#include "libopenrave.h"
#include <boost/scoped_ptr.hpp>
#include <boost/utility.hpp>
#include <boost/thread/once.hpp>
#include <streambuf>
#include <sys/stat.h>
#include <sys/types.h>
#include <locale>
#include "plugindatabase.h"
#include <boost/lexical_cast.hpp>
#include <libxml/globals.h>
#include <libxml/xmlerror.h>
#include <libxml/parser.h>
#include <libxml/parserInternals.h>
#include <libxml/tree.h>
#include <libxml/debugXML.h>
#include <libxml/xmlmemory.h>
Go to the source code of this file.
Classes | |
class | OpenRAVE::RaveGlobal |
class | OpenRAVE::RaveGlobal::XMLReaderFunctionData |
struct | OpenRAVE::LocalXML::XMLREADERDATA |
Namespaces | |
namespace | OpenRAVE |
The entire OpenRAVE library. | |
namespace | OpenRAVE::LocalXML |
Macros | |
#define | LIBXML_SAX1_ENABLED |
Functions | |
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. | |
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 | |
bool | OpenRAVE::RaveInvertFileLookup (std::string &newfilename, const std::string &filename) |
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 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 std::ostream & | OpenRAVE::operator<< (std::ostream &O, const TriMesh &trimesh) |
OPENRAVE_API std::istream & | OpenRAVE::operator>> (std::istream &I, TriMesh &trimesh) |
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) |
void | OpenRAVE::LocalXML::RaveXMLErrorFunc (void *ctx, const char *msg,...) |
void | OpenRAVE::LocalXML::DefaultStartElementSAXFunc (void *ctx, const xmlChar *name, const xmlChar **atts) |
void | OpenRAVE::LocalXML::DefaultEndElementSAXFunc (void *ctx, const xmlChar *name) |
void | OpenRAVE::LocalXML::DefaultCharactersSAXFunc (void *ctx, const xmlChar *ch, int len) |
bool | OpenRAVE::LocalXML::xmlDetectSAX2 (xmlParserCtxtPtr ctxt) |
bool | OpenRAVE::LocalXML::ParseXMLData (BaseXMLReaderPtr preader, const char *buffer, int size) |
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 | |
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 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 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 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 |
OPENRAVE_API SpaceSamplerBasePtr | OpenRAVE::RaveCreateSpaceSampler (EnvironmentBasePtr penv, const std::string &name) |
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 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. | |
Variables | |
const char | OpenRAVE::s_filesep = '/' |
static boost::once_flag | OpenRAVE::_onceRaveInitialize = BOOST_ONCE_INIT |
#define LIBXML_SAX1_ENABLED |
Definition at line 36 of file libopenrave.cpp.