Defines the public headers that every plugin must include in order to use openrave properly. [詳細]
#include <cstdio>
#include <stdarg.h>
#include <cstring>
#include <cstdlib>
#include <stdint.h>
#include <string>
#include <vector>
#include <list>
#include <map>
#include <set>
#include <exception>
#include <iomanip>
#include <fstream>
#include <sstream>
#include <boost/version.hpp>
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <boost/tuple/tuple.hpp>
#include <boost/enable_shared_from_this.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/shared_mutex.hpp>
#include <boost/thread/thread.hpp>
#include <boost/thread/recursive_mutex.hpp>
#include <boost/static_assert.hpp>
#include <boost/format.hpp>
#include <boost/array.hpp>
#include <boost/multi_array.hpp>
#include <openrave/config.h>
#include <openrave/interfacehashes.h>
#include <openrave/geometry.h>
#include <openrave/mathextra.h>
#include <openrave/plugininfo.h>
#include <openrave/interface.h>
#include <openrave/spacesampler.h>
#include <openrave/kinbody.h>
#include <openrave/trajectory.h>
#include <openrave/module.h>
#include <openrave/collisionchecker.h>
#include <openrave/sensor.h>
#include <openrave/robot.h>
#include <openrave/iksolver.h>
#include <openrave/planner.h>
#include <openrave/controller.h>
#include <openrave/physicsengine.h>
#include <openrave/sensorsystem.h>
#include <openrave/viewer.h>
#include <openrave/environment.h>
構成 | |
class | OpenRAVE::openrave_exception |
Exception that all OpenRAVE internal methods throw; the error codes are held in OpenRAVEErrorCode. [詳細] | |
class | OpenRAVE::CaseInsensitiveCompare |
class | OpenRAVE::UserData |
base class for all user data [詳細] | |
class | OpenRAVE::SerializableData |
user data that can serialize/deserialize itself [詳細] | |
class | OpenRAVE::XMLReadable |
base class for readable interfaces [詳細] | |
class | OpenRAVE::BaseXMLReader |
base class for all xml readers. XMLReaders are used to process data from xml files. [詳細] | |
class | OpenRAVE::DummyXMLReader |
reads until the tag ends [詳細] | |
class | OpenRAVE::BaseXMLWriter |
base class for writing to XML files. [詳細] | |
class | OpenRAVE::ConfigurationSpecification |
A configuration specification references values in the environment that then define a configuration-space which can be searched for. [詳細] | |
class | OpenRAVE::ConfigurationSpecification::Group |
A group referencing the values of one body in the environment. [詳細] | |
class | OpenRAVE::ConfigurationSpecification::Reader |
class | OpenRAVE::IkParameterization |
Parameterization of basic primitives for querying inverse-kinematics solutions. [詳細] | |
class | OpenRAVE::TriMesh |
User data for trimesh geometries. Vertices are defined in counter-clockwise order for outward pointing faces. [詳細] | |
ネームスペース | |
namespace | OpenRAVE |
The entire OpenRAVE library. | |
namespace | boost |
Modifications controlling boost library behavior. | |
マクロ定義 | |
#define | BOOST_ENABLE_ASSERT_HANDLER |
#define | RAVE_DEPRECATED |
#define | g_fEpsilon 2e-7f |
#define | OPENRAVECOLOR_FATALLEVEL 5 |
#define | OPENRAVECOLOR_ERRORLEVEL 1 |
#define | OPENRAVECOLOR_WARNLEVEL 3 |
#define | OPENRAVECOLOR_INFOLEVEL 0 |
#define | OPENRAVECOLOR_DEBUGLEVEL 2 |
#define | OPENRAVECOLOR_VERBOSELEVEL 4 |
#define | DefineRavePrintfW(LEVEL) |
#define | DefineRavePrintfA(LEVEL) |
#define | RAVEPRINTHEADER(LEVEL) OpenRAVE::RavePrintfA ## LEVEL("[%s:%d] ", OpenRAVE::RaveGetSourceFilename(__FILE__), __LINE__) |
#define | RAVELOG_LEVELW(LEVEL, level) int(OpenRAVE::RaveGetDebugLevel()&OpenRAVE::Level_OutputMask)>=int(level)&&(RAVEPRINTHEADER(LEVEL)>0)&&OpenRAVE::RavePrintfW ## LEVEL |
#define | RAVELOG_LEVELA(LEVEL, level) int(OpenRAVE::RaveGetDebugLevel()&OpenRAVE::Level_OutputMask)>=int(level)&&(RAVEPRINTHEADER(LEVEL)>0)&&OpenRAVE::RavePrintfA ## LEVEL |
#define | RAVELOG_FATALW RAVELOG_LEVELW(_FATALLEVEL,OpenRAVE::Level_Fatal) |
#define | RAVELOG_FATALA RAVELOG_LEVELA(_FATALLEVEL,OpenRAVE::Level_Fatal) |
#define | RAVELOG_FATAL RAVELOG_FATALA |
#define | RAVELOG_ERRORW RAVELOG_LEVELW(_ERRORLEVEL,OpenRAVE::Level_Error) |
