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ネームスペース | 構成 | 型定義 | 列挙型 | 関数 | 変数
ネームスペース OpenRAVE

The entire OpenRAVE library. [詳細]

ネームスペース

namespace  geometry
 Templated math and geometric functions.
 
namespace  LocalXML
 
namespace  mathextra
 Extra math routines that are useful to have but don't really belong anywhere.
 
namespace  planningutils
 
namespace  utils
 
namespace  xmlreaders
 

構成

class  CollisionReport
 Holds information about a particular collision that occured. [詳細]
 
class  CollisionCheckerBase
 [interface] Responsible for all collision checking queries of the environment. If not specified, method is not multi-thread safe. See Collision Checker Concepts. [詳細]
 
class  CollisionOptionsStateSaver
 Helper class to save and restore the collision options. If options are not supported and required is true, throws an exception. [詳細]
 
class  ControllerBase
 [interface] Abstract base class to encapsulate a local controller. If not specified, method is not multi-thread safe. See Controller Concepts. [詳細]
 
class  MultiController
 controller that manage multiple controllers, allows users to easily set multiple controllers for one robot. [詳細]
 
class  EnvironmentBase
 Maintains a world state, which serves as the gateway to all functions offered through OpenRAVE. See 環境の概念. [詳細]
 
class  IkReturn
 
class  IkSolverBase
 [interface] Base class for all Inverse Kinematic solvers. If not specified, method is not multi-thread safe. See Inverse Kinematics Solver Concepts. [詳細]
 
class  InterfaceBase
 [interface] Base class for all interfaces that OpenRAVE provides. See Base Interface Concepts. [詳細]
 
class  KinBody
 [interface] A kinematic body of links and joints. If not specified, method is not multi-thread safe. See Kinematics Body Concepts. [詳細]
 
class  ModuleBase
 [interface] A loadable module of user code meant to solve a specific domain. If not specified, method is not multi-thread safe. See Module Concepts. [詳細]
 
class  openrave_exception
 Exception that all OpenRAVE internal methods throw; the error codes are held in OpenRAVEErrorCode. [詳細]
 
class  CaseInsensitiveCompare
 
class  UserData
 base class for all user data [詳細]
 
class  SerializableData
 user data that can serialize/deserialize itself [詳細]
 
class  XMLReadable
 base class for readable interfaces [詳細]
 
class  BaseXMLReader
 base class for all xml readers. XMLReaders are used to process data from xml files. [詳細]
 
class  DummyXMLReader
 reads until the tag ends [詳細]
 
class  BaseXMLWriter
 base class for writing to XML files. [詳細]
 
class  ConfigurationSpecification
 A configuration specification references values in the environment that then define a configuration-space which can be searched for. [詳細]
 
class  IkParameterization
 Parameterization of basic primitives for querying inverse-kinematics solutions. [詳細]
 
class  TriMesh
 User data for trimesh geometries. Vertices are defined in counter-clockwise order for outward pointing faces. [詳細]
 
class  PhysicsEngineBase
 [interface] The physics engine interfaces supporting simulations and dynamics. See Physics Engine Concepts. [詳細]
 
class  PlannerBase
 [interface] Planner interface that generates trajectories for target objects to follow through the environment. If not specified, method is not multi-thread safe. See Planner Concepts. [詳細]
 
class  ExplorationParameters
 
class  RAStarParameters
 
class  GraspSetParameters
 
class  GraspParameters
 
class  TrajectoryTimingParameters
 parameters for timing/smoothing trajectories [詳細]
 
class  ConstraintTrajectoryTimingParameters
 
class  WorkspaceTrajectoryParameters
 
class  RRTParameters
 
class  BasicRRTParameters
 
class  PLUGININFO
 Holds all the OpenRAVE-specific information provided by a plugin. [詳細]
 
class  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]
 
class  SensorBase
 [interface] A sensor measures physical properties from the environment. If not specified, method is not multi-thread safe. See Sensor Concepts. [詳細]
 
class  SensorSystemBase
 [interface] Used to manage the creation and destruction of bodies. See Sensor System Concepts. [詳細]
 
class  SimpleSensorSystem
 A very simple sensor system example that manages raw detection data. [詳細]
 
class  SpaceSamplerBase
 [interface] Contains space samplers commonly used in planners. If not specified, method is not multi-thread safe. See SpaceSampler Concepts. [詳細]
 
class  TrajectoryBase
 [interface] Encapsulate a time-parameterized trajectories of robot configurations. If not specified, method is not multi-thread safe. [詳細]
 
class  GraphHandle
 Handle holding the plot from the viewers. The plot will continue to be drawn as long as a reference to this handle is held. [詳細]
 
class  ViewerBase
 [interface] Base class for the graphics and gui engine that renders the environment and provides visual sensor information. If not specified, method is not multi-thread safe. See Viewer Concepts. [詳細]
 
class  CustomIkSolverFilterData
 
class  ChangeCallbackData
 
class  RaveGlobal
 
class  CustomPlannerCallbackData
 
class  CallOnDestruction
 

型定義

typedef CollisionReport
COLLISIONREPORT 
RAVE_DEPRECATED = IKRA_Success
 
typedef boost::shared_ptr
< CollisionOptionsStateSaver
CollisionOptionsStateSaverPtr
 
typedef boost::shared_ptr
< MultiController
MultiControllerPtr
 
typedef boost::shared_ptr
< MultiController const > 
MultiControllerConstPtr
 
typedef boost::recursive_try_mutex EnvironmentMutex
 
typedef boost::shared_ptr
< OpenRAVEFunctionParserReal > 
OpenRAVEFunctionParserRealPtr
 
typedef ModuleBase ProblemInstance
 
typedef ModuleBasePtr ProblemInstancePtr
 
typedef ModuleBaseWeakPtr ProblemInstanceConstPtr
 
typedef ModuleBaseConstPtr ProblemInstanceWeakPtr
 
typedef float dReal
 
typedef boost::shared_ptr
< UserData
UserDataPtr
 
typedef boost::weak_ptr< UserDataUserDataWeakPtr
 
typedef boost::shared_ptr
< SerializableData
SerializableDataPtr
 
typedef boost::weak_ptr
< SerializableData
SerializableDataWeakPtr
 
typedef boost::shared_ptr
< CollisionReport
CollisionReportPtr
 
typedef boost::shared_ptr
< CollisionReport const > 
CollisionReportConstPtr
 
typedef boost::shared_ptr
< InterfaceBase
InterfaceBasePtr
 
typedef boost::shared_ptr
< InterfaceBase const > 
InterfaceBaseConstPtr
 
typedef boost::weak_ptr
< InterfaceBase
InterfaceBaseWeakPtr
 
typedef boost::shared_ptr
< KinBody
KinBodyPtr
 
typedef boost::shared_ptr
< KinBody const > 
KinBodyConstPtr
 
typedef boost::weak_ptr< KinBodyKinBodyWeakPtr
 
typedef boost::shared_ptr
< RobotBase
RobotBasePtr
 
typedef boost::shared_ptr
< RobotBase const > 
RobotBaseConstPtr
 
typedef boost::weak_ptr
< RobotBase
RobotBaseWeakPtr
 
typedef boost::shared_ptr
< CollisionCheckerBase
CollisionCheckerBasePtr
 
typedef boost::shared_ptr
< CollisionCheckerBase const > 
CollisionCheckerBaseConstPtr
 
typedef boost::weak_ptr
< CollisionCheckerBase
CollisionCheckerBaseWeakPtr
 
typedef boost::shared_ptr
< ControllerBase
ControllerBasePtr
 
typedef boost::shared_ptr
< ControllerBase const > 
ControllerBaseConstPtr
 
typedef boost::weak_ptr
< ControllerBase
ControllerBaseWeakPtr
 
typedef boost::shared_ptr
< IkSolverBase
IkSolverBasePtr
 
typedef boost::shared_ptr
< IkSolverBase const > 
IkSolverBaseConstPtr
 
typedef boost::weak_ptr
< IkSolverBase
IkSolverBaseWeakPtr
 
typedef boost::shared_ptr
< PhysicsEngineBase
PhysicsEngineBasePtr
 
typedef boost::shared_ptr
< PhysicsEngineBase const > 
PhysicsEngineBaseConstPtr
 
typedef boost::weak_ptr
< PhysicsEngineBase
PhysicsEngineBaseWeakPtr
 
typedef boost::shared_ptr
< PlannerBase
PlannerBasePtr
 
typedef boost::shared_ptr
< PlannerBase const > 
PlannerBaseConstPtr
 
typedef boost::weak_ptr
< PlannerBase
PlannerBaseWeakPtr
 
typedef boost::shared_ptr
< ModuleBase
ModuleBasePtr
 
typedef boost::shared_ptr
< ModuleBase const > 
ModuleBaseConstPtr
 
typedef boost::weak_ptr
< ModuleBase
ModuleBaseWeakPtr
 
typedef boost::shared_ptr
< SensorBase
SensorBasePtr
 
typedef boost::shared_ptr
< SensorBase const > 
SensorBaseConstPtr
 
typedef boost::weak_ptr
< SensorBase
SensorBaseWeakPtr
 
typedef boost::shared_ptr
< SensorSystemBase
SensorSystemBasePtr
 
typedef boost::shared_ptr
< SensorSystemBase const > 
SensorSystemBaseConstPtr
 
typedef boost::weak_ptr
< SensorSystemBase
SensorSystemBaseWeakPtr
 
typedef boost::shared_ptr
< TrajectoryBase
TrajectoryBasePtr
 
typedef boost::shared_ptr
< TrajectoryBase const > 
TrajectoryBaseConstPtr
 
typedef boost::weak_ptr
< TrajectoryBase
TrajectoryBaseWeakPtr
 
typedef boost::shared_ptr
< ViewerBase
ViewerBasePtr
 
typedef boost::shared_ptr
< ViewerBase const > 
ViewerBaseConstPtr
 
typedef boost::weak_ptr
< ViewerBase
ViewerBaseWeakPtr
 
typedef boost::shared_ptr
< SpaceSamplerBase
SpaceSamplerBasePtr
 
typedef boost::shared_ptr
< SpaceSamplerBase const > 
SpaceSamplerBaseConstPtr
 
typedef boost::weak_ptr
< SpaceSamplerBase
SpaceSamplerBaseWeakPtr
 
typedef boost::shared_ptr
< EnvironmentBase
EnvironmentBasePtr
 
typedef boost::shared_ptr
< EnvironmentBase const > 
EnvironmentBaseConstPtr
 
typedef boost::weak_ptr
< EnvironmentBase
EnvironmentBaseWeakPtr
 
typedef boost::shared_ptr
< IkReturn
IkReturnPtr
 
typedef boost::weak_ptr< IkReturnIkReturnWeakPtr
 
typedef boost::shared_ptr
< BaseXMLReader
BaseXMLReaderPtr
 
typedef boost::shared_ptr
< BaseXMLReader const > 
BaseXMLReaderConstPtr
 
typedef boost::shared_ptr
< BaseXMLWriter
BaseXMLWriterPtr
 
typedef boost::shared_ptr
< BaseXMLWriter const > 
BaseXMLWriterConstPtr
 Cloning Options for interfaces and environments.
 
