The entire OpenRAVE library. More...
Namespaces | |
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 |
Classes | |
class | CollisionReport |
Holds information about a particular collision that occured. More... | |
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. More... | |
class | CollisionOptionsStateSaver |
Helper class to save and restore the collision options. If options are not supported and required is true, throws an exception. More... | |
class | ControllerBase |
[interface] Abstract base class to encapsulate a local controller. If not specified, method is not multi-thread safe. See Controller Concepts. More... | |
class | MultiController |
controller that manage multiple controllers, allows users to easily set multiple controllers for one robot. More... | |
class | EnvironmentBase |
Maintains a world state, which serves as the gateway to all functions offered through OpenRAVE. See Environment Concepts. More... | |
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. More... | |
class | InterfaceBase |
[interface] Base class for all interfaces that OpenRAVE provides. See Base Interface Concepts. More... | |
class | KinBody |
[interface] A kinematic body of links and joints. If not specified, method is not multi-thread safe. See Kinematics Body Concepts. More... | |
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. More... | |
class | openrave_exception |
Exception that all OpenRAVE internal methods throw; the error codes are held in OpenRAVEErrorCode. More... | |
class | CaseInsensitiveCompare |
class | UserData |
base class for all user data More... | |
class | SerializableData |
user data that can serialize/deserialize itself More... | |
class | XMLReadable |
base class for readable interfaces More... | |
class | BaseXMLReader |
base class for all xml readers. XMLReaders are used to process data from xml files. More... | |
class | DummyXMLReader |
reads until the tag ends More... | |
class | BaseXMLWriter |
base class for writing to XML files. More... | |
class | ConfigurationSpecification |
A configuration specification references values in the environment that then define a configuration-space which can be searched for. More... | |
class | IkParameterization |
Parameterization of basic primitives for querying inverse-kinematics solutions. More... | |
class | TriMesh |
User data for trimesh geometries. Vertices are defined in counter-clockwise order for outward pointing faces. More... | |
class | PhysicsEngineBase |
[interface] The physics engine interfaces supporting simulations and dynamics. See Physics Engine Concepts. More... | |
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. More... | |
class | ExplorationParameters |
class | RAStarParameters |
class | GraspSetParameters |
class | GraspParameters |
class | TrajectoryTimingParameters |
parameters for timing/smoothing trajectories More... | |
class | ConstraintTrajectoryTimingParameters |
class | WorkspaceTrajectoryParameters |
class | RRTParameters |
class | BasicRRTParameters |
class | PLUGININFO |
Holds all the OpenRAVE-specific information provided by a plugin. More... | |
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. More... | |
class | SensorBase |
[interface] A sensor measures physical properties from the environment. If not specified, method is not multi-thread safe. See Sensor Concepts. More... | |
class | SensorSystemBase |
[interface] Used to manage the creation and destruction of bodies. See Sensor System Concepts. More... | |
class | SimpleSensorSystem |
A very simple sensor system example that manages raw detection data. More... | |
class | SpaceSamplerBase |
[interface] Contains space samplers commonly used in planners. If not specified, method is not multi-thread safe. See SpaceSampler Concepts. More... | |
class | TrajectoryBase |
[interface] Encapsulate a time-parameterized trajectories of robot configurations. If not specified, method is not multi-thread safe. Trajectory Concepts More... | |
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. More... | |
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. More... | |
class | CustomIkSolverFilterData |
class | ChangeCallbackData |
class | RaveGlobal |
class | CustomPlannerCallbackData |
class | CallOnDestruction |
Enumerations | |
enum | CollisionOptions { CO_Distance = 1, CO_UseTolerance = 2, CO_Contacts = 4, CO_RayAnyHit = 8, CO_ActiveDOFs = 16 } |
options for collision checker More... | |
enum | CollisionAction { CA_DefaultAction = 0, CA_Ignore = 1 } |
action to perform whenever a collision is detected between objects More... | |
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. More... | |
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. More... | |
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 More... | |
enum | GeometryType { GT_None = 0, GT_Box = 1, GT_Sphere = 2, GT_Cylinder = 3, GT_TriMesh = 4 } |
The type of geometry primitive. More... | |
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 More... | |
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. More... | |
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. More... | |
enum | PhysicsEngineOptions { PEO_SelfCollisions = 1 } |
basic options for physics engine More... | |
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. More... | |
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 More... | |
enum | IntervalType { IT_Open =0, IT_OpenStart =1, IT_OpenEnd =2, IT_Closed =3 } |
Specifies the boundary conditions of intervals for sampling. More... | |
enum | SampleDataType { SDT_Real =1, SDT_Uint32 =2 } |
Functions | |
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 > | |
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. | |
Variables | |
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" |
The entire OpenRAVE library.