#define | RAVELOG_ERRORA RAVELOG_LEVELA(_ERRORLEVEL,OpenRAVE::Level_Error) |
#define | RAVELOG_ERROR RAVELOG_ERRORA |
#define | RAVELOG_WARNW RAVELOG_LEVELW(_WARNLEVEL,OpenRAVE::Level_Warn) |
#define | RAVELOG_WARNA RAVELOG_LEVELA(_WARNLEVEL,OpenRAVE::Level_Warn) |
#define | RAVELOG_WARN RAVELOG_WARNA |
#define | RAVELOG_INFOW RAVELOG_LEVELW(_INFOLEVEL,OpenRAVE::Level_Info) |
#define | RAVELOG_INFOA RAVELOG_LEVELA(_INFOLEVEL,OpenRAVE::Level_Info) |
#define | RAVELOG_INFO RAVELOG_INFOA |
#define | RAVELOG_DEBUGW RAVELOG_LEVELW(_DEBUGLEVEL,OpenRAVE::Level_Debug) |
#define | RAVELOG_DEBUGA RAVELOG_LEVELA(_DEBUGLEVEL,OpenRAVE::Level_Debug) |
#define | RAVELOG_DEBUG RAVELOG_DEBUGA |
#define | RAVELOG_VERBOSEW RAVELOG_LEVELW(_VERBOSELEVEL,OpenRAVE::Level_Verbose) |
#define | RAVELOG_VERBOSEA RAVELOG_LEVELA(_VERBOSELEVEL,OpenRAVE::Level_Verbose) |
#define | RAVELOG_VERBOSE RAVELOG_VERBOSEA |
#define | IS_DEBUGLEVEL(level) ((OpenRAVE::RaveGetDebugLevel()&OpenRAVE::Level_OutputMask)>=(level)) |
#define | OPENRAVE_EXCEPTION_FORMAT0(s, errorcode) OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] " s)%(__PRETTY_FUNCTION__)%(__LINE__)),errorcode) |
#define | OPENRAVE_EXCEPTION_FORMAT(s, args, errorcode) OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] " s)%(__PRETTY_FUNCTION__)%(__LINE__)%args),errorcode) |
#define | OPENRAVE_ASSERT_FORMAT(testexpr, s, args, errorcode) { if( !(testexpr) ) { throw OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] (%s) failed " s)%(__PRETTY_FUNCTION__)%(__LINE__)%(# testexpr)%args),errorcode); } } |
#define | OPENRAVE_ASSERT_FORMAT0(testexpr, s, errorcode) { if( !(testexpr) ) { throw OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] (%s) failed " s)%(__PRETTY_FUNCTION__)%(__LINE__)%(# testexpr)),errorcode); } } |
#define | OPENRAVE_ASSERT_OP_FORMAT(expr1, op, expr2, s, args, errorcode) { if( !((expr1) op (expr2)) ) { throw OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] %s %s %s, (eval %s %s %s) " s)%(__PRETTY_FUNCTION__)%(__LINE__)%(# expr1)%(# op)%(# expr2)%(expr1)%(# op)%(expr2)%args),errorcode); } } |
#define | OPENRAVE_ASSERT_OP_FORMAT0(expr1, op, expr2, s, errorcode) { if( !((expr1) op (expr2)) ) { throw OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] %s %s %s, (eval %s %s %s) " s)%(__PRETTY_FUNCTION__)%(__LINE__)%(# expr1)%(# op)%(# expr2)%(expr1)%(# op)%(expr2)),errorcode); } } |
#define | OPENRAVE_ASSERT_OP(expr1, op, expr2) { if( !((expr1) op (expr2)) ) { throw OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] %s %s %s, (eval %s %s %s) ")%(__PRETTY_FUNCTION__)%(__LINE__)%(# expr1)%(# op)%(# expr2)%(expr1)%(# op)%(expr2)),ORE_Assert); } } |
#define | OPENRAVE_DUMMY_IMPLEMENTATION { throw OPENRAVE_EXCEPTION_FORMAT0("not implemented",ORE_NotImplemented); } |
#define | OPENRAVE_MATH_EXP_FLOAT RaveExp |
#define | OPENRAVE_MATH_LOG_FLOAT RaveLog |
#define | OPENRAVE_MATH_COS_FLOAT RaveCos |
#define | OPENRAVE_MATH_SIN_FLOAT RaveSin |
#define | OPENRAVE_MATH_TAN_FLOAT RaveTan |
#define | OPENRAVE_MATH_LOG2_FLOAT RaveLog2 |
#define | OPENRAVE_MATH_LOG10_FLOAT RaveLog10 |
#define | OPENRAVE_MATH_ACOS_FLOAT RaveAcos |
#define | OPENRAVE_MATH_ASIN_FLOAT RaveAsin |
#define | OPENRAVE_MATH_ATAN2_FLOAT RaveAtan2 |
#define | OPENRAVE_MATH_POW_FLOAT RavePow |
#define | OPENRAVE_MATH_SQRT_FLOAT RaveSqrt |
#define | OPENRAVE_MATH_FABS_FLOAT RaveFabs |
型定義 | |
typedef float | OpenRAVE::dReal |
typedef boost::shared_ptr < UserData > | OpenRAVE::UserDataPtr |
typedef boost::weak_ptr< UserData > | OpenRAVE::UserDataWeakPtr |
typedef boost::shared_ptr < SerializableData > | OpenRAVE::SerializableDataPtr |
typedef boost::weak_ptr < SerializableData > | OpenRAVE::SerializableDataWeakPtr |
typedef boost::shared_ptr < CollisionReport > | OpenRAVE::CollisionReportPtr |
typedef boost::shared_ptr < CollisionReport const > | OpenRAVE::CollisionReportConstPtr |
typedef boost::shared_ptr < InterfaceBase > | OpenRAVE::InterfaceBasePtr |
typedef boost::shared_ptr < InterfaceBase const > | OpenRAVE::InterfaceBaseConstPtr |
typedef boost::weak_ptr < InterfaceBase > | OpenRAVE::InterfaceBaseWeakPtr |