typedef boost::shared_ptr
< XMLReadable
XMLReadablePtr
 
typedef boost::shared_ptr
< XMLReadable const > 
XMLReadableConstPtr
 
typedef std::list< std::pair
< std::string, std::string > > 
AttributesList
 a list of key-value pairs. It is possible for keys to repeat.
 
typedef boost::function
< BaseXMLReaderPtr(InterfaceBasePtr,
const AttributesList &)> 
CreateXMLReaderFn
 
typedef RaveVector< dRealVector
 
typedef RaveTransform< dRealTransform
 
typedef boost::shared_ptr
< RaveTransform< dReal > > 
TransformPtr
 
typedef boost::shared_ptr
< RaveTransform< dReal > const > 
TransformConstPtr
 
typedef RaveTransformMatrix
< dReal
TransformMatrix
 
typedef boost::shared_ptr
< RaveTransformMatrix< dReal > > 
TransformMatrixPtr
 
typedef boost::shared_ptr
< RaveTransformMatrix< dReal >
const > 
TransformMatrixConstPtr
 
typedef geometry::obb< dRealOBB
 
typedef geometry::aabb< dRealAABB
 
typedef geometry::ray< dRealRAY
 
typedef boost::shared_ptr
< ConfigurationSpecification
ConfigurationSpecificationPtr
 
typedef boost::shared_ptr
< ConfigurationSpecification
const > 
ConfigurationSpecificationConstPtr
 
typedef InterfaceBasePtr(* PluginExportFn_OpenRAVECreateInterface )(InterfaceType type, const std::string &name, const char *pluginhash, const char *envhash, EnvironmentBasePtr penv)
 Create the interfaces, see CreateInterfaceValidated.
 
typedef bool(* PluginExportFn_OpenRAVEGetPluginAttributes )(PLUGININFO *pinfo, int size, const char *infohash)
 Called to fill information about the plugin, see GetPluginAttributesValidated.
 
typedef void(* PluginExportFn_DestroyPlugin )()
 Called before plugin is unloaded from openrave. See DestroyPlugin.
 
typedef InterfaceBasePtr(* PluginExportFn_CreateInterface )(InterfaceType type, const std::string &name, const char *pluginhash, EnvironmentBasePtr penv) RAVE_DEPRECATED
 
typedef bool(* PluginExportFn_GetPluginAttributes )(PLUGININFO *pinfo, int size) RAVE_DEPRECATED
 
typedef boost::shared_ptr
< GraspParameters
GraspParametersPtr
 
typedef boost::shared_ptr
< GraspParameters const > 
GraspParametersConstPtr
 
typedef boost::shared_ptr
< TrajectoryTimingParameters
TrajectoryTimingParametersPtr
 
typedef boost::shared_ptr
< TrajectoryTimingParameters
const > 
TrajectoryTimingParametersConstPtr
 
typedef boost::shared_ptr
< ConstraintTrajectoryTimingParameters
ConstraintTrajectoryTimingParametersPtr
 
typedef boost::shared_ptr
< ConstraintTrajectoryTimingParameters
const > 
ConstraintTrajectoryTimingParametersConstPtr
 
typedef boost::shared_ptr
< WorkspaceTrajectoryParameters
WorkspaceTrajectoryParametersPtr
 
typedef boost::shared_ptr
< WorkspaceTrajectoryParameters
const > 
WorkspaceTrajectoryParametersConstPtr
 
typedef boost::shared_ptr
< RRTParameters
RRTParametersPtr
 
typedef boost::shared_ptr
< BasicRRTParameters
BasicRRTParametersPtr
 
typedef boost::shared_ptr
< GraphHandle
GraphHandlePtr
 
typedef boost::shared_ptr
< GraphHandle const > 
GraphHandleConstPtr
 
typedef boost::weak_ptr
< GraphHandle const > 
GraphHandleWeakPtr
 
typedef boost::shared_ptr
< CustomIkSolverFilterData
CustomIkSolverFilterDataPtr
 
typedef boost::shared_ptr
< ChangeCallbackData
ChangeCallbackDataPtr
 
typedef boost::shared_ptr
< CustomPlannerCallbackData
CustomPlannerCallbackDataPtr
 

列挙型

enum  CollisionOptions {
  CO_Distance = 1, CO_UseTolerance = 2, CO_Contacts = 4, CO_RayAnyHit = 8,
  CO_ActiveDOFs = 16
}
 options for collision checker [詳細]
 
enum  CollisionAction { CA_DefaultAction = 0, CA_Ignore = 1 }
 action to perform whenever a collision is detected between objects [詳細]
 
enum  IkFilterOptions {
  IKFO_CheckEnvCollisions =1, IKFO_IgnoreSelfCollisions =2, IKFO_IgnoreJointLimits =4, IKFO_IgnoreCustomFilters =8,
  IKFO_IgnoreEndEffectorCollisions =16, IKFO_IgnoreEndEffectorEnvCollisions =16, IKFO_IgnoreEndEffectorSelfCollisions =32
}
 Controls what information gets validated when searching for an inverse kinematics solution. [詳細]
 
enum  IkReturnAction {
  IKRA_Success = 0, IKRA_Reject = 1, IKRA_Quit = 2, IKRA_QuitEndEffectorCollision = (IKRA_Quit|0x00000080),
  IKRA_RejectKinematics = (IKRA_Reject|0x00000010), IKRA_RejectSelfCollision = (IKRA_Reject|0x00000020), IKRA_RejectEnvCollision = (IKRA_Reject|0x00000040), IKRA_RejectJointLimits = (IKRA_Reject|0x00000100),
  IKRA_RejectKinematicsPrecision = (IKRA_Reject|0x00000200), IKRA_RejectCustomFilter = (IKRA_Reject|0x00008000)
}
 Return value for the ik filter that can be optionally set on an ik solver. [詳細]
 
enum  SerializationOptions {
  SO_Kinematics = 0x01, SO_Dynamics = 0x02, SO_BodyState = 0x04, SO_NamesAndFiles = 0x08,
  SO_RobotManipulators = 0x10, SO_RobotSensors = 0x20, SO_Geometry = 0x40
}
 serialization options for interfaces [詳細]
 
enum  GeometryType {
  GT_None = 0, GT_Box = 1, GT_Sphere = 2, GT_Cylinder = 3,
  GT_TriMesh = 4
}
 The type of geometry primitive. [詳細]
 
enum  OpenRAVEErrorCode {
  ORE_Failed =0, ORE_InvalidArguments =1, ORE_EnvironmentNotLocked =2, ORE_CommandNotSupported =3,
  ORE_Assert =4, ORE_InvalidPlugin =5, ORE_InvalidInterfaceHash =6, ORE_NotImplemented =7,
  ORE_InconsistentConstraints =8, ORE_NotInitialized =9, ORE_InvalidState =10, ORE_Timeout =11
}
 OpenRAVE error codes [詳細]
 
enum  DebugLevel {
  Level_Fatal =0, Level_Error =1, Level_Warn =2, Level_Info =3,
  Level_Debug =4, Level_Verbose =5, Level_OutputMask =0xf, Level_VerifyPlans =0x80000000
}
 
enum  CloningOptions {
  Clone_Bodies = 1, Clone_Viewer = 2, Clone_Simulation = 4, Clone_RealControllers = 8,
  Clone_Sensors = 16
}
 
enum  IkParameterizationType {
  IKP_None =0, IKP_Transform6D =0x67000001, IKP_Rotation3D =0x34000002, IKP_Translation3D =0x33000003,
  IKP_Direction3D =0x23000004, IKP_Ray4D =0x46000005, IKP_Lookat3D =0x23000006, IKP_TranslationDirection5D =0x56000007,
  IKP_TranslationXY2D =0x22000008, IKP_TranslationXYOrientation3D =0x33000009, IKP_TranslationLocalGlobal6D =0x3600000a, IKP_TranslationXAxisAngle4D =0x4400000b,
  IKP_TranslationYAxisAngle4D =0x4400000c, IKP_TranslationZAxisAngle4D =0x4400000d, IKP_TranslationXAxisAngleZNorm4D =0x4400000e, IKP_TranslationYAxisAngleXNorm4D =0x4400000f,
  IKP_TranslationZAxisAngleYNorm4D =0x44000010, IKP_NumberOfParameterizations =16, IKP_VelocityDataBit = 0x00008000, IKP_Transform6DVelocity = IKP_Transform6D|IKP_VelocityDataBit,
  IKP_Rotation3DVelocity = IKP_Rotation3D|IKP_VelocityDataBit, IKP_Translation3DVelocity = IKP_Translation3D|IKP_VelocityDataBit, IKP_Direction3DVelocity = IKP_Direction3D|IKP_VelocityDataBit, IKP_Ray4DVelocity = IKP_Ray4D|IKP_VelocityDataBit,
  IKP_Lookat3DVelocity = IKP_Lookat3D|IKP_VelocityDataBit, IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D|IKP_VelocityDataBit, IKP_TranslationXY2DVelocity = IKP_TranslationXY2D|IKP_VelocityDataBit, IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D|IKP_VelocityDataBit,
  IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D|IKP_VelocityDataBit, IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D|IKP_VelocityDataBit,
  IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D|IKP_VelocityDataBit, IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D|IKP_VelocityDataBit, IKP_UniqueIdMask = 0x0000ffff,
  IKP_CustomDataBit = 0x00010000
}
 The types of inverse kinematics parameterizations supported. [詳細]
 
enum  DOFAffine {
  DOF_NoTransform = 0, DOF_X = 1, DOF_Y = 2, DOF_Z = 4,
  DOF_XYZ =DOF_X|DOF_Y|DOF_Z, DOF_RotationAxis = 8, DOF_Rotation3D = 16, DOF_RotationQuat = 32,
  DOF_RotationMask =(DOF_RotationAxis|DOF_Rotation3D|DOF_RotationQuat), DOF_Transform = (DOF_XYZ|DOF_RotationQuat)
}
 Selects which DOFs of the affine transformation to include in the active configuration. [詳細]
 
enum  PhysicsEngineOptions { PEO_SelfCollisions = 1 }
 basic options for physics engine [詳細]
 
enum  PlannerStatus { PS_Failed = 0, PS_HasSolution = 1, PS_Interrupted = 2, PS_InterruptedWithSolution = 3 }
 the status of the PlanPath method. Used when PlanPath can be called multiple times to resume planning. [詳細]
 
enum  PlannerAction { PA_None =0, PA_Interrupt =1, PA_ReturnWithAnySolution =2 }
 action to send to the planner while it is planning. This is usually done by the user-specified planner callback function [詳細]
 
enum  IntervalType { IT_Open =0, IT_OpenStart =1, IT_OpenEnd =2, IT_Closed =3 }
 Specifies the boundary conditions of intervals for sampling. [詳細]
 
enum  SampleDataType { SDT_Real =1, SDT_Uint32 =2 }
 

関数

const char * GetErrorCodeString (OpenRAVEErrorCode error)
 
std::string ChangeTextColor (int attribute, int fg, int bg)
 Change the text color (on either stdout or stderr) with an attr:fg:bg (thanks to Radu Rusu for the code)
 
std::string ChangeTextColor (int attribute, int fg)
 Change the text color (on either stdout or stderr) with an attr:fg (thanks to Radu Rusu for the code)
 
std::string ResetTextColor ()
 Reset the text color (on either stdout or stderr) to its original state (thanks to Radu Rusu for the code)
 
std::wstring ChangeTextColorW (int attribute, int fg)
 
std::wstring RavePrintTransformString (const wchar_t *fmt)
 
OPENRAVE_API void RaveSetDebugLevel (int level)
 Sets the global openrave debug level. A combination of DebugLevel.
 
