindices, int affine, const Vector &rotationaxis)
 Set the joint indices and affine transformation dofs that the planner should use. If DOF_RotationAxis is specified, then rotationaxis is set as the new axis.
 
virtual int GetActiveDOF () const
 
virtual int GetAffineDOF () const
 
virtual int GetAffineDOFIndex (DOFAffine dof) const
 
virtual ConfigurationSpecification GetActiveConfigurationSpecification (const std::string &interpolation="") const
 return a copy of the configuration specification of the active dofs
 
virtual const std::vector< int > & GetActiveDOFIndices () const
 Return the set of active dof indices of the joints.
 
virtual Vector GetAffineRotationAxis () const
 
virtual void SetAffineTranslationLimits (const Vector &lower, const Vector &upper)
 
virtual void SetAffineRotationAxisLimits (const Vector &lower, const Vector &upper)
 
virtual void SetAffineRotation3DLimits (const Vector &lower, const Vector &upper)
 
virtual void SetAffineRotationQuatLimits (const Vector &quatangle)
 sets the quaternion limits using a starting rotation and the max angle deviation from it.
 
virtual void SetAffineTranslationMaxVels (const Vector &vels)
 
virtual void SetAffineRotationAxisMaxVels (const Vector &vels)
 
virtual void SetAffineRotation3DMaxVels (const Vector &vels)
 
virtual void SetAffineRotationQuatMaxVels (dReal vels)
 
virtual void SetAffineTranslationResolution (const Vector &resolution)
 
virtual void SetAffineRotationAxisResolution (const Vector &resolution)
 
virtual void SetAffineRotation3DResolution (const Vector &resolution)
 
virtual void SetAffineRotationQuatResolution (dReal resolution)
 
virtual void SetAffineTranslationWeights (const Vector &weights)
 
virtual void SetAffineRotationAxisWeights (const Vector &weights)
 
virtual void SetAffineRotation3DWeights (const Vector &weights)
 
virtual void SetAffineRotationQuatWeights (dReal weights)
 
virtual void GetAffineTranslationLimits (Vector &lower, Vector &upper) const
 
virtual void GetAffineRotationAxisLimits (Vector &lower, Vector &upper) const
 
virtual void GetAffineRotation3DLimits (Vector &lower, Vector &upper) const
 
virtual Vector GetAffineRotationQuatLimits () const
 gets the quaternion limits
 
virtual Vector GetAffineTranslationMaxVels () const
 
virtual Vector GetAffineRotationAxisMaxVels () const
 
virtual Vector GetAffineRotation3DMaxVels () const
 
virtual dReal GetAffineRotationQuatMaxVels () const
 
virtual Vector GetAffineTranslationResolution () const
 
virtual Vector GetAffineRotationAxisResolution () const
 
virtual Vector GetAffineRotation3DResolution () const
 
virtual dReal GetAffineRotationQuatResolution () const
 
virtual Vector GetAffineTranslationWeights () const
 
virtual Vector GetAffineRotationAxisWeights () const
 
virtual Vector GetAffineRotation3DWeights () const
 
virtual dReal GetAffineRotationQuatWeights () const
 
virtual void SetActiveDOFValues (const std::vector< dReal > &values, uint32_t checklimits=1)
 
virtual void GetActiveDOFValues (std::vector< dReal > &v) const
 
virtual void SetActiveDOFVelocities (const std::vector< dReal > &velocities, uint32_t checklimits=1)
 
virtual void GetActiveDOFVelocities (std::vector< dReal > &velocities) const
 
virtual void GetActiveDOFLimits (std::vector< dReal > &lower, std::vector< dReal > &upper) const
 
virtual void GetActiveDOFResolutions (std::vector< dReal > &v) const
 
virtual void GetActiveDOFWeights (std::vector< dReal > &v) const
 
virtual void GetActiveDOFVelocityLimits (std::vector< dReal > &v) const
 
virtual void GetActiveDOFAccelerationLimits (std::vector< dReal > &v) const
 
virtual void GetActiveDOFMaxVel (std::vector< dReal > &v) const
 
virtual void GetActiveDOFMaxAccel (std::vector< dReal > &v) const
 
virtual void SubtractActiveDOFValues (std::vector< dReal > &q1, const std::vector< dReal > &q2) const
 computes the configuration difference q1-q2 and stores it in q1. Takes into account joint limits and circular joints
 
virtual void SetActiveManipulator (int index) RAVE_DEPRECATED
 
virtual ManipulatorPtr SetActiveManipulator (const std::string &manipname)
 sets the active manipulator of the robot
 
virtual void SetActiveManipulator (ManipulatorConstPtr pmanip)
 
virtual ManipulatorPtr GetActiveManipulator ()
 
virtual ManipulatorConstPtr GetActiveManipulator () const
 
virtual ManipulatorPtr AddManipulator (const ManipulatorInfo &manipinfo)
 adds a manipulator the list
 
virtual void RemoveManipulator (ManipulatorPtr manip)
 removes a manipulator from the robot list.
 