typedef boost::shared_ptr < KinBody > | OpenRAVE::KinBodyPtr |
typedef boost::shared_ptr < KinBody const > | OpenRAVE::KinBodyConstPtr |
typedef boost::weak_ptr< KinBody > | OpenRAVE::KinBodyWeakPtr |
typedef boost::shared_ptr < RobotBase > | OpenRAVE::RobotBasePtr |
typedef boost::shared_ptr < RobotBase const > | OpenRAVE::RobotBaseConstPtr |
typedef boost::weak_ptr < RobotBase > | OpenRAVE::RobotBaseWeakPtr |
typedef boost::shared_ptr < CollisionCheckerBase > | OpenRAVE::CollisionCheckerBasePtr |
typedef boost::shared_ptr < CollisionCheckerBase const > | OpenRAVE::CollisionCheckerBaseConstPtr |
typedef boost::weak_ptr < CollisionCheckerBase > | OpenRAVE::CollisionCheckerBaseWeakPtr |
typedef boost::shared_ptr < ControllerBase > | OpenRAVE::ControllerBasePtr |
typedef boost::shared_ptr < ControllerBase const > | OpenRAVE::ControllerBaseConstPtr |
typedef boost::weak_ptr < ControllerBase > | OpenRAVE::ControllerBaseWeakPtr |
typedef boost::shared_ptr < IkSolverBase > | OpenRAVE::IkSolverBasePtr |
typedef boost::shared_ptr < IkSolverBase const > | OpenRAVE::IkSolverBaseConstPtr |
typedef boost::weak_ptr < IkSolverBase > | OpenRAVE::IkSolverBaseWeakPtr |
typedef boost::shared_ptr < PhysicsEngineBase > | OpenRAVE::PhysicsEngineBasePtr |
typedef boost::shared_ptr < PhysicsEngineBase const > | OpenRAVE::PhysicsEngineBaseConstPtr |
typedef boost::weak_ptr < PhysicsEngineBase > | OpenRAVE::PhysicsEngineBaseWeakPtr |
typedef boost::shared_ptr < PlannerBase > | OpenRAVE::PlannerBasePtr |
typedef boost::shared_ptr < PlannerBase const > | OpenRAVE::PlannerBaseConstPtr |
typedef boost::weak_ptr < PlannerBase > | OpenRAVE::PlannerBaseWeakPtr |
typedef boost::shared_ptr < ModuleBase > | OpenRAVE::ModuleBasePtr |
typedef boost::shared_ptr < ModuleBase const > | OpenRAVE::ModuleBaseConstPtr |
typedef boost::weak_ptr < ModuleBase > | OpenRAVE::ModuleBaseWeakPtr |
typedef boost::shared_ptr < SensorBase > | OpenRAVE::SensorBasePtr |
typedef boost::shared_ptr < SensorBase const > | OpenRAVE::SensorBaseConstPtr |
typedef boost::weak_ptr < SensorBase > | OpenRAVE::SensorBaseWeakPtr |
typedef boost::shared_ptr < SensorSystemBase > | OpenRAVE::SensorSystemBasePtr |
typedef boost::shared_ptr < SensorSystemBase const > | OpenRAVE::SensorSystemBaseConstPtr |
typedef boost::weak_ptr < SensorSystemBase > | OpenRAVE::SensorSystemBaseWeakPtr |
typedef boost::shared_ptr < TrajectoryBase > | OpenRAVE::TrajectoryBasePtr |
typedef boost::shared_ptr < TrajectoryBase const > | OpenRAVE::TrajectoryBaseConstPtr |
typedef boost::weak_ptr < TrajectoryBase > | OpenRAVE::TrajectoryBaseWeakPtr |
typedef boost::shared_ptr < ViewerBase > | OpenRAVE::ViewerBasePtr |
typedef boost::shared_ptr < ViewerBase const > | OpenRAVE::ViewerBaseConstPtr |
typedef boost::weak_ptr < ViewerBase > | OpenRAVE::ViewerBaseWeakPtr |
typedef boost::shared_ptr < SpaceSamplerBase > | OpenRAVE::SpaceSamplerBasePtr |
typedef boost::shared_ptr < SpaceSamplerBase const > | OpenRAVE::SpaceSamplerBaseConstPtr |
typedef boost::weak_ptr < SpaceSamplerBase > | OpenRAVE::SpaceSamplerBaseWeakPtr |
typedef boost::shared_ptr < EnvironmentBase > | OpenRAVE::EnvironmentBasePtr |
typedef boost::shared_ptr < EnvironmentBase const > | OpenRAVE::EnvironmentBaseConstPtr |
typedef boost::weak_ptr < EnvironmentBase > | OpenRAVE::EnvironmentBaseWeakPtr |
typedef boost::shared_ptr < IkReturn > | OpenRAVE::IkReturnPtr |
typedef boost::weak_ptr< IkReturn > | OpenRAVE::IkReturnWeakPtr |
typedef boost::shared_ptr < BaseXMLReader > | OpenRAVE::BaseXMLReaderPtr |
typedef boost::shared_ptr < BaseXMLReader const > | OpenRAVE::BaseXMLReaderConstPtr |
typedef boost::shared_ptr < BaseXMLWriter > | OpenRAVE::BaseXMLWriterPtr |
typedef boost::shared_ptr < BaseXMLWriter const > | OpenRAVE::BaseXMLWriterConstPtr |
Cloning Options for interfaces and environments. | |
typedef boost::shared_ptr < XMLReadable > | OpenRAVE::XMLReadablePtr |
typedef boost::shared_ptr < XMLReadable const > | OpenRAVE::XMLReadableConstPtr |
typedef std::list< std::pair < std::string, std::string > > | OpenRAVE::AttributesList |