OPENRAVE_API int RaveGetDebugLevel ()
 Returns the openrave debug level.
 
const char * RaveGetSourceFilename (const char *pfilename)
 extracts only the filename
 
int RavePrintfA_INFOLEVEL (const std::string &s)
 
int RavePrintfA_INFOLEVEL (const char *fmt,...)
 
int RavePrintfA (const std::string &s, uint32_t level)
 
 DefineRavePrintfW (_FATALLEVEL) DefineRavePrintfW(_ERRORLEVEL) DefineRavePrintfW(_WARNLEVEL) DefineRavePrintfW(_DEBUGLEVEL) DefineRavePrintfW(_VERBOSELEVEL) DefineRavePrintfA(_FATALLEVEL) DefineRavePrintfA(_ERRORLEVEL) DefineRavePrintfA(_WARNLEVEL) DefineRavePrintfA(_DEBUGLEVEL) DefineRavePrintfA(_VERBOSELEVEL) enum InterfaceType
 adds the function name and line number to an openrave exception
 
OPENRAVE_API const std::map
< IkParameterizationType,
std::string > & 
RaveGetIkParameterizationMap (int alllowercase=0)
 returns a string of the ik parameterization type names
 
OPENRAVE_API IkParameterizationType RaveGetIkTypeFromUniqueId (int uniqueid)
 returns the IkParameterizationType given the unique id detmerined b IKP_UniqueIdMask
 
OPENRAVE_API std::ostream & operator<< (std::ostream &O, const ConfigurationSpecification &spec)
 
OPENRAVE_API std::istream & operator>> (std::istream &I, ConfigurationSpecification &spec)
 
template<typename T >
NormalizeCircularAnglePrivate (T theta, T min, T max)
 
IkParameterization operator* (const Transform &t, const IkParameterization &ikparam)
 
OPENRAVE_API std::ostream & operator<< (std::ostream &O, const IkParameterization &ikparam)
 
OPENRAVE_API std::istream & operator>> (std::istream &I, IkParameterization &ikparam)
 
OPENRAVE_API std::ostream & operator<< (std::ostream &O, const TriMesh &trimesh)
 
OPENRAVE_API std::istream & operator>> (std::istream &I, TriMesh &trimesh)
 
OPENRAVE_API int RaveGetIndexFromAffineDOF (int affinedofs, DOFAffine dof)
 Given a mask of affine dofs and a dof inside that mask, returns the index where the value could be found.
 
OPENRAVE_API DOFAffine RaveGetAffineDOFFromIndex (int affinedofs, int index)
 Given a mask of affine dofs and an index into the array, returns the affine dof that is being referenced.
 
OPENRAVE_API int RaveGetAffineDOF (int affinedofs)
 Returns the degrees of freedom needed to represent all the values in the affine dof mask.
 
OPENRAVE_API void RaveGetAffineDOFValuesFromTransform (std::vector< dReal >::iterator itvalues, const Transform &t, int affinedofs, const Vector &axis=Vector(0, 0, 1))
 Converts the transformation matrix into the specified affine values format.
 
OPENRAVE_API void RaveGetAffineDOFValuesFromVelocity (std::vector< dReal >::iterator itvalues, const Vector &linearvel, const Vector &angularvel, const Vector &quatrotation, int affinedofs, const Vector &axis=Vector(0, 0, 1))
 Converts the linar and angular velocities into the specified affine values format.
 
OPENRAVE_API void RaveGetTransformFromAffineDOFValues (Transform &t, std::vector< dReal >::const_iterator itvalues, int affinedofs, const Vector &axis=Vector(0, 0, 1), bool normalize=true)
 Converts affine dof values into a transform.
 
OPENRAVE_API void RaveGetVelocityFromAffineDOFVelocities (Vector &linearvel, Vector &angularvel, std::vector< dReal >::const_iterator itvalues, int affinedofs, const Vector &axis=Vector(0, 0, 1), const Vector &quatrotation=Vector(1, 0, 0, 0))
 Converts affine dof velocities into linear and angular velocity vectors.
 
OPENRAVE_API
ConfigurationSpecification 
RaveGetAffineConfigurationSpecification (int affinedofs, KinBodyConstPtr pbody=KinBodyConstPtr(), const std::string &interpolation="")
 
OPENRAVE_API void RaveInitRandomGeneration (uint32_t seed)
 
OPENRAVE_API uint32_t RaveRandomInt ()
 
OPENRAVE_API float RaveRandomFloat (IntervalType interval=IT_Closed)
 
OPENRAVE_API double RaveRandomDouble (IntervalType interval=IT_Closed)
 
bool RaveParseDirectories (const char *pdirs, std::vector< std::string > &vdirs) RAVE_DEPRECATED
 
OPENRAVE_API std::ostream & operator<< (std::ostream &O, const PlannerBase::PlannerParameters &v)
 
OPENRAVE_API std::istream & operator>> (std::istream &I, PlannerBase::PlannerParameters &v)
 
OPENRAVE_CORE_API
EnvironmentBasePtr 
RaveCreateEnvironment ()
 Creates an OpenRAVE environment.
 
OPENRAVE_CORE_API
EnvironmentBasePtr 
CreateEnvironment (bool bLoadAllPlugins=true) RAVE_DEPRECATED
 
bool CustomIkSolverFilterDataCompare (UserDataPtr data0, UserDataPtr data1)
 
static void fparser_polyroots2 (vector< dReal > &rawroots, const vector< dReal > &rawcoeffs)
 
template<int D>
static void fparser_polyroots (vector< dReal > &rawroots, const vector< dReal > &rawcoeffs)
 
static void fparser_sssa (std::vector< dReal > &res, const vector< dReal > &coeffs)
 
static void fparser_sasa (std::vector< dReal > &res, const vector< dReal > &coeffs)
 take triangle 2 sides and an angle and compute the missing angle
 
static void fparser_sass (std::vector< dReal > &res, const vector< dReal > &coeffs)
 take triangle 2 sides and an angle and compute the missing side
 
OpenRAVEFunctionParserRealPtr CreateJointFunctionParser ()
 
static TransformMatrix ComputeInertia (const Transform &tMassFrame, const Vector &vinertiamoments)
 
bool RaveInvertFileLookup (std::string &newfilename, const std::string &filename)
 
void subtractstates (std::vector< dReal > &q1, const std::vector< dReal > &q2)
 
bool addstates (std::vector< dReal > &q, const std::vector< dReal > &qdelta, int fromgoal)
 
void _CallDiffStateFns (const std::vector< std::pair< PlannerBase::PlannerParameters::DiffStateFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v0, const std::vector< dReal > &v1)
 
dReal _EvalJointDOFDistanceMetric (const PlannerBase::PlannerParameters::DiffStateFn &difffn, const std::vector< dReal > &c0, const std::vector< dReal > &c1, const std::vector< dReal > &vweights2)
 returns square root of joint distance * weights
 
dReal _CallDistMetricFns (const std::vector< std::pair< PlannerBase::PlannerParameters::DistMetricFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, const std::vector< dReal > &v0, const std::vector< dReal > &v1)
 
bool _CallSampleFns (const std::vector< std::pair< PlannerBase::PlannerParameters::SampleFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v)
 
bool _CallSampleNeighFns (const std::vector< std::pair< PlannerBase::PlannerParameters::SampleNeighFn, int > > &vfunctions, const std::vector< std::pair< PlannerBase::PlannerParameters::DistMetricFn, int > > &vdistfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v, const std::vector< dReal > &vCurSample, dReal fRadius)
 
void CallSetStateFns (const std::vector< std::pair< PlannerBase::PlannerParameters::SetStateFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, const std::vector< dReal > &v)
 
void CallGetStateFns (const std::vector< std::pair< PlannerBase::PlannerParameters::GetStateFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v)
 
bool _CallNeighStateFns (const std::vector< std::pair< PlannerBase::PlannerParameters::NeighStateFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v, const std::vector< dReal > &vdelta, int fromgoal)
 
OPENRAVE_API dReal RaveExp (dReal f)
 exponential
 
OPENRAVE_API dReal RaveLog (dReal f)
 logarithm
 
OPENRAVE_API dReal RaveCos (dReal f)
 cosine
 
OPENRAVE_API dReal RaveSin (dReal f)
 sine
 
OPENRAVE_API dReal RaveTan (dReal f)
 tangent
 
OPENRAVE_API dReal RaveLog2 (dReal f)
 base 2 logarithm
 
OPENRAVE_API dReal RaveLog10 (dReal f)
 base 10 logarithm
 
OPENRAVE_API dReal RaveAcos (dReal f)
 arccosine
 
OPENRAVE_API dReal RaveAsin (dReal f)
 arcsine
 
OPENRAVE_API dReal RaveAtan2 (dReal fy, dReal fx)
 arctangent2 covering entire circle
 
OPENRAVE_API dReal RavePow (dReal fx, dReal fy)
 power x^y
 
OPENRAVE_API dReal RaveSqrt (dReal f)
 square-root
 
OPENRAVE_API dReal RaveFabs (dReal f)
 absolute value
 
Global Functionality - Interface Creation, Plugin Management, Logging

const char * RaveGetInterfaceHash (InterfaceType type)
 Returns the a 16 character null-terminated string specifying a hash of the interfaces used for checking changes.
 
template<typename T >
boost::shared_ptr< T > RaveInterfaceCast (InterfaceBasePtr pinterface)
 Safely casts from the base interface class to an openrave interface using static_pointer_cast.
 
template<typename T >
boost::shared_ptr< T const > RaveInterfaceConstCast (InterfaceBaseConstPtr pinterface)
 Safely casts from the base interface class to an openrave interface using static_pointer_cast.
 
OPENRAVE_API const std::map
< InterfaceType, std::string > & 
RaveGetInterfaceNamesMap ()
 returns a lower case string of the interface type
 
OPENRAVE_API const std::string & RaveGetInterfaceName (InterfaceType type)
 
OPENRAVE_API std::string RaveGetHomeDirectory ()
 Returns the openrave home directory where settings, cache, and other files are stored.
 
OPENRAVE_API std::string RaveFindDatabaseFile (const std::string &filename, bool bRead=true)
 Searches for a filename in the database and returns a full path/URL to it.
 
OPENRAVE_API int RaveInitialize (bool bLoadAllPlugins=true, int level=Level_Info)
 Explicitly initializes the global OpenRAVE state (optional).
 
OPENRAVE_API void RaveInitializeFromState (UserDataPtr globalstate)
 Initializes the global state from an already loaded OpenRAVE environment.
 
OPENRAVE_API UserDataPtr RaveGlobalState ()
 A pointer to the global openrave state.
 
OPENRAVE_API void RaveDestroy ()
 Destroys the entire OpenRAVE state and all loaded environments.
 