virtual int GetActiveManipulatorIndex () const RAVE_DEPRECATED
 
virtual bool SetMotion (TrajectoryBaseConstPtr ptraj) RAVE_DEPRECATED
 
virtual bool SetActiveMotion (TrajectoryBaseConstPtr ptraj) RAVE_DEPRECATED
 
virtual bool SetActiveMotion (TrajectoryBaseConstPtr ptraj, dReal fSpeed) RAVE_DEPRECATED
 
virtual void CalculateActiveJacobian (int index, const Vector &offset, std::vector< dReal > &jacobian) const
 Calculates the translation jacobian with respect to a link.
 
virtual void CalculateActiveJacobian (int index, const Vector &offset, boost::multi_array< dReal, 2 > &jacobian) const
 
virtual void CalculateActiveRotationJacobian (int index, const Vector &qInitialRot, std::vector< dReal > &jacobian) const
 
virtual void CalculateActiveRotationJacobian (int index, const Vector &qInitialRot, boost::multi_array< dReal, 2 > &jacobian) const
 
virtual void CalculateActiveAngularVelocityJacobian (int index, std::vector< dReal > &jacobian) const
 
virtual void CalculateActiveAngularVelocityJacobian (int index, boost::multi_array< dReal, 2 > &jacobian) const
 
virtual const std::set< int > & GetNonAdjacentLinks (int adjacentoptions=0) const
 return all possible link pairs that could get in collision.
 

Additional Inherited Members

- Protected 型 inherited from OpenRAVE::InterfaceBase
typedef boost::function< bool(std::ostream
&, std::istream &)> 
InterfaceCommandFn
 The function to be executed for every command.
 

説明

[interface] A robot is a kinematic body that has attached manipulators, sensors, and controllers. If not specified, method is not multi-thread safe. See Robot Concepts.

robot.h30 行で定義されています。

型定義

robot.h436 行で定義されています。

robot.h375 行で定義されています。

robot.h374 行で定義されています。

robot.h435 行で定義されています。

typedef boost::shared_ptr<GrabbedInfo const> OpenRAVE::RobotBase::GrabbedInfoConstPtr

robot.h450 行で定義されています。

robot.h449 行で定義されています。

robot.h354 行で定義されています。

robot.h53 行で定義されています。

robot.h52 行で定義されています。

robot.h353 行で定義されています。

robot.h355 行で定義されています。

robot.h481 行で定義されています。

コンストラクタとデストラクタ

OpenRAVE::RobotBase::~RobotBase ( )
virtual

robot.cpp242 行で定義されています。

OpenRAVE::RobotBase::RobotBase ( EnvironmentBasePtr  penv)
protected

robot.cpp208 行で定義されています。

関数

void OpenRAVE::RobotBase::_ComputeInternalInformation ( )
protectedvirtual

Proprocess the manipulators and sensors and build the specific robot hashes.

OpenRAVE::KinBodyを再定義しています。

robot.cpp1825 行で定義されています。

void OpenRAVE::RobotBase::_ParametersChanged ( int  parameters)
protectedvirtual

Called to notify the body that certain groups of parameters have been changed.

This function in calls every registers calledback that is tracking the changes.

OpenRAVE::KinBodyを再定義しています。

robot.cpp1922 行で定義されています。

void OpenRAVE::RobotBase::_Regrab ( UserDataPtr  pgrabbed)
protectedvirtual

internal use only Releases and grabs the body inside the grabbed structure from _vGrabbedBodies.

robot.cpp1454 行で定義されています。

void OpenRAVE::RobotBase::_UpdateAttachedSensors ( )
protectedvirtual

robot.cpp374 行で定義されています。

void OpenRAVE::RobotBase::_UpdateGrabbedBodies ( )
protectedvirtual

robot.cpp352 行で定義されています。

RobotBase::ManipulatorPtr OpenRAVE::RobotBase::AddManipulator ( const ManipulatorInfo manipinfo)
virtual

adds a manipulator the list

Will copy the information of this manipulator object into a new manipulator and initialize it with the robot. Will change the robot structure hash..

戻り値
the new manipulator attached to the robot
例外
openrave_exceptionIf there exists a manipulator with the same name, will throw an exception

robot.cpp1612 行で定義されています。

void OpenRAVE::RobotBase::CalculateActiveAngularVelocityJacobian ( int  index,
std::vector< dReal > &  jacobian 
) const
virtual

Calculates the angular velocity jacobian of a specified link about the axes of world coordinates.

引数
indexof the link that the rotation is attached to
mjacobian3x(num ACTIVE DOF) matrix

robot.cpp1194 行で定義されています。

void OpenRAVE::RobotBase::CalculateActiveAngularVelocityJacobian ( int  index,
boost::multi_array< dReal, 2 > &  jacobian 
) const
virtual

robot.cpp1271 行で定義されています。

virtual void OpenRAVE::RobotBase::CalculateActiveJacobian ( int  index,
const Vector offset,
std::vector< dReal > &  jacobian 
) const
virtual

Calculates the translation jacobian with respect to a link.

Calculates the partial differentials for the active degrees of freedom that in the path from the root node to _veclinks[index] (doesn't touch the rest of the values).