a list of key-value pairs. It is possible for keys to repeat. | |
typedef boost::function < BaseXMLReaderPtr(InterfaceBasePtr, const AttributesList &)> | OpenRAVE::CreateXMLReaderFn |
typedef RaveVector< dReal > | OpenRAVE::Vector |
typedef RaveTransform< dReal > | OpenRAVE::Transform |
typedef boost::shared_ptr < RaveTransform< dReal > > | OpenRAVE::TransformPtr |
typedef boost::shared_ptr < RaveTransform< dReal > const > | OpenRAVE::TransformConstPtr |
typedef RaveTransformMatrix < dReal > | OpenRAVE::TransformMatrix |
typedef boost::shared_ptr < RaveTransformMatrix< dReal > > | OpenRAVE::TransformMatrixPtr |
typedef boost::shared_ptr < RaveTransformMatrix< dReal > const > | OpenRAVE::TransformMatrixConstPtr |
typedef geometry::obb< dReal > | OpenRAVE::OBB |
typedef geometry::aabb< dReal > | OpenRAVE::AABB |
typedef geometry::ray< dReal > | OpenRAVE::RAY |
typedef boost::shared_ptr < ConfigurationSpecification > | OpenRAVE::ConfigurationSpecificationPtr |
typedef boost::shared_ptr < ConfigurationSpecification const > | OpenRAVE::ConfigurationSpecificationConstPtr |
typedef InterfaceBasePtr(* | OpenRAVE::PluginExportFn_OpenRAVECreateInterface )(InterfaceType type, const std::string &name, const char *pluginhash, const char *envhash, EnvironmentBasePtr penv) |
Create the interfaces, see CreateInterfaceValidated. | |
typedef bool(* | OpenRAVE::PluginExportFn_OpenRAVEGetPluginAttributes )(PLUGININFO *pinfo, int size, const char *infohash) |
Called to fill information about the plugin, see GetPluginAttributesValidated. | |
typedef void(* | OpenRAVE::PluginExportFn_DestroyPlugin )() |
Called before plugin is unloaded from openrave. See DestroyPlugin. | |
typedef InterfaceBasePtr(* | OpenRAVE::PluginExportFn_CreateInterface )(InterfaceType type, const std::string &name, const char *pluginhash, EnvironmentBasePtr penv) RAVE_DEPRECATED |
typedef bool(* | OpenRAVE::PluginExportFn_GetPluginAttributes )(PLUGININFO *pinfo, int size) RAVE_DEPRECATED |
関数 | |
const char * | OpenRAVE::GetErrorCodeString (OpenRAVEErrorCode error) |
std::string | OpenRAVE::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 | OpenRAVE::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 | OpenRAVE::ResetTextColor () |
Reset the text color (on either stdout or stderr) to its original state (thanks to Radu Rusu for the code) | |
std::wstring | OpenRAVE::ChangeTextColorW (int attribute, int fg) |
std::wstring | OpenRAVE::RavePrintTransformString (const wchar_t *fmt) |
OPENRAVE_API void | OpenRAVE::RaveSetDebugLevel (int level) |
Sets the global openrave debug level. A combination of DebugLevel. | |
OPENRAVE_API int | OpenRAVE::RaveGetDebugLevel () |
Returns the openrave debug level. | |
const char * | OpenRAVE::RaveGetSourceFilename (const char *pfilename) |
extracts only the filename | |
int | OpenRAVE::RavePrintfA_INFOLEVEL (const std::string &s) |
int | OpenRAVE::RavePrintfA_INFOLEVEL (const char *fmt,...) |
int | OpenRAVE::RavePrintfA (const std::string &s, uint32_t level) |
OpenRAVE::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 > & | OpenRAVE::RaveGetIkParameterizationMap (int alllowercase=0) |
returns a string of the ik parameterization type names | |
OPENRAVE_API IkParameterizationType | OpenRAVE::RaveGetIkTypeFromUniqueId (int uniqueid) |
returns the IkParameterizationType given the unique id detmerined b IKP_UniqueIdMask | |
OPENRAVE_API std::ostream & | OpenRAVE::operator<< (std::ostream &O, const ConfigurationSpecification &spec) |
OPENRAVE_API std::istream & | OpenRAVE::operator>> (std::istream &I, ConfigurationSpecification &spec) |
template<typename T > | |
T | OpenRAVE::NormalizeCircularAnglePrivate (T theta, T min, T max) |
IkParameterization | OpenRAVE::operator* (const Transform &t, const IkParameterization &ikparam) |
OPENRAVE_API std::ostream & | OpenRAVE::operator<< (std::ostream &O, const IkParameterization &ikparam) |
OPENRAVE_API std::istream & | OpenRAVE::operator>> (std::istream &I, IkParameterization &ikparam) |
OPENRAVE_API std::ostream & | OpenRAVE::operator<< (std::ostream &O, const TriMesh &trimesh) |