OPENRAVE_API void RaveAddCallbackForDestroy (const boost::function< void()> &fn)
 Add a callback when the OpenRAVE global runtime is destroyed.
 
OPENRAVE_API void RaveGetPluginInfo (std::list< std::pair< std::string, PLUGININFO > > &plugins)
 Get all the loaded plugins and the interfaces they support.
 
OPENRAVE_API void RaveGetLoadedInterfaces (std::map< InterfaceType, std::vector< std::string > > &interfacenames)
 Get a list of all the loaded interfaces.
 
OPENRAVE_API void RaveReloadPlugins ()
 Reloads all the plugins.
 
OPENRAVE_API bool RaveLoadPlugin (const std::string &libraryname)
 Load a plugin and its interfaces.
 
OPENRAVE_API bool RaveHasInterface (InterfaceType type, const std::string &interfacename)
 Returns true if interface can be created, otherwise false.
 
OPENRAVE_API InterfaceBasePtr RaveCreateInterface (EnvironmentBasePtr penv, InterfaceType type, const std::string &interfacename)
 
OPENRAVE_API RobotBasePtr RaveCreateRobot (EnvironmentBasePtr penv, const std::string &name="")
 
OPENRAVE_API PlannerBasePtr RaveCreatePlanner (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API SensorSystemBasePtr RaveCreateSensorSystem (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API ControllerBasePtr RaveCreateController (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API ModuleBasePtr RaveCreateModule (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API ModuleBasePtr RaveCreateProblem (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API ModuleBasePtr RaveCreateProblemInstance (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API IkSolverBasePtr RaveCreateIkSolver (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API PhysicsEngineBasePtr RaveCreatePhysicsEngine (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API SensorBasePtr RaveCreateSensor (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API
CollisionCheckerBasePtr 
RaveCreateCollisionChecker (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API ViewerBasePtr RaveCreateViewer (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API SpaceSamplerBasePtr RaveCreateSpaceSampler (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API KinBodyPtr RaveCreateKinBody (EnvironmentBasePtr penv, const std::string &name="")
 
OPENRAVE_API TrajectoryBasePtr RaveCreateTrajectory (EnvironmentBasePtr penv, const std::string &name="")
 Return an empty trajectory instance.
 
OPENRAVE_API TrajectoryBasePtr RaveCreateTrajectory (EnvironmentBasePtr penv, int dof) RAVE_DEPRECATED
 
template<typename T >
boost::shared_ptr< T > RaveClone (boost::shared_ptr< T const > preference, int cloningoptions)
 returned a fully cloned interface
 
OPENRAVE_API UserDataPtr RaveRegisterInterface (InterfaceType type, const std::string &name, const char *interfacehash, const char *envhash, const boost::function< InterfaceBasePtr(EnvironmentBasePtr, std::istream &)> &createfn)
 Registers a function to create an interface, this allows the interface to be created by other modules.
 
OPENRAVE_API UserDataPtr RaveRegisterXMLReader (InterfaceType type, const std::string &xmltag, const CreateXMLReaderFn &fn)
 Registers a custom xml reader for a particular interface.
 
OPENRAVE_API int RaveGetEnvironmentId (EnvironmentBasePtr penv)
 return the environment's unique id, returns 0 if environment could not be found or not registered
 
OPENRAVE_API EnvironmentBasePtr RaveGetEnvironment (int id)
 get the environment from its unique id
 
OPENRAVE_API void RaveGetEnvironments (std::list< EnvironmentBasePtr > &listenvironments)
 Return all the created OpenRAVE environments.
 
OPENRAVE_API BaseXMLReaderPtr RaveCallXMLReader (InterfaceType type, const std::string &xmltag, InterfaceBasePtr pinterface, const AttributesList &atts)
 Returns the current registered reader for the interface type/xmlid.
 
OPENRAVE_API std::string RaveFindLocalFile (const std::string &filename, const std::string &curdir="")
 Returns the absolute path of the filename on the local filesystem resolving relative paths from OpenRAVE paths.
 
OPENRAVE_API void RaveSetDataAccess (int accessoptions)
 Sets the default data access options for cad resources/robot files.
 
OPENRAVE_API int RaveGetDataAccess ()
 Returns the acess options set.
 

変数

static const dReal PI = dReal(3.14159265358979323846)
 openrave constant for PI, could be replaced by accurate precision number depending on choice of dReal.
 
const char s_filesep = '/'
 
static boost::once_flag _onceRaveInitialize = BOOST_ONCE_INIT
 
static std::string s_linearsmoother = "linearsmoother"
 

説明

The entire OpenRAVE library.

型定義

openrave.h851 行で定義されています。

typedef std::list<std::pair<std::string,std::string> > OpenRAVE::AttributesList

a list of key-value pairs. It is possible for keys to repeat.

openrave.h714 行で定義されています。

typedef boost::shared_ptr<BaseXMLReader const> OpenRAVE::BaseXMLReaderConstPtr

openrave.h678 行で定義されています。

typedef boost::shared_ptr<BaseXMLReader> OpenRAVE::BaseXMLReaderPtr
例:
customreader.cpp.

openrave.h676 行で定義されています。

typedef boost::shared_ptr<BaseXMLWriter const> OpenRAVE::BaseXMLWriterConstPtr

Cloning Options for interfaces and environments.

openrave.h683 行で定義されています。

typedef boost::shared_ptr<BaseXMLWriter> OpenRAVE::BaseXMLWriterPtr

openrave.h679 行で定義されています。

plannerparameters.h757 行で定義されています。

kinbody.cpp46 行で定義されています。

openrave.h637 行で定義されています。

openrave.h636 行で定義されています。

openrave.h638 行で定義されています。

collisionchecker.h224 行で定義されています。

typedef boost::shared_ptr<CollisionReport const> OpenRAVE::CollisionReportConstPtr

openrave.h626 行で定義されています。

typedef boost::shared_ptr<CollisionReport> OpenRAVE::CollisionReportPtr

openrave.h623 行で定義されています。

openrave.h1256 行で定義されています。

openrave.h1255 行で定義されています。

plannerparameters.h609 行で定義されています。

plannerparameters.h608 行で定義されています。

typedef boost::shared_ptr<ControllerBase const> OpenRAVE::ControllerBaseConstPtr

openrave.h640 行で定義されています。

typedef boost::shared_ptr<ControllerBase> OpenRAVE::ControllerBasePtr

openrave.h639 行で定義されています。

openrave.h641 行で定義されています。

openrave.h758 行で定義されています。

iksolver.cpp77 行で定義されています。

planner.cpp739 行で定義されています。

typedef float OpenRAVE::dReal

openrave.h99 行で定義されています。

typedef boost::shared_ptr<EnvironmentBase const> OpenRAVE::EnvironmentBaseConstPtr

openrave.h670 行で定義されています。

typedef boost::shared_ptr<EnvironmentBase> OpenRAVE::EnvironmentBasePtr

openrave.h669 行で定義されています。

openrave.h671 行で定義されています。

typedef boost::recursive_try_mutex OpenRAVE::EnvironmentMutex

environment.h27 行で定義されています。

typedef boost::shared_ptr<GraphHandle const> OpenRAVE::GraphHandleConstPtr

viewer.h47 行で定義されています。

typedef boost::shared_ptr<GraphHandle> OpenRAVE::GraphHandlePtr

viewer.h46 行で定義されています。

typedef boost::weak_ptr<GraphHandle const> OpenRAVE::GraphHandleWeakPtr

viewer.h48 行で定義されています。

typedef boost::shared_ptr<GraspParameters const> OpenRAVE::GraspParametersConstPtr

plannerparameters.h426 行で定義されています。

typedef boost::shared_ptr<GraspParameters> OpenRAVE::GraspParametersPtr

plannerparameters.h425 行で定義されています。

typedef boost::shared_ptr<IkReturn> OpenRAVE::IkReturnPtr

openrave.h673 行で定義されています。

typedef boost::weak_ptr<IkReturn> OpenRAVE::IkReturnWeakPtr

openrave.h674 行で定義されています。

typedef boost::shared_ptr<IkSolverBase const> OpenRAVE::IkSolverBaseConstPtr

openrave.h643 行で定義されています。

typedef boost::shared_ptr<IkSolverBase> OpenRAVE::IkSolverBasePtr

openrave.h642 行で定義されています。

typedef boost::weak_ptr<IkSolverBase> OpenRAVE::IkSolverBaseWeakPtr

openrave.h644 行で定義されています。

typedef boost::shared_ptr<InterfaceBase const> OpenRAVE::InterfaceBaseConstPtr

openrave.h628 行で定義されています。

typedef boost::shared_ptr<InterfaceBase> OpenRAVE::InterfaceBasePtr
例:
customreader.cpp, orconveyormovement.cpp, orpythonbinding.cpp, と plugincpp.cpp.

openrave.h627 行で定義されています。

openrave.h629 行で定義されています。

typedef boost::shared_ptr<KinBody const> OpenRAVE::KinBodyConstPtr
例:
orconveyormovement.cpp.

openrave.h631 行で定義されています。

typedef boost::shared_ptr<KinBody> OpenRAVE::KinBodyPtr

openrave.h630 行で定義されています。

typedef boost::weak_ptr<KinBody> OpenRAVE::KinBodyWeakPtr

openrave.h632 行で定義されています。

typedef boost::shared_ptr<ModuleBase const> OpenRAVE::ModuleBaseConstPtr

openrave.h652 行で定義されています。

typedef boost::shared_ptr<ModuleBase> OpenRAVE::ModuleBasePtr

openrave.h651 行で定義されています。

typedef boost::weak_ptr<ModuleBase> OpenRAVE::ModuleBaseWeakPtr

openrave.h653 行で定義されています。

typedef boost::shared_ptr<MultiController const> OpenRAVE::MultiControllerConstPtr

controller.h176 行で定義されています。

typedef boost::shared_ptr<MultiController> OpenRAVE::MultiControllerPtr

controller.h175 行で定義されています。

openrave.h850 行で定義されています。

typedef boost::shared_ptr< OpenRAVEFunctionParserReal > OpenRAVE::OpenRAVEFunctionParserRealPtr

kinbody.h27 行で定義されています。

typedef boost::shared_ptr<PhysicsEngineBase const> OpenRAVE::PhysicsEngineBaseConstPtr

openrave.h646 行で定義されています。

openrave.h645 行で定義されています。

openrave.h647 行で定義されています。

typedef boost::shared_ptr<PlannerBase const> OpenRAVE::PlannerBaseConstPtr

openrave.h649 行で定義されています。

typedef boost::shared_ptr<PlannerBase> OpenRAVE::PlannerBasePtr

openrave.h648 行で定義されています。

typedef boost::weak_ptr<PlannerBase> OpenRAVE::PlannerBaseWeakPtr

openrave.h650 行で定義されています。

typedef InterfaceBasePtr(* OpenRAVE::PluginExportFn_CreateInterface)(InterfaceType type, const std::string &name, const char *pluginhash, EnvironmentBasePtr penv) RAVE_DEPRECATED
非推奨:
(12/01/01)

openrave.h2731 行で定義されています。

typedef bool(* OpenRAVE::PluginExportFn_GetPluginAttributes)(PLUGININFO *pinfo, int size) RAVE_DEPRECATED
非推奨:
(12/01/01)

openrave.h2734 行で定義されています。

module.h67 行で定義されています。

module.h69 行で定義されています。

module.h68 行で定義されています。

module.h70 行で定義されています。

非推奨:
(11/10/04)
非推奨:
(12/04/29)

collisionchecker.h90 行で定義されています。

openrave.h852 行で定義されています。

typedef boost::shared_ptr<RobotBase const> OpenRAVE::RobotBaseConstPtr
例:
ortrajectory.cpp.