引数
mjacobiana 3 x ActiveDOF matrix
void OpenRAVE::RobotBase::CalculateActiveJacobian ( int  index,
const Vector offset,
boost::multi_array< dReal, 2 > &  jacobian 
) const
virtual

robot.cpp1097 行で定義されています。

void OpenRAVE::RobotBase::CalculateActiveRotationJacobian ( int  index,
const Vector qInitialRot,
std::vector< dReal > &  jacobian 
) const
virtual

robot.cpp1114 行で定義されています。

void OpenRAVE::RobotBase::CalculateActiveRotationJacobian ( int  index,
const Vector qInitialRot,
boost::multi_array< dReal, 2 > &  jacobian 
) const
virtual

robot.cpp1177 行で定義されています。

bool OpenRAVE::RobotBase::CheckLinkCollision ( int  ilinkindex,
const Transform tlinktrans,
CollisionReportPtr  report = CollisionReportPtr() 
)
virtual

checks collision of a robot link with the surrounding environment. Attached/Grabbed bodies to this link are also checked for collision.

引数
[in]ilinkindexthe index of the link to check
[in]tlinktransThe transform of the link to check
[out]report[optional] collision report

robot.cpp1736 行で定義されています。

bool OpenRAVE::RobotBase::CheckLinkSelfCollision ( int  ilinkindex,
const Transform tlinktrans,
CollisionReportPtr  report = CollisionReportPtr() 
)
virtual

checks self-collision of a robot link with the other robot links. Attached/Grabbed bodies to this link are also checked for self-collision.

引数
[in]ilinkindexthe index of the link to check
[in]tlinktransThe transform of the link to check
[out]report[optional] collision report

robot.cpp1779 行で定義されています。

bool OpenRAVE::RobotBase::CheckSelfCollision ( CollisionReportPtr  report = CollisionReportPtr()) const
virtual

Check if body is self colliding. Links that are joined together are ignored.

引数
report[optional] collision report

OpenRAVE::KinBodyを再定義しています。

robot.cpp1642 行で定義されています。

void OpenRAVE::RobotBase::Clone ( InterfaceBaseConstPtr  preference,
int  cloningoptions 
)
virtual

does not clone the grabbed bodies since it requires pointers from other bodies (that might not be initialized yet)

OpenRAVE::KinBodyを再定義しています。

robot.cpp1992 行で定義されています。

void OpenRAVE::RobotBase::Destroy ( )
virtual

OpenRAVE::KinBodyを再定義しています。

robot.cpp247 行で定義されています。

ConfigurationSpecification OpenRAVE::RobotBase::GetActiveConfigurationSpecification ( const std::string &  interpolation = "") const
virtual

return a copy of the configuration specification of the active dofs

Note that the return type is by-value, so should not be used in iteration

robot.cpp966 行で定義されています。

virtual int OpenRAVE::RobotBase::GetActiveDOF ( ) const
inlinevirtual

robot.h560 行で定義されています。

void OpenRAVE::RobotBase::GetActiveDOFAccelerationLimits ( std::vector< dReal > &  v) const
virtual

robot.cpp882 行で定義されています。

const std::vector< int > & OpenRAVE::RobotBase::GetActiveDOFIndices ( ) const
virtual

Return the set of active dof indices of the joints.

robot.cpp961 行で定義されています。

void OpenRAVE::RobotBase::GetActiveDOFLimits ( std::vector< dReal > &  lower,
std::vector< dReal > &  upper 
) const
virtual

robot.cpp696 行で定義されています。

virtual void OpenRAVE::RobotBase::GetActiveDOFMaxAccel ( std::vector< dReal > &  v) const
inlinevirtual

robot.h664 行で定義されています。

virtual void OpenRAVE::RobotBase::GetActiveDOFMaxVel ( std::vector< dReal > &  v) const
inlinevirtual

robot.h661 行で定義されています。

void OpenRAVE::RobotBase::GetActiveDOFResolutions ( std::vector< dReal > &  v) const
virtual

robot.cpp769 行で定義されています。

void OpenRAVE::RobotBase::GetActiveDOFValues ( std::vector< dReal > &  v) const
virtual

robot.cpp577 行で定義されています。

void OpenRAVE::RobotBase::GetActiveDOFVelocities ( std::vector< dReal > &  velocities) const
virtual

robot.cpp655 行で定義されています。

void OpenRAVE::RobotBase::GetActiveDOFVelocityLimits ( std::vector< dReal > &  v) const
virtual

robot.cpp847 行で定義されています。

void OpenRAVE::RobotBase::GetActiveDOFWeights ( std::vector< dReal > &  v) const
virtual

robot.cpp811 行で定義されています。

RobotBase::ManipulatorPtr OpenRAVE::RobotBase::GetActiveManipulator ( )
virtual

robot.cpp1592 行で定義されています。

RobotBase::ManipulatorConstPtr OpenRAVE::RobotBase::GetActiveManipulator ( ) const
virtual

robot.cpp1597 行で定義されています。

int OpenRAVE::RobotBase::GetActiveManipulatorIndex ( ) const
virtual
非推奨:
(12/07/23)