OPENRAVE_API std::istream & | OpenRAVE::operator>> (std::istream &I, TriMesh &trimesh) |
OPENRAVE_API 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. | |
OPENRAVE_API 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. | |
OPENRAVE_API int | OpenRAVE::RaveGetAffineDOF (int affinedofs) |
Returns the degrees of freedom needed to represent all the values in the affine dof mask. | |
OPENRAVE_API 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. | |
OPENRAVE_API 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. | |
OPENRAVE_API 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. | |
OPENRAVE_API 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. | |
OPENRAVE_API ConfigurationSpecification | OpenRAVE::RaveGetAffineConfigurationSpecification (int affinedofs, KinBodyConstPtr pbody=KinBodyConstPtr(), const std::string &interpolation="") |
OPENRAVE_API void | OpenRAVE::RaveInitRandomGeneration (uint32_t seed) |
OPENRAVE_API uint32_t | OpenRAVE::RaveRandomInt () |
OPENRAVE_API float | OpenRAVE::RaveRandomFloat (IntervalType interval=IT_Closed) |
OPENRAVE_API double | OpenRAVE::RaveRandomDouble (IntervalType interval=IT_Closed) |
bool | OpenRAVE::RaveParseDirectories (const char *pdirs, std::vector< std::string > &vdirs) RAVE_DEPRECATED |
void | boost::assertion_failed (char const *expr, char const *function, char const *file, long line) |
BOOST_STATIC_ASSERT (OPENRAVE_VERSION_MAJOR >=0 &&OPENRAVE_VERSION_MAJOR<=255) | |
BOOST_STATIC_ASSERT (OPENRAVE_VERSION_MINOR >=0 &&OPENRAVE_VERSION_MINOR<=255) | |
BOOST_STATIC_ASSERT (OPENRAVE_VERSION_PATCH >=0 &&OPENRAVE_VERSION_PATCH<=255) | |
OPENRAVE_API dReal | OpenRAVE::RaveExp (dReal f) |
exponential | |
OPENRAVE_API dReal | OpenRAVE::RaveLog (dReal f) |
logarithm | |
OPENRAVE_API dReal | OpenRAVE::RaveCos (dReal f) |
cosine | |
OPENRAVE_API dReal | OpenRAVE::RaveSin (dReal f) |
sine | |
OPENRAVE_API dReal | OpenRAVE::RaveTan (dReal f) |
tangent | |
OPENRAVE_API dReal | OpenRAVE::RaveLog2 (dReal f) |
base 2 logarithm | |
OPENRAVE_API dReal | OpenRAVE::RaveLog10 (dReal f) |
base 10 logarithm | |
OPENRAVE_API dReal | OpenRAVE::RaveAcos (dReal f) |
arccosine | |
OPENRAVE_API dReal | OpenRAVE::RaveAsin (dReal f) |
arcsine | |
OPENRAVE_API dReal | OpenRAVE::RaveAtan2 (dReal fy, dReal fx) |
arctangent2 covering entire circle | |
OPENRAVE_API dReal | OpenRAVE::RavePow (dReal fx, dReal fy) |
power x^y | |
OPENRAVE_API dReal | OpenRAVE::RaveSqrt (dReal f) |
square-root | |
OPENRAVE_API dReal | OpenRAVE::RaveFabs (dReal f) |
absolute value | |
Global Functionality - Interface Creation, Plugin Management, Logging | |
const char * | OpenRAVE::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 > | OpenRAVE::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 > | OpenRAVE::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 > & | OpenRAVE::RaveGetInterfaceNamesMap () |
returns a lower case string of the interface type | |
OPENRAVE_API const std::string & | OpenRAVE::RaveGetInterfaceName (InterfaceType type) |
OPENRAVE_API std::string | OpenRAVE::RaveGetHomeDirectory () |
Returns the openrave home directory where settings, cache, and other files are stored. | |
OPENRAVE_API 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. | |
OPENRAVE_API int | OpenRAVE::RaveInitialize (bool bLoadAllPlugins=true, int level=Level_Info) |
Explicitly initializes the global OpenRAVE state (optional). | |
OPENRAVE_API void | OpenRAVE::RaveInitializeFromState (UserDataPtr globalstate) |
Initializes the global state from an already loaded OpenRAVE environment. | |
OPENRAVE_API UserDataPtr | OpenRAVE::RaveGlobalState () |
A pointer to the global openrave state. | |
OPENRAVE_API void | OpenRAVE::RaveDestroy () |
Destroys the entire OpenRAVE state and all loaded environments. | |
OPENRAVE_API void | OpenRAVE::RaveAddCallbackForDestroy (const boost::function< void()> &fn) |
Add a callback when the OpenRAVE global runtime is destroyed. | |
OPENRAVE_API void | OpenRAVE::RaveGetPluginInfo (std::list< std::pair< std::string, PLUGININFO > > &plugins) |