openrave.h634 行で定義されています。

typedef boost::shared_ptr<RobotBase> OpenRAVE::RobotBasePtr
例:
orplanning_multirobot.cpp.

openrave.h633 行で定義されています。

typedef boost::weak_ptr<RobotBase> OpenRAVE::RobotBaseWeakPtr

openrave.h635 行で定義されています。

typedef boost::shared_ptr<RRTParameters> OpenRAVE::RRTParametersPtr

plannerparameters.h698 行で定義されています。

typedef boost::shared_ptr<SensorBase const> OpenRAVE::SensorBaseConstPtr

openrave.h655 行で定義されています。

typedef boost::shared_ptr<SensorBase> OpenRAVE::SensorBasePtr

openrave.h654 行で定義されています。

typedef boost::weak_ptr<SensorBase> OpenRAVE::SensorBaseWeakPtr

openrave.h656 行で定義されています。

typedef boost::shared_ptr<SensorSystemBase const> OpenRAVE::SensorSystemBaseConstPtr

openrave.h658 行で定義されています。

typedef boost::shared_ptr<SensorSystemBase> OpenRAVE::SensorSystemBasePtr

openrave.h657 行で定義されています。

openrave.h659 行で定義されています。

typedef boost::shared_ptr<SerializableData> OpenRAVE::SerializableDataPtr

openrave.h254 行で定義されています。

openrave.h255 行で定義されています。

typedef boost::shared_ptr<SpaceSamplerBase const> OpenRAVE::SpaceSamplerBaseConstPtr

openrave.h667 行で定義されています。

typedef boost::shared_ptr<SpaceSamplerBase> OpenRAVE::SpaceSamplerBasePtr

openrave.h666 行で定義されています。

openrave.h668 行で定義されています。

typedef boost::shared_ptr<TrajectoryBase const> OpenRAVE::TrajectoryBaseConstPtr

openrave.h661 行で定義されています。

typedef boost::shared_ptr<TrajectoryBase> OpenRAVE::TrajectoryBasePtr
例:
ortrajectory.cpp.

openrave.h660 行で定義されています。

openrave.h662 行で定義されています。

plannerparameters.h520 行で定義されています。

plannerparameters.h519 行で定義されています。

例:
orplanning_door.cpp.

openrave.h844 行で定義されています。

typedef boost::shared_ptr< RaveTransform<dReal> const > OpenRAVE::TransformConstPtr

openrave.h846 行で定義されています。

openrave.h847 行で定義されています。

typedef boost::shared_ptr< RaveTransformMatrix<dReal> const > OpenRAVE::TransformMatrixConstPtr

openrave.h849 行で定義されています。

openrave.h848 行で定義されています。

typedef boost::shared_ptr< RaveTransform<dReal> > OpenRAVE::TransformPtr

openrave.h845 行で定義されています。

typedef boost::shared_ptr<UserData> OpenRAVE::UserDataPtr
例:
orpythonbinding.cpp.

openrave.h238 行で定義されています。

typedef boost::weak_ptr<UserData> OpenRAVE::UserDataWeakPtr

openrave.h239 行で定義されています。

typedef RaveVector<dReal> OpenRAVE::Vector
typedef boost::shared_ptr<ViewerBase const> OpenRAVE::ViewerBaseConstPtr

openrave.h664 行で定義されています。

typedef boost::shared_ptr<ViewerBase> OpenRAVE::ViewerBasePtr

openrave.h663 行で定義されています。

typedef boost::weak_ptr<ViewerBase> OpenRAVE::ViewerBaseWeakPtr

openrave.h665 行で定義されています。

plannerparameters.h640 行で定義されています。

plannerparameters.h639 行で定義されています。

typedef boost::shared_ptr<XMLReadable const> OpenRAVE::XMLReadableConstPtr

openrave.h711 行で定義されています。

typedef boost::shared_ptr<XMLReadable> OpenRAVE::XMLReadablePtr

openrave.h710 行で定義されています。

列挙型

列挙型の値:
Clone_Bodies 

clone all the bodies/robots of the environment, exclude attached interfaces like sensors/controllers

Clone_Viewer 

clone the viewer type, although figures won't be copied, new viewer does try to match views

Clone_Simulation 

clone the physics engine and simulation state (ie, timesteps, gravity)

Clone_RealControllers 

if specified, will clone the real controllers of all the robots, otherwise each robot gets ideal controller

Clone_Sensors 

if specified, will clone the sensors attached to the robot and added to the environment

openrave.h684 行で定義されています。

action to perform whenever a collision is detected between objects

列挙型の値:
CA_DefaultAction 

let the physics/collision engine resolve the action

CA_Ignore 

do nothing

collisionchecker.h45 行で定義されています。

options for collision checker

列挙型の値:
CO_Distance 

Compute distance measurements, this is usually slow and not all checkers support it.

CO_UseTolerance 

not used

CO_Contacts 

Return the contact points of the collision in the CollisionReport. Note that this takes longer to compute.

CO_RayAnyHit 

When performing collision with rays, if this is set, algorithm just returns any hit instead of the closest (can be faster)

CO_ActiveDOFs 

Allows planners to greatly reduce redundant collision checks. If set and the target object is a robot, then only the links controlled by the currently set active DOFs and their attached bodies will be checked for collisions.

The things that will not be checked for collision are:

  • links that do not remove with respect to each other as a result of moving the active dofs.

collisionchecker.h28 行で定義されています。

列挙型の値:
Level_Fatal 
Level_Error 
Level_Warn 
Level_Info 
Level_Debug 
Level_Verbose 
Level_OutputMask 
Level_VerifyPlans 

if set, should verify every plan returned. the verification is left up to the planners or the modules calling the planners. See planningutils::ValidateTrajectory

例:
orpythonbinding.cpp.

openrave.h334 行で定義されています。

Selects which DOFs of the affine transformation to include in the active configuration.

列挙型の値:
DOF_NoTransform 
DOF_X 

can move in the x direction

DOF_Y 

can move in the y direction

DOF_Z 

can move in the z direction

DOF_XYZ 

moves in xyz direction

DOF_RotationAxis 

can rotate around an axis (1 dof)

DOF_Rotation3D 

can rotate freely (3 dof), the parameterization is theta * v, where v is the rotation axis and theta is the angle about that axis

DOF_RotationQuat 

can rotate freely (4 dof), parameterization is a quaternion. In order for limits to work correctly, the quaternion is in the space of _vRotationQuatLimitStart. _vRotationQuatLimitStart is always left-multiplied before setting the transform!

DOF_RotationMask 

mask for all bits representing 3D rotations

DOF_Transform 

translate and rotate freely in 3D space

openrave.h2347 行で定義されています。

The type of geometry primitive.

列挙型の値:
GT_None 
GT_Box 
GT_Sphere 
GT_Cylinder 

oriented towards z-axis

GT_TriMesh 

kinbody.h31 行で定義されています。

Controls what information gets validated when searching for an inverse kinematics solution.

列挙型の値:
IKFO_CheckEnvCollisions 

will check environment collisions with the robot (not checked by default)

IKFO_IgnoreSelfCollisions 

will not check the self-collision of the robot (checked by default). This also ignores the end effector collisions.

IKFO_IgnoreJointLimits 

will not check the joint limits of the robot (checked by default). This has the side effect of only returning solutions within 360 degrees for revolute joints, even if they have a range > 360.

IKFO_IgnoreCustomFilters 

will not use the custom filter, even if one is set

IKFO_IgnoreEndEffectorCollisions 
参照
IKFO_IgnoreEndEffectorEnvCollisions
IKFO_IgnoreEndEffectorEnvCollisions 

will not check collision with the environment and the end effector links and bodies attached to the end effector links. The end effector links are defined by RobotBase::Manipulator::GetChildLinks. Use this option when RobotBase::Manipulator::CheckEndEffectorCollision has already been called, or it is ok for the end effector to collide given the IK constraints. Self-collisions between the moving links and end effector are still checked.

IKFO_IgnoreEndEffectorSelfCollisions 

will not check self-collisions with the end effector. The end effector links are defined by RobotBase::Manipulator::GetChildLinks. Use this option if it is ok for the end effector to collide given the IK constraints. Collisions between the moving links and end effector are still checked.

iksolver.h28 行で定義されています。

The types of inverse kinematics parameterizations supported.

The minimum degree of freedoms required is set in the upper 4 bits of each type. The number of values used to represent the parameterization ( >= dof ) is the next 4 bits. The lower bits contain a unique id of the type.

列挙型の値:
IKP_None 
IKP_Transform6D 

end effector reaches desired 6D transformation

IKP_Rotation3D 

end effector reaches desired 3D rotation

IKP_Translation3D 

end effector origin reaches desired 3D translation

IKP_Direction3D 

direction on end effector coordinate system reaches desired direction

IKP_Ray4D 

ray on end effector coordinate system reaches desired global ray

IKP_Lookat3D 

direction on end effector coordinate system points to desired 3D position

IKP_TranslationDirection5D 

end effector origin and direction reaches desired 3D translation and direction. Can be thought of as Ray IK where the origin of the ray must coincide.

IKP_TranslationXY2D 

2D translation along XY plane

IKP_TranslationXYOrientation3D 

2D translation along XY plane and 1D rotation around Z axis. The offset of the rotation is measured starting at +X, so at +X is it 0, at +Y it is pi/2.

IKP_TranslationLocalGlobal6D 

local point on end effector origin reaches desired 3D global point

IKP_TranslationXAxisAngle4D 

end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with x-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)

IKP_TranslationYAxisAngle4D 

end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with y-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)

IKP_TranslationZAxisAngle4D 

end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with z-axis like a cone, angle is from 0-pi. Axes are defined in the manipulator base link's coordinate system.

IKP_TranslationXAxisAngleZNorm4D 

end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the x-axis (defined in the manipulator base link's coordinate system)

IKP_TranslationYAxisAngleXNorm4D 

end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to x-axis and be rotated at a certain angle starting from the y-axis (defined in the manipulator base link's coordinate system)

IKP_TranslationZAxisAngleYNorm4D 

end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to y-axis and be rotated at a certain angle starting from the z-axis (defined in the manipulator base link's coordinate system)

IKP_NumberOfParameterizations 

number of parameterizations (does not count IKP_None)

IKP_VelocityDataBit 

bit is set if the data represents the time-derivate velocity of an IkParameterization

IKP_Transform6DVelocity 
IKP_Rotation3DVelocity 
IKP_Translation3DVelocity 
IKP_Direction3DVelocity 
IKP_Ray4DVelocity 
IKP_Lookat3DVelocity 
IKP_TranslationDirection5DVelocity 
IKP_TranslationXY2DVelocity 
IKP_TranslationXYOrientation3DVelocity 
IKP_TranslationLocalGlobal6DVelocity 
IKP_TranslationXAxisAngle4DVelocity 
IKP_TranslationYAxisAngle4DVelocity 
IKP_TranslationZAxisAngle4DVelocity 
IKP_TranslationXAxisAngleZNorm4DVelocity 
IKP_TranslationYAxisAngleXNorm4DVelocity 
IKP_TranslationZAxisAngleYNorm4DVelocity 
IKP_UniqueIdMask 

the mask for the unique ids

IKP_CustomDataBit 

bit is set if the ikparameterization contains custom data, this is only used when serializing the ik parameterizations

openrave.h876 行で定義されています。

Return value for the ik filter that can be optionally set on an ik solver.