robot.cpp1602 行で定義されています。

virtual int OpenRAVE::RobotBase::GetAffineDOF ( ) const
inlinevirtual

robot.h563 行で定義されています。

virtual int OpenRAVE::RobotBase::GetAffineDOFIndex ( DOFAffine  dof) const
inlinevirtual
非推奨:
(11/10/07)

robot.h568 行で定義されています。

void OpenRAVE::RobotBase::GetAffineRotation3DLimits ( Vector lower,
Vector upper 
) const
virtual

robot.cpp483 行で定義されています。

virtual Vector OpenRAVE::RobotBase::GetAffineRotation3DMaxVels ( ) const
inlinevirtual

robot.h621 行で定義されています。

virtual Vector OpenRAVE::RobotBase::GetAffineRotation3DResolution ( ) const
inlinevirtual

robot.h633 行で定義されています。

virtual Vector OpenRAVE::RobotBase::GetAffineRotation3DWeights ( ) const
inlinevirtual

robot.h645 行で定義されています。

virtual Vector OpenRAVE::RobotBase::GetAffineRotationAxis ( ) const
inlinevirtual

robot.h580 行で定義されています。

void OpenRAVE::RobotBase::GetAffineRotationAxisLimits ( Vector lower,
Vector upper 
) const
virtual

robot.cpp477 行で定義されています。

virtual Vector OpenRAVE::RobotBase::GetAffineRotationAxisMaxVels ( ) const
inlinevirtual

robot.h618 行で定義されています。

virtual Vector OpenRAVE::RobotBase::GetAffineRotationAxisResolution ( ) const
inlinevirtual

robot.h630 行で定義されています。

virtual Vector OpenRAVE::RobotBase::GetAffineRotationAxisWeights ( ) const
inlinevirtual

robot.h642 行で定義されています。

virtual Vector OpenRAVE::RobotBase::GetAffineRotationQuatLimits ( ) const
inlinevirtual

gets the quaternion limits

引数
quatanglequaternion_start * max_angle. acos(q dot quaternion_start) <= max_angle

robot.h612 行で定義されています。

virtual dReal OpenRAVE::RobotBase::GetAffineRotationQuatMaxVels ( ) const
inlinevirtual

robot.h624 行で定義されています。

virtual dReal OpenRAVE::RobotBase::GetAffineRotationQuatResolution ( ) const
inlinevirtual

robot.h636 行で定義されています。

virtual dReal OpenRAVE::RobotBase::GetAffineRotationQuatWeights ( ) const
inlinevirtual

robot.h648 行で定義されています。

void OpenRAVE::RobotBase::GetAffineTranslationLimits ( Vector lower,
Vector upper 
) const
virtual

robot.cpp471 行で定義されています。

virtual Vector OpenRAVE::RobotBase::GetAffineTranslationMaxVels ( ) const
inlinevirtual

robot.h615 行で定義されています。

virtual Vector OpenRAVE::RobotBase::GetAffineTranslationResolution ( ) const
inlinevirtual

robot.h627 行で定義されています。

virtual Vector OpenRAVE::RobotBase::GetAffineTranslationWeights ( ) const
inlinevirtual

robot.h639 行で定義されています。

virtual std::vector<AttachedSensorPtr>& OpenRAVE::RobotBase::GetAttachedSensors ( )
inlinevirtual

robot.h505 行で定義されています。

virtual ControllerBasePtr OpenRAVE::RobotBase::GetController ( ) const
inlinevirtual

gets the robot controller

robot.h870 行で定義されています。

void OpenRAVE::RobotBase::GetFullTrajectoryFromActive ( TrajectoryBasePtr  pfulltraj,
TrajectoryBaseConstPtr  pActiveTraj,
bool  bOverwriteTransforms = true 
)
非推奨:
(11/10/04)

robot.cpp2127 行で定義されています。

void OpenRAVE::RobotBase::GetGrabbed ( std::vector< KinBodyPtr > &  vbodies) const
virtual

gets all grabbed bodies of the robot

引数
[out]vbodiesfilled with the grabbed bodies

robot.cpp1478 行で定義されています。

void OpenRAVE::RobotBase::GetGrabbedInfo ( std::vector< GrabbedInfoPtr > &  vgrabbedinfo) const
virtual

gets all grabbed bodies of the robot

引数
[out]vgrabbedinfofilled with the grabbed info for every body

robot.cpp1490 行で定義されています。

void OpenRAVE::RobotBase::GetIgnoredLinksOfGrabbed ( KinBodyConstPtr  body,
std::list< KinBody::LinkConstPtr > &  ignorelinks 
) const
virtual

returns all the links of the robot whose links are being ignored by the grabbed body.

引数
[in]bodythe grabbed body
[out]listof the ignored links

robot.cpp1538 行で定義されています。

static InterfaceType OpenRAVE::RobotBase::GetInterfaceTypeStatic ( )
inlinestatic

Return the static interface type this class points to (used for safe casting).

robot.h486 行で定義されています。

virtual std::vector<ManipulatorPtr>& OpenRAVE::RobotBase::GetManipulators ( )
inlinevirtual

Returns the manipulators of the robot.

robot.h501 行で定義されています。

const std::set< int > & OpenRAVE::RobotBase::GetNonAdjacentLinks ( int  adjacentoptions = 0) const
virtual

return all possible link pairs that could get in collision.