typedef geometry::aabb<dReal> OpenRAVE::AABB |
Definition at line 851 of file openrave.h.
typedef std::list<std::pair<std::string,std::string> > OpenRAVE::AttributesList |
a list of key-value pairs. It is possible for keys to repeat.
Definition at line 714 of file openrave.h.
typedef boost::shared_ptr<BaseXMLReader const> OpenRAVE::BaseXMLReaderConstPtr |
Definition at line 678 of file openrave.h.
typedef boost::shared_ptr<BaseXMLReader> OpenRAVE::BaseXMLReaderPtr |
Definition at line 676 of file openrave.h.
typedef boost::shared_ptr<BaseXMLWriter const> OpenRAVE::BaseXMLWriterConstPtr |
Cloning Options for interfaces and environments.
Definition at line 683 of file openrave.h.
typedef boost::shared_ptr<BaseXMLWriter> OpenRAVE::BaseXMLWriterPtr |
Definition at line 679 of file openrave.h.
typedef boost::shared_ptr<BasicRRTParameters> OpenRAVE::BasicRRTParametersPtr |
Definition at line 757 of file plannerparameters.h.
typedef boost::shared_ptr<ChangeCallbackData> OpenRAVE::ChangeCallbackDataPtr |
Definition at line 46 of file kinbody.cpp.
typedef boost::shared_ptr<CollisionCheckerBase const> OpenRAVE::CollisionCheckerBaseConstPtr |
Definition at line 637 of file openrave.h.
typedef boost::shared_ptr<CollisionCheckerBase> OpenRAVE::CollisionCheckerBasePtr |
Definition at line 636 of file openrave.h.
typedef boost::weak_ptr<CollisionCheckerBase> OpenRAVE::CollisionCheckerBaseWeakPtr |
Definition at line 638 of file openrave.h.
typedef boost::shared_ptr<CollisionOptionsStateSaver> OpenRAVE::CollisionOptionsStateSaverPtr |
Definition at line 224 of file collisionchecker.h.
typedef boost::shared_ptr<CollisionReport const> OpenRAVE::CollisionReportConstPtr |
Definition at line 626 of file openrave.h.
typedef boost::shared_ptr<CollisionReport> OpenRAVE::CollisionReportPtr |
Definition at line 623 of file openrave.h.
typedef boost::shared_ptr<ConfigurationSpecification const> OpenRAVE::ConfigurationSpecificationConstPtr |
Definition at line 1256 of file openrave.h.
typedef boost::shared_ptr<ConfigurationSpecification> OpenRAVE::ConfigurationSpecificationPtr |
Definition at line 1255 of file openrave.h.
typedef boost::shared_ptr<ConstraintTrajectoryTimingParameters const> OpenRAVE::ConstraintTrajectoryTimingParametersConstPtr |
Definition at line 609 of file plannerparameters.h.
typedef boost::shared_ptr<ConstraintTrajectoryTimingParameters> OpenRAVE::ConstraintTrajectoryTimingParametersPtr |
Definition at line 608 of file plannerparameters.h.
typedef boost::shared_ptr<ControllerBase const> OpenRAVE::ControllerBaseConstPtr |
Definition at line 640 of file openrave.h.
typedef boost::shared_ptr<ControllerBase> OpenRAVE::ControllerBasePtr |
Definition at line 639 of file openrave.h.
typedef boost::weak_ptr<ControllerBase> OpenRAVE::ControllerBaseWeakPtr |
Definition at line 641 of file openrave.h.
typedef boost::function<BaseXMLReaderPtr(InterfaceBasePtr, const AttributesList&)> OpenRAVE::CreateXMLReaderFn |
Definition at line 758 of file openrave.h.