列挙型の値:
IKRA_Success 

the ik solution is good

IKRA_Reject 

reject the ik solution

IKRA_Quit 

the ik solution is rejected and the ik call itself should quit with failure

IKRA_QuitEndEffectorCollision 
IKRA_RejectKinematics 
IKRA_RejectSelfCollision 
IKRA_RejectEnvCollision 
IKRA_RejectJointLimits 
IKRA_RejectKinematicsPrecision 
IKRA_RejectCustomFilter 

iksolver.h40 行で定義されています。

Specifies the boundary conditions of intervals for sampling.

列挙型の値:
IT_Open 

(a,b)

IT_OpenStart 

(a,b]

IT_OpenEnd 

[a,b)

IT_Closed 

[a,b]

spacesampler.h28 行で定義されています。

OpenRAVE error codes

列挙型の値:
ORE_Failed 
ORE_InvalidArguments 

passed in input arguments are not valid

ORE_EnvironmentNotLocked 
ORE_CommandNotSupported 

string command could not be parsed or is not supported

ORE_Assert 
ORE_InvalidPlugin 

shared object is not a valid plugin

ORE_InvalidInterfaceHash 

interface hashes do not match between plugins

ORE_NotImplemented 

function is not implemented by the interface.

ORE_InconsistentConstraints 

returned solutions or trajectories do not follow the constraints of the planner/module. The constraints invalidated here are planning constraints, not programming constraints.

ORE_NotInitialized 

when object is used without it getting fully initialized

ORE_InvalidState 

the state of the object is not consistent with its parameters, or cannot be used. This is usually due to a programming error where a vector is not the correct length, etc.

ORE_Timeout 

process timed out

openrave.h140 行で定義されています。

basic options for physics engine

列挙型の値:
PEO_SelfCollisions 

if set, physics engine will use contact forces from self-collisions

physicsengine.h28 行で定義されています。

action to send to the planner while it is planning. This is usually done by the user-specified planner callback function

列挙型の値:
PA_None 

no action

PA_Interrupt 

interrupt the planner and return to user

PA_ReturnWithAnySolution 

return quickly with any path

planner.h37 行で定義されています。

the status of the PlanPath method. Used when PlanPath can be called multiple times to resume planning.

列挙型の値:
PS_Failed 

planner failed

PS_HasSolution 

planner succeeded

PS_Interrupted 

planning was interrupted, but can be resumed by calling PlanPath again

PS_InterruptedWithSolution 

planner.h28 行で定義されています。

列挙型の値:
SDT_Real 
SDT_Uint32 

spacesampler.h35 行で定義されています。

serialization options for interfaces

列挙型の値:
SO_Kinematics 

kinematics information

SO_Dynamics 

dynamics information

SO_BodyState 

state of the body

SO_NamesAndFiles 

resource files and names

SO_RobotManipulators 

serialize robot manipulators

SO_RobotSensors 

serialize robot sensors

SO_Geometry 

geometry information (for collision detection)

interface.h28 行で定義されています。

関数

void OpenRAVE::_CallDiffStateFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::DiffStateFn, int > > &  vfunctions,
int  nDOF,
int  nMaxDOFForGroup,
std::vector< dReal > &  v0,
const std::vector< dReal > &  v1 
)

planner.cpp375 行で定義されています。

dReal OpenRAVE::_CallDistMetricFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::DistMetricFn, int > > &  vfunctions,
int  nDOF,
int  nMaxDOFForGroup,
const std::vector< dReal > &  v0,
const std::vector< dReal > &  v1 
)

planner.cpp413 行で定義されています。

bool OpenRAVE::_CallNeighStateFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::NeighStateFn, int > > &  vfunctions,
int  nDOF,
int  nMaxDOFForGroup,
std::vector< dReal > &  v,
const std::vector< dReal > &  vdelta,
int  fromgoal 
)

planner.cpp525 行で定義されています。

bool OpenRAVE::_CallSampleFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::SampleFn, int > > &  vfunctions,
int  nDOF,
int  nMaxDOFForGroup,
std::vector< dReal > &  v 
)

planner.cpp437 行で定義されています。

bool OpenRAVE::_CallSampleNeighFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::SampleNeighFn, int > > &  vfunctions,
const std::vector< std::pair< PlannerBase::PlannerParameters::DistMetricFn, int > > &  vdistfunctions,
int  nDOF,
int  nMaxDOFForGroup,
std::vector< dReal > &  v,
const std::vector< dReal > &  vCurSample,
dReal  fRadius 
)

planner.cpp457 行で定義されています。

dReal OpenRAVE::_EvalJointDOFDistanceMetric ( const PlannerBase::PlannerParameters::DiffStateFn &  difffn,
const std::vector< dReal > &  c0,
const std::vector< dReal > &  c1,
const std::vector< dReal > &  vweights2 
)

returns square root of joint distance * weights

引数
vweights2squared weights

planner.cpp402 行で定義されています。

bool OpenRAVE::addstates ( std::vector< dReal > &  q,
const std::vector< dReal > &  qdelta,
int  fromgoal 
)

planner.cpp58 行で定義されています。

void OpenRAVE::CallGetStateFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::GetStateFn, int > > &  vfunctions,
int  nDOF,
int  nMaxDOFForGroup,
std::vector< dReal > &  v 
)

planner.cpp508 行で定義されています。

void OpenRAVE::CallSetStateFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::SetStateFn, int > > &  vfunctions,
int  nDOF,
int  nMaxDOFForGroup,
const std::vector< dReal > &  v 
)

planner.cpp490 行で定義されています。

std::string OpenRAVE::ChangeTextColor ( int  attribute,
int  fg,
int  bg 
)
inline

Change the text color (on either stdout or stderr) with an attr:fg:bg (thanks to Radu Rusu for the code)

openrave.h276 行で定義されています。

std::string OpenRAVE::ChangeTextColor ( int  attribute,
int  fg 
)
inline

Change the text color (on either stdout or stderr) with an attr:fg (thanks to Radu Rusu for the code)

openrave.h284 行で定義されています。

std::wstring OpenRAVE::ChangeTextColorW ( int  attribute,
int  fg 
)
inline

openrave.h299 行で定義されています。

static TransformMatrix OpenRAVE::ComputeInertia ( const Transform &  tMassFrame,
const Vector &  vinertiamoments 
)
static

_tMassFrame * PrincipalInertia * _tMassFrame.inverse()

from openravepy.ikfast import * quat = [Symbol('q0'),Symbol('q1'),Symbol('q2'),Symbol('q3')] IKFastSolver.matrixFromQuat(quat) Inertia = eye(3) Inertia[0,0] = Symbol('i0'); Inertia[1,1] = Symbol('i1'); Inertia[2,2] = Symbol('i2') MM = M * Inertia * M.transpose()

kinbodylink.cpp100 行で定義されています。

OPENRAVE_CORE_API EnvironmentBasePtr OpenRAVE::CreateEnvironment ( bool  bLoadAllPlugins = true)
OpenRAVEFunctionParserRealPtr OpenRAVE::CreateJointFunctionParser ( )

kinbodyjoint.cpp86 行で定義されています。

bool OpenRAVE::CustomIkSolverFilterDataCompare ( UserDataPtr  data0,
UserDataPtr  data1 
)

iksolver.cpp79 行で定義されています。

OpenRAVE::DefineRavePrintfW ( _FATALLEVEL  )

adds the function name and line number to an openrave exception

Enumeration of all the interfaces.

< describes PlannerBase interface

< describes RobotBase interface

< describes SensorSystemBase interface

< describes ControllerBase interface

< describes ModuleBase interface

< describes ModuleBase interface

< describes IkSolverBase interface

< describes IkSolverBase interface

< describes KinBody

< describes PhysicsEngineBase

< describes SensorBase

< describes CollisionCheckerBase

< describes TrajectoryBase

< describes ViewerBase

< describes SamplerBase

< number of interfaces, do not forget to update

openrave.h523 行で定義されています。

template<int D>
static void OpenRAVE::fparser_polyroots ( vector< dReal > &  rawroots,
const vector< dReal > &  rawcoeffs 
)
static

kinbodyjoint.cpp52 行で定義されています。

static void OpenRAVE::fparser_polyroots2 ( vector< dReal > &  rawroots,
const vector< dReal > &  rawcoeffs 
)
static

kinbodyjoint.cpp42 行で定義されています。

static void OpenRAVE::fparser_sasa ( std::vector< dReal > &  res,
const vector< dReal > &  coeffs 
)
static

take triangle 2 sides and an angle and compute the missing angle

kinbodyjoint.cpp71 行で定義されています。

static void OpenRAVE::fparser_sass ( std::vector< dReal > &  res,
const vector< dReal > &  coeffs 
)
static

take triangle 2 sides and an angle and compute the missing side

kinbodyjoint.cpp79 行で定義されています。

static void OpenRAVE::fparser_sssa ( std::vector< dReal > &  res,
const vector< dReal > &  coeffs 
)
static

kinbodyjoint.cpp62 行で定義されています。

const char* OpenRAVE::GetErrorCodeString ( OpenRAVEErrorCode  error)
inline

openrave.h155 行で定義されています。

template<typename T >
T OpenRAVE::NormalizeCircularAnglePrivate ( theta,
min,
max 
)
inline

openrave.h1259 行で定義されています。

IkParameterization OpenRAVE::operator* ( const Transform &  t,
const IkParameterization &  ikparam 
)
inline

openrave.h2233 行で定義されています。

std::ostream & OpenRAVE::operator<< ( std::ostream &  O,
const PlannerBase::PlannerParameters &  v 
)
<PlannerParameters> 

tags

planner.cpp332 行で定義されています。

OPENRAVE_API std::ostream& OpenRAVE::operator<< ( std::ostream &  O,
const ConfigurationSpecification &  spec 
)
std::ostream & OpenRAVE::operator<< ( std::ostream &  O,
const IkParameterization &  ikparam 
)

libopenrave.cpp1150 行で定義されています。

std::ostream & OpenRAVE::operator<< ( std::ostream &  O,
const TriMesh &  trimesh 
)

libopenrave.cpp1741 行で定義されています。

std::istream & OpenRAVE::operator>> ( std::istream &  I,
PlannerBase::PlannerParameters &  v 
)
<PlannerParameters> 

to be the first token. Parses stream until

</PlannerParameters> 

reached

planner.cpp25 行で定義されています。

OPENRAVE_API std::istream& OpenRAVE::operator>> ( std::istream &  I,
ConfigurationSpecification &  spec 
)
std::istream & OpenRAVE::operator>> ( std::istream &  I,
IkParameterization &  ikparam 
)

libopenrave.cpp1250 行で定義されています。

std::istream & OpenRAVE::operator>> ( std::istream &  I,
TriMesh &  trimesh 
)

libopenrave.cpp1747 行で定義されています。

void OpenRAVE::RaveAddCallbackForDestroy ( const boost::function< void()> &  fn)

Add a callback when the OpenRAVE global runtime is destroyed.