引数
adjacentoptionsa bitmask of AdjacentOptions values

OpenRAVE::KinBodyを再定義しています。

robot.cpp1288 行で定義されています。

const std::string & OpenRAVE::RobotBase::GetRobotStructureHash ( ) const
virtual

A md5 hash unique to the particular robot structure that involves manipulation and sensing components The serialization for the attached sensors will not involve any sensor specific properties (since they can change through calibration)

robot.cpp2091 行で定義されています。

bool OpenRAVE::RobotBase::Grab ( KinBodyPtr  body,
LinkPtr  pRobotLinkToGrabWith,
const std::set< int > &  setRobotLinksToIgnore 
)
virtual

Grab the body with the specified link.

引数
[in]bodythe body to be grabbed
[in]pRobotLinkToGrabWiththe link of this robot that will perform the grab
[in]setRobotLinksToIgnoreAdditional robot link indices that collision checker ignore when checking collisions between the grabbed body and the robot.
戻り値
true if successful and body is grabbed.

robot.cpp1390 行で定義されています。

bool OpenRAVE::RobotBase::Grab ( KinBodyPtr  body,
LinkPtr  pRobotLinkToGrabWith 
)
virtual

Grab a body with the specified link.

引数
[in]bodythe body to be grabbed
[in]pRobotLinkToGrabWiththe link of this robot that will perform the grab
戻り値
true if successful and body is grabbed/

robot.cpp1366 行で定義されています。

bool OpenRAVE::RobotBase::Grab ( KinBodyPtr  body,
const std::set< int > &  setRobotLinksToIgnore 
)
virtual

Grabs the body with the active manipulator's end effector.

引数
[in]bodythe body to be grabbed
[in]setRobotLinksToIgnoreAdditional robot link indices that collision checker ignore when checking collisions between the grabbed body and the robot.
戻り値
true if successful and body is grabbed

robot.cpp1357 行で定義されています。

bool OpenRAVE::RobotBase::Grab ( KinBodyPtr  body)
virtual

Grabs the body with the active manipulator's end effector.

引数
[in]bodythe body to be grabbed
戻り値
true if successful and body is grabbed

robot.cpp1348 行で定義されています。

bool OpenRAVE::RobotBase::Init ( const std::vector< LinkInfoConstPtr > &  linkinfos,
const std::vector< JointInfoConstPtr > &  jointinfos,
const std::vector< ManipulatorInfoConstPtr > &  manipinfos,
const std::vector< AttachedSensorInfoConstPtr > &  attachedsensorinfos 
)
virtual

initializes a robot with links, joints, manipulators, and sensors

Calls KinBody::Init(linkinfos, jointinfos) and then adds the robot-specific information afterwards

引数
linkinfosinformation for all the links. Links will be created in this order
jointinfosinformation for all the joints. Joints might be rearranged depending on their mimic properties

robot.cpp257 行で定義されています。

RobotBase::LinkPtr OpenRAVE::RobotBase::IsGrabbing ( KinBodyConstPtr  body) const
virtual

return the robot link that is currently grabbing the body. If the body is not grabbed, will return an empty pointer.

引数
[in]bodythe body to check

robot.cpp1467 行で定義されています。

virtual bool OpenRAVE::RobotBase::IsRobot ( ) const
inlinevirtual
戻り値
true if this body is derived from RobotBase

OpenRAVE::KinBodyを再定義しています。

robot.h859 行で定義されています。

void OpenRAVE::RobotBase::RegrabAll ( )
virtual

Releases and grabs all bodies, has the effect of recalculating all the initial collision with the bodies.

This has the effect of resetting the current collisions any grabbed body makes with the robot into an ignore list.

robot.cpp1439 行で定義されています。

void OpenRAVE::RobotBase::Release ( KinBodyPtr  body)
virtual

Release the body if grabbed.

引数
bodybody to release

robot.cpp1413 行で定義されています。

void OpenRAVE::RobotBase::ReleaseAllGrabbed ( )
virtual

Release all grabbed bodies.

release all bodies

robot.cpp1427 行で定義されています。

void OpenRAVE::RobotBase::RemoveManipulator ( ManipulatorPtr  manip)
virtual

removes a manipulator from the robot list.

Will change the robot structure hash.. if the active manipulator is set to this manipulator, it will be set to None afterwards

robot.cpp1627 行で定義されています。

void OpenRAVE::RobotBase::ResetGrabbed ( const std::vector< GrabbedInfoConstPtr > &  vgrabbedinfo)
virtual

resets the grabbed bodies of the robot

Any currently grabbed bodies will be first released.

引数
[out]vgrabbedinfofilled with the grabbed info for every body

robot.cpp1508 行で定義されています。

void OpenRAVE::RobotBase::serialize ( std::ostream &  o,
int  options 
) const
virtual

only used for hashes...

OpenRAVE::KinBodyを再定義しています。

robot.cpp2076 行で定義されています。

void OpenRAVE::RobotBase::SetActiveDOFs ( const std::vector< int > &  dofindices,
int  affine = OpenRAVE::DOF_NoTransform 
)
virtual

Set the joint indices and affine transformation dofs that the planner should use. If DOF_RotationAxis is specified, the previously set axis is used.