Get all the loaded plugins and the interfaces they support. | |
OPENRAVE_API void | OpenRAVE::RaveGetLoadedInterfaces (std::map< InterfaceType, std::vector< std::string > > &interfacenames) |
Get a list of all the loaded interfaces. | |
OPENRAVE_API void | OpenRAVE::RaveReloadPlugins () |
Reloads all the plugins. | |
OPENRAVE_API bool | OpenRAVE::RaveLoadPlugin (const std::string &libraryname) |
Load a plugin and its interfaces. | |
OPENRAVE_API bool | OpenRAVE::RaveHasInterface (InterfaceType type, const std::string &interfacename) |
Returns true if interface can be created, otherwise false. | |
OPENRAVE_API InterfaceBasePtr | OpenRAVE::RaveCreateInterface (EnvironmentBasePtr penv, InterfaceType type, const std::string &interfacename) |
OPENRAVE_API RobotBasePtr | OpenRAVE::RaveCreateRobot (EnvironmentBasePtr penv, const std::string &name="") |
OPENRAVE_API PlannerBasePtr | OpenRAVE::RaveCreatePlanner (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API SensorSystemBasePtr | OpenRAVE::RaveCreateSensorSystem (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API ControllerBasePtr | OpenRAVE::RaveCreateController (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API ModuleBasePtr | OpenRAVE::RaveCreateModule (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API ModuleBasePtr | OpenRAVE::RaveCreateProblem (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API ModuleBasePtr | OpenRAVE::RaveCreateProblemInstance (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API IkSolverBasePtr | OpenRAVE::RaveCreateIkSolver (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API PhysicsEngineBasePtr | OpenRAVE::RaveCreatePhysicsEngine (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API SensorBasePtr | OpenRAVE::RaveCreateSensor (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API CollisionCheckerBasePtr | OpenRAVE::RaveCreateCollisionChecker (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API ViewerBasePtr | OpenRAVE::RaveCreateViewer (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API SpaceSamplerBasePtr | OpenRAVE::RaveCreateSpaceSampler (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API KinBodyPtr | OpenRAVE::RaveCreateKinBody (EnvironmentBasePtr penv, const std::string &name="") |
OPENRAVE_API TrajectoryBasePtr | OpenRAVE::RaveCreateTrajectory (EnvironmentBasePtr penv, const std::string &name="") |
Return an empty trajectory instance. | |
OPENRAVE_API TrajectoryBasePtr | OpenRAVE::RaveCreateTrajectory (EnvironmentBasePtr penv, int dof) RAVE_DEPRECATED |
template<typename T > | |
boost::shared_ptr< T > | OpenRAVE::RaveClone (boost::shared_ptr< T const > preference, int cloningoptions) |
returned a fully cloned interface | |
OPENRAVE_API 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. | |
OPENRAVE_API UserDataPtr | OpenRAVE::RaveRegisterXMLReader (InterfaceType type, const std::string &xmltag, const CreateXMLReaderFn &fn) |
Registers a custom xml reader for a particular interface. | |
OPENRAVE_API int | OpenRAVE::RaveGetEnvironmentId (EnvironmentBasePtr penv) |
return the environment's unique id, returns 0 if environment could not be found or not registered | |
OPENRAVE_API EnvironmentBasePtr | OpenRAVE::RaveGetEnvironment (int id) |
get the environment from its unique id | |
OPENRAVE_API void | OpenRAVE::RaveGetEnvironments (std::list< EnvironmentBasePtr > &listenvironments) |
Return all the created OpenRAVE environments. | |
OPENRAVE_API BaseXMLReaderPtr | OpenRAVE::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 | 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. | |
OPENRAVE_API void | OpenRAVE::RaveSetDataAccess (int accessoptions) |
Sets the default data access options for cad resources/robot files. | |
OPENRAVE_API int | OpenRAVE::RaveGetDataAccess () |
Returns the acess options set. | |
変数 | |
static const dReal | OpenRAVE::PI = dReal(3.14159265358979323846) |
openrave constant for PI, could be replaced by accurate precision number depending on choice of dReal. | |
Defines the public headers that every plugin must include in order to use openrave properly.