The callback is called after all OpenRAVE environments have been destroyed and before plugins are unloaded. Callback is added only for this run-time. Once the run-time is destroyed/swapped, it will have to be re-added. OpenRAVE runtime is destroyed when RaveDestroy is called or on system exits.

libopenrave.cpp974 行で定義されています。

BaseXMLReaderPtr OpenRAVE::RaveCallXMLReader ( InterfaceType  type,
const std::string &  xmltag,
InterfaceBasePtr  pinterface,
const AttributesList &  atts 
)

Returns the current registered reader for the interface type/xmlid.

例外
openrave_exceptionWill throw with ORE_InvalidArguments if registered function could not be found.

libopenrave.cpp1114 行で定義されています。

template<typename T >
boost::shared_ptr<T> OpenRAVE::RaveClone ( boost::shared_ptr< T const >  preference,
int  cloningoptions 
)
inline

returned a fully cloned interface

openrave.h2611 行で定義されています。

CollisionCheckerBasePtr OpenRAVE::RaveCreateCollisionChecker ( EnvironmentBasePtr  penv,
const std::string &  name 
)
例:
orcollision.cpp.

libopenrave.cpp1074 行で定義されています。

ControllerBasePtr OpenRAVE::RaveCreateController ( EnvironmentBasePtr  penv,
const std::string &  name 
)
例:
ormulticontrol.cpp.

libopenrave.cpp1039 行で定義されています。

OPENRAVE_CORE_API EnvironmentBasePtr OpenRAVE::RaveCreateEnvironment ( )

Creates an OpenRAVE environment.

引数
bLoadAllPluginspassed into RaveInitialize
例:
ikfastloader.cpp, orcollision.cpp, orikfilter.cpp, orloadviewer.cpp, と orqtcoinviewercustom.cpp.
IkSolverBasePtr OpenRAVE::RaveCreateIkSolver ( EnvironmentBasePtr  penv,
const std::string &  name 
)

libopenrave.cpp1059 行で定義されています。

InterfaceBasePtr OpenRAVE::RaveCreateInterface ( EnvironmentBasePtr  penv,
InterfaceType  type,
const std::string &  interfacename 
)

libopenrave.cpp1019 行で定義されています。

KinBodyPtr OpenRAVE::RaveCreateKinBody ( EnvironmentBasePtr  penv,
const std::string &  name = "" 
)
例:
orpr2turnlever.cpp.

libopenrave.cpp1084 行で定義されています。

ModuleBasePtr OpenRAVE::RaveCreateModule ( EnvironmentBasePtr  penv,
const std::string &  name 
)
PhysicsEngineBasePtr OpenRAVE::RaveCreatePhysicsEngine ( EnvironmentBasePtr  penv,
const std::string &  name 
)
例:
ormulticontrol.cpp.

libopenrave.cpp1064 行で定義されています。

PlannerBasePtr OpenRAVE::RaveCreatePlanner ( EnvironmentBasePtr  penv,
const std::string &  name 
)
ModuleBasePtr OpenRAVE::RaveCreateProblem ( EnvironmentBasePtr  penv,
const std::string &  name 
)

libopenrave.cpp1049 行で定義されています。

ModuleBasePtr OpenRAVE::RaveCreateProblemInstance ( EnvironmentBasePtr  penv,
const std::string &  name 
)

libopenrave.cpp1054 行で定義されています。

RobotBasePtr OpenRAVE::RaveCreateRobot ( EnvironmentBasePtr  penv,
const std::string &  name = "" 
)

libopenrave.cpp1024 行で定義されています。

SensorBasePtr OpenRAVE::RaveCreateSensor ( EnvironmentBasePtr  penv,
const std::string &  name 
)

libopenrave.cpp1069 行で定義されています。

SensorSystemBasePtr OpenRAVE::RaveCreateSensorSystem ( EnvironmentBasePtr  penv,
const std::string &  name 
)

libopenrave.cpp1034 行で定義されています。

SpaceSamplerBasePtr OpenRAVE::RaveCreateSpaceSampler ( EnvironmentBasePtr  penv,
const std::string &  name 
)
例:
orconveyormovement.cpp, と orplanning_door.cpp.

libopenrave.cpp1099 行で定義されています。

TrajectoryBasePtr OpenRAVE::RaveCreateTrajectory ( EnvironmentBasePtr  penv,
const std::string &  name = "" 
)
TrajectoryBasePtr OpenRAVE::RaveCreateTrajectory ( EnvironmentBasePtr  penv,
int  dof 
)
非推奨:
(11/10/01)

libopenrave.cpp1094 行で定義されています。

ViewerBasePtr OpenRAVE::RaveCreateViewer ( EnvironmentBasePtr  penv,
const std::string &  name 
)
例:
orloadviewer.cpp, と orqtcoinviewercustom.cpp.

libopenrave.cpp1079 行で定義されています。

void OpenRAVE::RaveDestroy ( )

Destroys the entire OpenRAVE state and all loaded environments.

This functions should be always called before program shutdown in order to assure all resources are relased appropriately.

例:
ikfastloader.cpp, orcollision.cpp, と orikfilter.cpp.

libopenrave.cpp969 行で定義されています。

std::string OpenRAVE::RaveFindDatabaseFile ( const std::string &  filename,
bool  bRead = true 
)

Searches for a filename in the database and returns a full path/URL to it.

引数
filenamethe relative filename in the database
bReadif true will only return a file if it exists. If false, will return the filename of the first valid database directory.
戻り値
a non-empty string if a file could be found.

libopenrave.cpp944 行で定義されています。

std::string OpenRAVE::RaveFindLocalFile ( const std::string &  filename,
const std::string &  curdir = "" 
)

Returns the absolute path of the filename on the local filesystem resolving relative paths from OpenRAVE paths.

The OpenRAVE paths consist of a list of directories specified by $OPENRAVE_DATA environment variable and custom added user paths. Requires boost::filesystem to be installed

引数
filenamethe filename to look for
curdirthe current directory in case the filename is relative
戻り値
an empty string if file isn't found, otherwise path to full filename on local filesystem

libopenrave.cpp1119 行で定義されています。

OPENRAVE_API ConfigurationSpecification OpenRAVE::RaveGetAffineConfigurationSpecification ( int  affinedofs,
KinBodyConstPtr  pbody = KinBodyConstPtr(),
const std::string &  interpolation = "" 
)
int OpenRAVE::RaveGetAffineDOF ( int  affinedofs)

Returns the degrees of freedom needed to represent all the values in the affine dof mask.

例外
openrave_exceptionthrows if

libopenrave.cpp1438 行で定義されています。

DOFAffine OpenRAVE::RaveGetAffineDOFFromIndex ( int  affinedofs,
int  index 
)

Given a mask of affine dofs and an index into the array, returns the affine dof that is being referenced.

引数
affinedofsa mask of DOFAffine values
indexan index into the affine dof array
例外
openrave_exceptionthrows if dof if index is out of bounds

libopenrave.cpp1404 行で定義されています。

void OpenRAVE::RaveGetAffineDOFValuesFromTransform ( std::vector< dReal >::iterator  itvalues,
const Transform &  t,
int  affinedofs,
const Vector &  axis = Vector(0,0,1) 
)

Converts the transformation matrix into the specified affine values format.

引数
[out]itvaluesan iterator to the vector to write the values to. Will write exactly RaveGetAffineDOF(affinedofs) values.
[in]tthe affine transformation to convert
[in]affinedofsthe affine format to output values in
[in]axisoptional rotation axis if affinedofs specified DOF_RotationAxis

libopenrave.cpp1471 行で定義されています。

void OpenRAVE::RaveGetAffineDOFValuesFromVelocity ( std::vector< dReal >::iterator  itvalues,
const Vector &  linearvel,
const Vector &  angularvel,
const Vector &  quatrotation,
int  affinedofs,
const Vector &  axis = Vector(0,0,1) 
)

Converts the linar and angular velocities into the specified affine values format.

引数
[out]itvaluesan iterator to the vector to write the values to. Will write exactly RaveGetAffineDOF(affinedofs) values.
[in]linearvelthe linear velocity to convert
[in]angularvelthe angular velocity to convert
[in]quatrotationthe rotation (in quaternion) of the frame that has the linearvel and angularvel. Used if affinedofs specified DOF_RotationAxis.
[in]affinedofsthe affine format to output values in
[in]axisoptional rotation axis if affinedofs specified DOF_RotationAxis

libopenrave.cpp1508 行で定義されています。

int OpenRAVE::RaveGetDataAccess ( )

Returns the acess options set.

参照
RaveSetDataAccess

libopenrave.cpp1134 行で定義されています。

int OpenRAVE::RaveGetDebugLevel ( )

Returns the openrave debug level.

libopenrave.cpp908 行で定義されています。

EnvironmentBasePtr OpenRAVE::RaveGetEnvironment ( int  id)

get the environment from its unique id

引数
idthe unique environment id returned by RaveGetEnvironmentId
例:
orpythonbinding.cpp.

libopenrave.cpp984 行で定義されています。

int OpenRAVE::RaveGetEnvironmentId ( EnvironmentBasePtr  penv)

return the environment's unique id, returns 0 if environment could not be found or not registered

例:
orpythonbinding.cpp.

libopenrave.cpp979 行で定義されています。

void OpenRAVE::RaveGetEnvironments ( std::list< EnvironmentBasePtr > &  listenvironments)

Return all the created OpenRAVE environments.

libopenrave.cpp989 行で定義されています。

std::string OpenRAVE::RaveGetHomeDirectory ( )

Returns the openrave home directory where settings, cache, and other files are stored.

On Linux/Unix systems, this is usually $HOME/.openrave, on Windows this is $HOMEPATH/.openrave

libopenrave.cpp939 行で定義されています。

const std::map< IkParameterizationType, std::string > & OpenRAVE::RaveGetIkParameterizationMap ( int  alllowercase = 0)

returns a string of the ik parameterization type names

引数
[in]alllowercaseIf 1, sets all characters to lower case. Otherwise can include upper case in order to match IkParameterizationType definition.

libopenrave.cpp918 行で定義されています。

IkParameterizationType OpenRAVE::RaveGetIkTypeFromUniqueId ( int  uniqueid)

returns the IkParameterizationType given the unique id detmerined b IKP_UniqueIdMask

libopenrave.cpp923 行で定義されています。

int OpenRAVE::RaveGetIndexFromAffineDOF ( int  affinedofs,
DOFAffine  dof 
)

Given a mask of affine dofs and a dof inside that mask, returns the index where the value could be found.