引数
dofindicesthe indices of the original degrees of freedom to use.
affineA bitmask of DOFAffine values

robot.cpp495 行で定義されています。

void OpenRAVE::RobotBase::SetActiveDOFs ( const std::vector< int > &  dofindices,
int  affine,
const Vector rotationaxis 
)
virtual

Set the joint indices and affine transformation dofs that the planner should use. If DOF_RotationAxis is specified, then rotationaxis is set as the new axis.

引数
dofindicesthe indices of the original degrees of freedom to use.
affineA bitmask of DOFAffine values
rotationaxisif DOF_RotationAxis is specified, pRotationAxis is used as the new axis

robot.cpp489 行で定義されています。

void OpenRAVE::RobotBase::SetActiveDOFValues ( const std::vector< dReal > &  values,
uint32_t  checklimits = 1 
)
virtual

robot.cpp543 行で定義されています。

void OpenRAVE::RobotBase::SetActiveDOFVelocities ( const std::vector< dReal > &  velocities,
uint32_t  checklimits = 1 
)
virtual

robot.cpp606 行で定義されています。

void OpenRAVE::RobotBase::SetActiveManipulator ( int  index)
virtual
非推奨:
(12/07/23)

robot.cpp1556 行で定義されています。

RobotBase::ManipulatorPtr OpenRAVE::RobotBase::SetActiveManipulator ( const std::string &  manipname)
virtual

sets the active manipulator of the robot

引数
manipnamemanipulator name
例外
openrave_exceptionif manipulator not present, will throw an exception

robot.cpp1577 行で定義されています。

void OpenRAVE::RobotBase::SetActiveManipulator ( ManipulatorConstPtr  pmanip)
virtual

robot.cpp1561 行で定義されています。

bool OpenRAVE::RobotBase::SetActiveMotion ( TrajectoryBaseConstPtr  ptraj)
virtual
非推奨:
(11/10/04)

robot.cpp2111 行で定義されています。

bool OpenRAVE::RobotBase::SetActiveMotion ( TrajectoryBaseConstPtr  ptraj,
dReal  fSpeed 
)
virtual
非推奨:
(11/10/04)

robot.cpp2119 行で定義されています。

void OpenRAVE::RobotBase::SetAffineRotation3DLimits ( const Vector lower,
const Vector upper 
)
virtual

robot.cpp394 行で定義されています。

void OpenRAVE::RobotBase::SetAffineRotation3DMaxVels ( const Vector vels)
virtual

robot.cpp421 行で定義されています。

void OpenRAVE::RobotBase::SetAffineRotation3DResolution ( const Vector resolution)
virtual

robot.cpp441 行で定義されています。

void OpenRAVE::RobotBase::SetAffineRotation3DWeights ( const Vector weights)
virtual

robot.cpp461 行で定義されています。

void OpenRAVE::RobotBase::SetAffineRotationAxisLimits ( const Vector lower,
const Vector upper 
)
virtual

robot.cpp388 行で定義されています。

void OpenRAVE::RobotBase::SetAffineRotationAxisMaxVels ( const Vector vels)
virtual

robot.cpp416 行で定義されています。

void OpenRAVE::RobotBase::SetAffineRotationAxisResolution ( const Vector resolution)
virtual

robot.cpp436 行で定義されています。

void OpenRAVE::RobotBase::SetAffineRotationAxisWeights ( const Vector weights)
virtual

robot.cpp456 行で定義されています。

void OpenRAVE::RobotBase::SetAffineRotationQuatLimits ( const Vector quatangle)
virtual

sets the quaternion limits using a starting rotation and the max angle deviation from it.

引数
quatanglequaternion_start * max_angle. acos(q dot quaternion_start) <= max_angle. If max_angle is 0, then will take the current transform of the robot

robot.cpp400 行で定義されています。

void OpenRAVE::RobotBase::SetAffineRotationQuatMaxVels ( dReal  vels)
virtual

robot.cpp426 行で定義されています。

void OpenRAVE::RobotBase::SetAffineRotationQuatResolution ( dReal  resolution)
virtual

robot.cpp446 行で定義されています。

void OpenRAVE::RobotBase::SetAffineRotationQuatWeights ( dReal  weights)
virtual

robot.cpp466 行で定義されています。

void OpenRAVE::RobotBase::SetAffineTranslationLimits ( const Vector lower,
const Vector upper 
)
virtual

robot.cpp382 行で定義されています。

void OpenRAVE::RobotBase::SetAffineTranslationMaxVels ( const Vector vels)
virtual

robot.cpp411 行で定義されています。

void OpenRAVE::RobotBase::SetAffineTranslationResolution ( const Vector resolution)
virtual

robot.cpp431 行で定義されています。

void OpenRAVE::RobotBase::SetAffineTranslationWeights ( const Vector weights)
virtual

robot.cpp451 行で定義されています。

bool OpenRAVE::RobotBase::SetController ( ControllerBasePtr  controller,
const std::vector< int > &  dofindices,
int  nControlTransformation 
)
virtual

set a controller for a robot

引数
pController- if NULL, sets the controller of this robot to NULL. otherwise attemps to set the controller to this robot.
args- the argument list to pass when initializing the controller

robot.cpp276 行で定義されています。

void OpenRAVE::RobotBase::SetDOFValues ( const std::vector< dReal > &  values,
uint32_t  checklimits = 1,
const std::vector< int > &  dofindices = std::vector<int>() 
)
virtual

Sets the joint values of the robot.