openrave.h で定義されています。
#define BOOST_ENABLE_ASSERT_HANDLER |
openrave.h の 24 行で定義されています。
#define DefineRavePrintfA | ( | LEVEL | ) |
openrave.h の 468 行で定義されています。
#define DefineRavePrintfW | ( | LEVEL | ) |
openrave.h の 427 行で定義されています。
#define g_fEpsilon 2e-7f |
openrave.h の 100 行で定義されています。
#define IS_DEBUGLEVEL | ( | level | ) | ((OpenRAVE::RaveGetDebugLevel()&OpenRAVE::Level_OutputMask)>=(level)) |
#define OPENRAVE_ASSERT_FORMAT | ( | testexpr, | |
s, | |||
args, | |||
errorcode | |||
) | { if( !(testexpr) ) { throw OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] (%s) failed " s)%(__PRETTY_FUNCTION__)%(__LINE__)%(# testexpr)%args),errorcode); } } |
#define OPENRAVE_ASSERT_FORMAT0 | ( | testexpr, | |
s, | |||
errorcode | |||
) | { if( !(testexpr) ) { throw OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] (%s) failed " s)%(__PRETTY_FUNCTION__)%(__LINE__)%(# testexpr)),errorcode); } } |
#define OPENRAVE_ASSERT_OP | ( | expr1, | |
op, | |||
expr2 | |||
) | { if( !((expr1) op (expr2)) ) { throw OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] %s %s %s, (eval %s %s %s) ")%(__PRETTY_FUNCTION__)%(__LINE__)%(# expr1)%(# op)%(# expr2)%(expr1)%(# op)%(expr2)),ORE_Assert); } } |
#define OPENRAVE_ASSERT_OP_FORMAT | ( | expr1, | |
op, | |||
expr2, | |||
s, | |||
args, | |||
errorcode | |||
) | { if( !((expr1) op (expr2)) ) { throw OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] %s %s %s, (eval %s %s %s) " s)%(__PRETTY_FUNCTION__)%(__LINE__)%(# expr1)%(# op)%(# expr2)%(expr1)%(# op)%(expr2)%args),errorcode); } } |
#define OPENRAVE_ASSERT_OP_FORMAT0 | ( | expr1, | |
op, | |||
expr2, | |||
s, | |||
errorcode | |||
) | { if( !((expr1) op (expr2)) ) { throw OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] %s %s %s, (eval %s %s %s) " s)%(__PRETTY_FUNCTION__)%(__LINE__)%(# expr1)%(# op)%(# expr2)%(expr1)%(# op)%(expr2)),errorcode); } } |
#define OPENRAVE_DUMMY_IMPLEMENTATION { throw OPENRAVE_EXCEPTION_FORMAT0("not implemented",ORE_NotImplemented); } |
#define OPENRAVE_EXCEPTION_FORMAT | ( | s, | |
args, | |||
errorcode | |||
) | OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] " s)%(__PRETTY_FUNCTION__)%(__LINE__)%args),errorcode) |
#define OPENRAVE_EXCEPTION_FORMAT0 | ( | s, | |
errorcode | |||
) | OpenRAVE::openrave_exception(boost::str(boost::format("[%s:%d] " s)%(__PRETTY_FUNCTION__)%(__LINE__)),errorcode) |
#define OPENRAVE_MATH_ACOS_FLOAT RaveAcos |
openrave.h の 828 行で定義されています。
#define OPENRAVE_MATH_ASIN_FLOAT RaveAsin |
openrave.h の 829 行で定義されています。
#define OPENRAVE_MATH_ATAN2_FLOAT RaveAtan2 |
openrave.h の 830 行で定義されています。
#define OPENRAVE_MATH_COS_FLOAT RaveCos |
openrave.h の 823 行で定義されています。
#define OPENRAVE_MATH_EXP_FLOAT RaveExp |
openrave.h の 821 行で定義されています。
#define OPENRAVE_MATH_FABS_FLOAT RaveFabs |
openrave.h の 833 行で定義されています。
#define OPENRAVE_MATH_LOG10_FLOAT RaveLog10 |