引数
affinedofsa mask of DOFAffine values
dofa set of values inside affinedofs, the index of the first value is returned
例外
openrave_exceptionthrows if dof is not present in affinedofs

libopenrave.cpp1369 行で定義されています。

const char* OpenRAVE::RaveGetInterfaceHash ( InterfaceType  type)
inline

Returns the a 16 character null-terminated string specifying a hash of the interfaces used for checking changes.

openrave.h2456 行で定義されています。

const std::string & OpenRAVE::RaveGetInterfaceName ( InterfaceType  type)
例:
orcollision.cpp.

libopenrave.cpp934 行で定義されています。

const std::map< InterfaceType, std::string > & OpenRAVE::RaveGetInterfaceNamesMap ( )

returns a lower case string of the interface type

libopenrave.cpp913 行で定義されています。

void OpenRAVE::RaveGetLoadedInterfaces ( std::map< InterfaceType, std::vector< std::string > > &  interfacenames)

Get a list of all the loaded interfaces.

例:
orcollision.cpp.

libopenrave.cpp999 行で定義されています。

void OpenRAVE::RaveGetPluginInfo ( std::list< std::pair< std::string, PLUGININFO > > &  plugins)

Get all the loaded plugins and the interfaces they support.

引数
pluginsA list of plugins. Each entry has the plugin name and the interfaces it supports

libopenrave.cpp994 行で定義されています。

const char* OpenRAVE::RaveGetSourceFilename ( const char *  pfilename)
inline

extracts only the filename

openrave.h359 行で定義されています。

void OpenRAVE::RaveGetTransformFromAffineDOFValues ( Transform &  t,
std::vector< dReal >::const_iterator  itvalues,
int  affinedofs,
const Vector &  axis = Vector(0,0,1),
bool  normalize = true 
)

Converts affine dof values into a transform.

Note that depending on what the dof values holds, only a part of the transform will be updated.

引数
inout]t the output transform
[in]itvaluesthe start iterator of the affine dof values
[in]affinedofsthe affine dof mask
[in]axisoptional rotation axis if affinedofs specified (vActvAffineRotationAxis of RobotBase) DOF_RotationAxis
[in]normalizeif true will normalize rotations, should set to false if extracting velocity data

libopenrave.cpp1536 行で定義されています。

void OpenRAVE::RaveGetVelocityFromAffineDOFVelocities ( Vector &  linearvel,
Vector &  angularvel,
std::vector< dReal >::const_iterator  itvalues,
int  affinedofs,
const Vector &  axis = Vector(0,0,1),
const Vector &  quatrotation = Vector(1,0,0,0) 
)

Converts affine dof velocities into linear and angular velocity vectors.

Note that depending on what the dof values holds, only a part of the transform will be updated.

引数
[out]linearvelthe output transform
[in]itvaluesthe start iterator of the affine dof values
[in]affinedofsthe affine dof mask
[in]axisoptional rotation axis if affinedofs specified (vActvAffineRotationAxis of RobotBase) DOF_RotationAxis
[in]normalizeif true will normalize rotations, should set to false if extracting velocity data
[in]quatrotationthe quaternion of 3d rotation of the frame where the velocity is being measured at.

libopenrave.cpp1594 行で定義されています。

UserDataPtr OpenRAVE::RaveGlobalState ( )

A pointer to the global openrave state.

戻り値
a managed pointer to the state.
例:
orpythonbinding.cpp.

libopenrave.cpp959 行で定義されています。

bool OpenRAVE::RaveHasInterface ( InterfaceType  type,
const std::string &  interfacename 
)

Returns true if interface can be created, otherwise false.

libopenrave.cpp1014 行で定義されています。

int OpenRAVE::RaveInitialize ( bool  bLoadAllPlugins = true,
int  level = Level_Info 
)

Explicitly initializes the global OpenRAVE state (optional).

Optional function to initialize openrave plugins, logging, and read OPENRAVE_* environment variables. Although environment creation will automatically make sure this function is called, users might want explicit control of when this happens. Will not do anything if OpenRAVE runtime is already initialized. If OPENRAVE_* environment variables must be re-read, first call RaveDestroy.

引数
bLoadAllPluginsIf true will load all the openrave plugins automatically that can be found in the OPENRAVE_PLUGINS environment path
戻り値
0 if successful, otherwise an error code
例:
ikfastloader.cpp, orcollision.cpp, orikfilter.cpp, orloadviewer.cpp, と orqtcoinviewercustom.cpp.

libopenrave.cpp949 行で定義されています。

void OpenRAVE::RaveInitializeFromState ( UserDataPtr  globalstate)

Initializes the global state from an already loaded OpenRAVE environment.

Because of shared object boundaries, it is necessary to pass the global state pointer around. If using plugin.h, this function is automatically called by CreateInterfaceValidated. It is also called by and every InterfaceBase constructor.

引数
[in]globalstate
例:
orpythonbinding.cpp.

libopenrave.cpp954 行で定義されています。

void OpenRAVE::RaveInitRandomGeneration ( uint32_t  seed)
非推奨:
(11/06/03), use SpaceSamplerBase

libopenrave.cpp1882 行で定義されています。

template<typename T >
boost::shared_ptr<T> OpenRAVE::RaveInterfaceCast ( InterfaceBasePtr  pinterface)
inline

Safely casts from the base interface class to an openrave interface using static_pointer_cast.

The reason why dynamic_pointer_cast cannot be used is because interfaces might be created by different plugins, and the runtime type information will be different.

openrave.h2482 行で定義されています。

template<typename T >
boost::shared_ptr<T const> OpenRAVE::RaveInterfaceConstCast ( InterfaceBaseConstPtr  pinterface)
inline

Safely casts from the base interface class to an openrave interface using static_pointer_cast.

The reason why dynamic_pointer_cast cannot be used is because interfaces might be created by different plugins, and the runtime type information will be different.

openrave.h2500 行で定義されています。

bool OpenRAVE::RaveInvertFileLookup ( std::string &  newfilename,
const std::string &  filename 
)

libopenrave.cpp1124 行で定義されています。

bool OpenRAVE::RaveLoadPlugin ( const std::string &  libraryname)

Load a plugin and its interfaces.

If the plugin is already loaded, will reload it.

引数
namethe filename of the plugin to load

libopenrave.cpp1009 行で定義されています。

bool OpenRAVE::RaveParseDirectories ( const char *  pdirs,
std::vector< std::string > &  vdirs 
)
inline
非推奨:
(12/02/06) see OpenRAVE::utils::TokenizeString

openrave.h2693 行で定義されています。

int OpenRAVE::RavePrintfA ( const std::string &  s,
uint32_t  level 
)
inline

openrave.h491 行で定義されています。

int OpenRAVE::RavePrintfA_INFOLEVEL ( const std::string &  s)
inline

openrave.h447 行で定義されています。

int OpenRAVE::RavePrintfA_INFOLEVEL ( const char *  fmt,
  ... 
)
inline

openrave.h458 行で定義されています。

std::wstring OpenRAVE::RavePrintTransformString ( const wchar_t *  fmt)
inline

openrave.h306 行で定義されています。

double OpenRAVE::RaveRandomDouble ( IntervalType  interval = IT_Closed)
非推奨:
(11/06/03), use SpaceSamplerBase

libopenrave.cpp1901 行で定義されています。

float OpenRAVE::RaveRandomFloat ( IntervalType  interval = IT_Closed)
uint32_t OpenRAVE::RaveRandomInt ( )
非推奨:
(11/06/03), use SpaceSamplerBase
例:
ormulticontrol.cpp, と ortrajectory.cpp.

libopenrave.cpp1887 行で定義されています。

UserDataPtr OpenRAVE::RaveRegisterInterface ( InterfaceType  type,
const std::string &  name,
const char *  interfacehash,
const char *  envhash,
const boost::function< InterfaceBasePtr(EnvironmentBasePtr, std::istream &)> &  createfn 
)

Registers a function to create an interface, this allows the interface to be created by other modules.

引数
typeinterface type
nameinterface name
interfacehashthe hash of the interface being created (use the global defines OPENRAVE_X_HASH)
envhashthe hash of the environment (use the global define OPENRAVE_ENVIRONMENT_HASH)
createfnfunctions to create the interface it takes two parameters: the environment and an istream to the rest of the interface creation arguments.
戻り値
a handle if function is successfully registered. By destroying the handle, the interface will be automatically unregistered.
例外
openrave_exceptionWill throw with ORE_InvalidInterfaceHash if hashes do not match
例:
orconveyormovement.cpp, と orpythonbinding.cpp.

libopenrave.cpp1104 行で定義されています。

UserDataPtr OpenRAVE::RaveRegisterXMLReader ( InterfaceType  type,
const std::string &  xmltag,
const CreateXMLReaderFn &  fn 
)

Registers a custom xml reader for a particular interface.

Once registered, anytime an interface is created through XML and the xmltag is seen, the function CreateXMLReaderFn will be called to get a reader for that tag

引数
xmltagthe tag specified in xmltag is seen in the interface, the the custom reader will be created.
fnCreateXMLReaderFn(pinterface,atts) - passed in the pointer to the interface where the tag was seen along with the list of attributes
戻り値
a pointer holding the registration, releasing the pointer will unregister the XML reader
例:
customreader.cpp.

libopenrave.cpp1109 行で定義されています。

void OpenRAVE::RaveReloadPlugins ( )

Reloads all the plugins.

The interfaces currently created remain will continue using the old plugins, so this function is safe in that plugins currently loaded remain loaded until the last interface that uses them is released.

libopenrave.cpp1004 行で定義されています。

void OpenRAVE::RaveSetDataAccess ( int  accessoptions)

Sets the default data access options for cad resources/robot files.

Controls how files are processed in functions like RaveFindLocalFile

引数
accessoptions- if 1 will only allow resources inside directories specified from OPERNAVE_DATA environment variable. This allows reject of full paths from unsecure/unauthenticated resources.

libopenrave.cpp1129 行で定義されています。

void OpenRAVE::RaveSetDebugLevel ( int  level)

Sets the global openrave debug level. A combination of DebugLevel.

例:
orloadviewer.cpp, orplanning_door.cpp, orplanning_multirobot.cpp, orplanning_planner.cpp, orpr2turnlever.cpp, orpythonbinding.cpp, と orqtcoinviewercustom.cpp.

libopenrave.cpp903 行で定義されています。

std::string OpenRAVE::ResetTextColor ( )
inline

Reset the text color (on either stdout or stderr) to its original state (thanks to Radu Rusu for the code)

openrave.h292 行で定義されています。

void OpenRAVE::subtractstates ( std::vector< dReal > &  q1,
const std::vector< dReal > &  q2 
)

planner.cpp50 行で定義されています。

変数

boost::once_flag OpenRAVE::_onceRaveInitialize = BOOST_ONCE_INIT
static

libopenrave.cpp300 行で定義されています。

const dReal OpenRAVE::PI = dReal(3.14159265358979323846)
static

openrave constant for PI, could be replaced by accurate precision number depending on choice of dReal.

例:
orconveyormovement.cpp, と orpr2turnlever.cpp.

openrave.h104 行で定義されています。

const char OpenRAVE::s_filesep = '/'

libopenrave.cpp51 行で定義されています。

std::string OpenRAVE::s_linearsmoother = "linearsmoother"
static

planner.cpp23 行で定義されています。