引数
valuesthe values to set the joint angles (ordered by the dof indices)
[in]checklimitsone of CheckLimitsAction and will excplicitly check the joint limits before setting the values and clamp them.
dofindicesthe dof indices to return the values for. If empty, will compute for all the dofs

OpenRAVE::KinBodyを再定義しています。

robot.cpp298 行で定義されています。

void OpenRAVE::RobotBase::SetDOFValues ( const std::vector< dReal > &  values,
const Transform transform,
uint32_t  checklimits = 1 
)
virtual

Sets the joint values and transformation of the body.

引数
valuesthe values to set the joint angles (ordered by the dof indices)
transformrepresents the transformation of the first body.
[in]checklimitsone of CheckLimitsAction and will excplicitly check the joint limits before setting the values and clamp them.

OpenRAVE::KinBodyを再定義しています。

robot.cpp305 行で定義されています。

void OpenRAVE::RobotBase::SetDOFVelocities ( const std::vector< dReal > &  dofvelocities,
const Vector linearvel,
const Vector angularvel,
uint32_t  checklimits = 1 
)
virtual

Sets the velocity of the base link and each of the joints.

Computes internally what the correponding velocities of each of the links should be in order to achieve consistent results with the joint velocities. Sends the velocities to the physics engine. Velocities correspond to the link's coordinate system origin.

引数
[in]linearvellinear velocity of base link
[in]angularvelangular velocity rotation_axis*theta_dot
[in]dofvelocities- velocities of each of the degrees of freeom
[in]checklimitsone of CheckLimitsAction and will excplicitly check the joint velocity limits before setting the values and clamp them.

OpenRAVE::KinBodyを再定義しています。

robot.cpp340 行で定義されています。

void OpenRAVE::RobotBase::SetDOFVelocities ( const std::vector< dReal > &  dofvelocities,
uint32_t  checklimits = 1,
const std::vector< int > &  dofindices = std::vector<int>() 
)
virtual

Sets the velocity of the joints.

Copies the current velocity of the base link and calls SetDOFVelocities(linearvel,angularvel,vDOFVelocities)

引数
[in]dofvelocities- velocities of each of the degrees of freeom
[in]checklimitsif >0, will excplicitly check the joint velocity limits before setting the values and clamp them. If == 1, then will warn if the limits are overboard, if == 2, then will not warn (used for code that knows it's giving bad values)
dofindicesthe dof indices to return the values for. If empty, will compute for all the dofs

OpenRAVE::KinBodyを再定義しています。

robot.cpp347 行で定義されています。

void OpenRAVE::RobotBase::SetLinkTransformations ( const std::vector< Transform > &  transforms)
virtual

sets the transformations of all the links at once

OpenRAVE::KinBodyを再定義しています。

robot.cpp310 行で定義されています。

void OpenRAVE::RobotBase::SetLinkTransformations ( const std::vector< Transform > &  transforms,
const std::vector< int > &  dofbranches 
)
virtual

sets the transformations of all the links and dof branches at once.

Using dof branches allows the full joint state to be recovered

OpenRAVE::KinBodyを再定義しています。

robot.cpp317 行で定義されています。

bool OpenRAVE::RobotBase::SetMotion ( TrajectoryBaseConstPtr  ptraj)
virtual
非推奨:
(11/10/04) send directly through controller

robot.cpp2103 行で定義されています。

void OpenRAVE::RobotBase::SetName ( const std::string &  name)
virtual

Set the name of the body, notifies the environment and checks for uniqueness.

OpenRAVE::KinBodyを再定義しています。

robot.cpp282 行で定義されています。

void OpenRAVE::RobotBase::SetTransform ( const Transform trans)
virtual
参照
SetTransform Also transforms the robot and updates the attached sensors and grabbed bodies.

OpenRAVE::KinBodyを再定義しています。

robot.cpp324 行で定義されています。

bool OpenRAVE::RobotBase::SetVelocity ( const Vector linearvel,
const Vector angularvel 
)
virtual

Set the velocity of the base link, rest of links are set to a consistent velocity so entire robot moves correctly.

引数
linearvellinear velocity
angularvelis the rotation axis * angular speed

OpenRAVE::KinBodyを再定義しています。

robot.cpp331 行で定義されています。

RobotBasePtr OpenRAVE::RobotBase::shared_robot ( )
inlineprotected

robot.h885 行で定義されています。

RobotBaseConstPtr OpenRAVE::RobotBase::shared_robot_const ( ) const
inlineprotected

robot.h888 行で定義されています。

void OpenRAVE::RobotBase::SimulationStep ( dReal  fElapsedTime)
virtual

Simulate the robot and update the grabbed bodies and attached sensors.