openrave.h の 827 行で定義されています。
#define OPENRAVE_MATH_LOG2_FLOAT RaveLog2 |
openrave.h の 826 行で定義されています。
#define OPENRAVE_MATH_LOG_FLOAT RaveLog |
openrave.h の 822 行で定義されています。
#define OPENRAVE_MATH_POW_FLOAT RavePow |
openrave.h の 831 行で定義されています。
#define OPENRAVE_MATH_SIN_FLOAT RaveSin |
openrave.h の 824 行で定義されています。
#define OPENRAVE_MATH_SQRT_FLOAT RaveSqrt |
openrave.h の 832 行で定義されています。
#define OPENRAVE_MATH_TAN_FLOAT RaveTan |
openrave.h の 825 行で定義されています。
#define OPENRAVECOLOR_DEBUGLEVEL 2 |
openrave.h の 349 行で定義されています。
#define OPENRAVECOLOR_ERRORLEVEL 1 |
openrave.h の 346 行で定義されています。
#define OPENRAVECOLOR_FATALLEVEL 5 |
openrave.h の 345 行で定義されています。
#define OPENRAVECOLOR_INFOLEVEL 0 |
openrave.h の 348 行で定義されています。
#define OPENRAVECOLOR_VERBOSELEVEL 4 |
openrave.h の 350 行で定義されています。
#define OPENRAVECOLOR_WARNLEVEL 3 |
openrave.h の 347 行で定義されています。
#define RAVE_DEPRECATED |
openrave.h の 86 行で定義されています。
#define RAVELOG_DEBUG RAVELOG_DEBUGA |
#define RAVELOG_DEBUGA RAVELOG_LEVELA(_DEBUGLEVEL,OpenRAVE::Level_Debug) |
#define RAVELOG_DEBUGW RAVELOG_LEVELW(_DEBUGLEVEL,OpenRAVE::Level_Debug) |
#define RAVELOG_ERROR RAVELOG_ERRORA |
#define RAVELOG_ERRORA RAVELOG_LEVELA(_ERRORLEVEL,OpenRAVE::Level_Error) |
#define RAVELOG_ERRORW RAVELOG_LEVELW(_ERRORLEVEL,OpenRAVE::Level_Error) |
#define RAVELOG_FATAL RAVELOG_FATALA |
#define RAVELOG_FATALA RAVELOG_LEVELA(_FATALLEVEL,OpenRAVE::Level_Fatal) |
#define RAVELOG_FATALW RAVELOG_LEVELW(_FATALLEVEL,OpenRAVE::Level_Fatal) |
#define RAVELOG_INFO RAVELOG_INFOA |
#define RAVELOG_INFOA RAVELOG_LEVELA(_INFOLEVEL,OpenRAVE::Level_Info) |
#define RAVELOG_INFOW RAVELOG_LEVELW(_INFOLEVEL,OpenRAVE::Level_Info) |
#define RAVELOG_LEVELA | ( | LEVEL, | |
level | |||
) | int(OpenRAVE::RaveGetDebugLevel()&OpenRAVE::Level_OutputMask)>=int(level)&&(RAVEPRINTHEADER(LEVEL)>0)&&OpenRAVE::RavePrintfA ## LEVEL |
#define RAVELOG_LEVELW | ( | LEVEL, | |
level | |||
) | int(OpenRAVE::RaveGetDebugLevel()&OpenRAVE::Level_OutputMask)>=int(level)&&(RAVEPRINTHEADER(LEVEL)>0)&&OpenRAVE::RavePrintfW ## LEVEL |
#define RAVELOG_VERBOSE RAVELOG_VERBOSEA |
#define RAVELOG_VERBOSEA RAVELOG_LEVELA(_VERBOSELEVEL,OpenRAVE::Level_Verbose) |
#define RAVELOG_VERBOSEW RAVELOG_LEVELW(_VERBOSELEVEL,OpenRAVE::Level_Verbose) |
#define RAVELOG_WARN RAVELOG_WARNA |
#define RAVELOG_WARNA RAVELOG_LEVELA(_WARNLEVEL,OpenRAVE::Level_Warn) |
#define RAVELOG_WARNW RAVELOG_LEVELW(_WARNLEVEL,OpenRAVE::Level_Warn) |
#define RAVEPRINTHEADER | ( | LEVEL | ) | OpenRAVE::RavePrintfA ## LEVEL("[%s:%d] ", OpenRAVE::RaveGetSourceFilename(__FILE__), __LINE__) |
BOOST_STATIC_ASSERT | ( | OPENRAVE_VERSION_MAJOR >=0 &&OPENRAVE_VERSION_MAJOR<= | 255 | ) |
BOOST_STATIC_ASSERT | ( | OPENRAVE_VERSION_MINOR >=0 &&OPENRAVE_VERSION_MINOR<= | 255 | ) |
BOOST_STATIC_ASSERT | ( | OPENRAVE_VERSION_PATCH >=0 &&OPENRAVE_VERSION_PATCH<= | 255 | ) |