Do not call SimulationStep for the attached sensors in this function.

OpenRAVE::KinBodyを再定義しています。

robot.cpp1818 行で定義されています。

void OpenRAVE::RobotBase::SubtractActiveDOFValues ( std::vector< dReal > &  q1,
const std::vector< dReal > &  q2 
) const
virtual

computes the configuration difference q1-q2 and stores it in q1. Takes into account joint limits and circular joints

robot.cpp916 行で定義されています。

変数

ConfigurationSpecification OpenRAVE::RobotBase::_activespec
protected

robot.h923 行で定義されています。

dReal OpenRAVE::RobotBase::_fQuatAngleResolution
protected

robot.h921 行で定義されています。

dReal OpenRAVE::RobotBase::_fQuatAngleWeight
protected

robot.h921 行で定義されています。

dReal OpenRAVE::RobotBase::_fQuatLimitMaxAngle
protected

robot.h921 行で定義されています。

dReal OpenRAVE::RobotBase::_fQuatMaxAngleVelocity
protected

robot.h921 行で定義されています。

int OpenRAVE::RobotBase::_nActiveDOF
protected

Active degrees of freedom; if -1, use robot dofs.

robot.h913 行で定義されています。

int OpenRAVE::RobotBase::_nAffineDOFs
protected

dofs describe what affine transformations are allowed

robot.h914 行で定義されています。

ManipulatorPtr OpenRAVE::RobotBase::_pManipActive
protected

robot.h907 行で定義されています。

std::vector<int> OpenRAVE::RobotBase::_vActiveDOFIndices
protected

robot.h911 行で定義されています。

std::vector<int> OpenRAVE::RobotBase::_vAllDOFIndices
protected

robot.h911 行で定義されています。

std::vector<ManipulatorPtr> OpenRAVE::RobotBase::_vecManipulators
protected
参照
GetManipulators

robot.h906 行で定義されています。

std::vector<AttachedSensorPtr> OpenRAVE::RobotBase::_vecSensors
protected
参照
GetAttachedSensors

robot.h909 行で定義されています。

std::vector<UserDataPtr> OpenRAVE::RobotBase::_vGrabbedBodies
protected

vector of grabbed bodies

robot.h903 行で定義されています。

Vector OpenRAVE::RobotBase::_vRotation3DLowerLimits
protected

robot.h919 行で定義されています。

Vector OpenRAVE::RobotBase::_vRotation3DMaxVels
protected

robot.h919 行で定義されています。

Vector OpenRAVE::RobotBase::_vRotation3DResolutions
protected

robot.h919 行で定義されています。

Vector OpenRAVE::RobotBase::_vRotation3DUpperLimits
protected

robot.h919 行で定義されています。

Vector OpenRAVE::RobotBase::_vRotation3DWeights
protected

robot.h919 行で定義されています。

Vector OpenRAVE::RobotBase::_vRotationAxisLowerLimits
protected

the xyz components are used if the rotation axis is solely about X,Y,or Z; otherwise the W component is used.

robot.h918 行で定義されています。

Vector OpenRAVE::RobotBase::_vRotationAxisMaxVels
protected

robot.h918 行で定義されています。

Vector OpenRAVE::RobotBase::_vRotationAxisResolutions
protected

robot.h918 行で定義されています。

Vector OpenRAVE::RobotBase::_vRotationAxisUpperLimits
protected

robot.h918 行で定義されています。

Vector OpenRAVE::RobotBase::_vRotationAxisWeights
protected

robot.h918 行で定義されています。

Vector OpenRAVE::RobotBase::_vRotationQuatLimitStart
protected

robot.h920 行で定義されています。

Vector OpenRAVE::RobotBase::_vTranslationLowerLimits
protected

robot.h916 行で定義されています。

Vector OpenRAVE::RobotBase::_vTranslationMaxVels
protected

robot.h916 行で定義されています。

Vector OpenRAVE::RobotBase::_vTranslationResolutions
protected

robot.h916 行で定義されています。

Vector OpenRAVE::RobotBase::_vTranslationUpperLimits
protected

robot.h916 行で定義されています。

Vector OpenRAVE::RobotBase::_vTranslationWeights
protected

robot.h916 行で定義されています。

const DOFAffine DOF_NoTransform OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_NoTransform
static
非推奨:
(11/10/04), use OpenRAVE:: global variables

robot.h538 行で定義されています。

const DOFAffine DOF_X OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_X
static

robot.h539 行で定義されています。

const DOFAffine DOF_Y OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_Y
static

robot.h540 行で定義されています。

const DOFAffine DOF_Z OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_Z
static

robot.h541 行で定義されています。

const DOFAffine DOF_RotationAxis OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_RotationAxis
static

robot.h542 行で定義されています。

const DOFAffine DOF_Rotation3D OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_Rotation3D
static

robot.h543 行で定義されています。

const DOFAffine DOF_RotationQuat OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_RotationQuat
static

robot.h544 行で定義されています。

Vector OpenRAVE::RobotBase::vActvAffineRotationAxis
protected

robot.h912 行で定義されています。


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