typedef boost::shared_ptr<CustomIkSolverFilterData> OpenRAVE::CustomIkSolverFilterDataPtr |
Definition at line 77 of file iksolver.cpp.
typedef boost::shared_ptr<CustomPlannerCallbackData> OpenRAVE::CustomPlannerCallbackDataPtr |
Definition at line 739 of file planner.cpp.
typedef float OpenRAVE::dReal |
Definition at line 99 of file openrave.h.
typedef boost::shared_ptr<EnvironmentBase const> OpenRAVE::EnvironmentBaseConstPtr |
Definition at line 670 of file openrave.h.
typedef boost::shared_ptr<EnvironmentBase> OpenRAVE::EnvironmentBasePtr |
Definition at line 669 of file openrave.h.
typedef boost::weak_ptr<EnvironmentBase> OpenRAVE::EnvironmentBaseWeakPtr |
Definition at line 671 of file openrave.h.
typedef boost::recursive_try_mutex OpenRAVE::EnvironmentMutex |
Definition at line 27 of file environment.h.
typedef boost::shared_ptr<GraphHandle const> OpenRAVE::GraphHandleConstPtr |
typedef boost::shared_ptr<GraphHandle> OpenRAVE::GraphHandlePtr |
typedef boost::weak_ptr<GraphHandle const> OpenRAVE::GraphHandleWeakPtr |
typedef boost::shared_ptr<GraspParameters const> OpenRAVE::GraspParametersConstPtr |
Definition at line 426 of file plannerparameters.h.
typedef boost::shared_ptr<GraspParameters> OpenRAVE::GraspParametersPtr |
Definition at line 425 of file plannerparameters.h.
typedef boost::shared_ptr<IkReturn> OpenRAVE::IkReturnPtr |
Definition at line 673 of file openrave.h.
typedef boost::weak_ptr<IkReturn> OpenRAVE::IkReturnWeakPtr |
Definition at line 674 of file openrave.h.
typedef boost::shared_ptr<IkSolverBase const> OpenRAVE::IkSolverBaseConstPtr |
Definition at line 643 of file openrave.h.
typedef boost::shared_ptr<IkSolverBase> OpenRAVE::IkSolverBasePtr |
Definition at line 642 of file openrave.h.
typedef boost::weak_ptr<IkSolverBase> OpenRAVE::IkSolverBaseWeakPtr |
Definition at line 644 of file openrave.h.
typedef boost::shared_ptr<InterfaceBase const> OpenRAVE::InterfaceBaseConstPtr |
Definition at line 628 of file openrave.h.
typedef boost::shared_ptr<InterfaceBase> OpenRAVE::InterfaceBasePtr |
Definition at line 627 of file openrave.h.
typedef boost::weak_ptr<InterfaceBase> OpenRAVE::InterfaceBaseWeakPtr |
Definition at line 629 of file openrave.h.
typedef boost::shared_ptr<KinBody const> OpenRAVE::KinBodyConstPtr |
Definition at line 631 of file openrave.h.
typedef boost::shared_ptr<KinBody> OpenRAVE::KinBodyPtr |
Definition at line 630 of file openrave.h.
typedef boost::weak_ptr<KinBody> OpenRAVE::KinBodyWeakPtr |
Definition at line 632 of file openrave.h.
typedef boost::shared_ptr<ModuleBase const> OpenRAVE::ModuleBaseConstPtr |
Definition at line 652 of file openrave.h.
typedef boost::shared_ptr<ModuleBase> OpenRAVE::ModuleBasePtr |
Definition at line 651 of file openrave.h.
typedef boost::weak_ptr<ModuleBase> OpenRAVE::ModuleBaseWeakPtr |
Definition at line 653 of file openrave.h.
typedef boost::shared_ptr<MultiController const> OpenRAVE::MultiControllerConstPtr |
Definition at line 176 of file controller.h.
typedef boost::shared_ptr<MultiController> OpenRAVE::MultiControllerPtr |
Definition at line 175 of file controller.h.
typedef geometry::obb<dReal> OpenRAVE::OBB |
Definition at line 850 of file openrave.h.
typedef boost::shared_ptr< OpenRAVEFunctionParserReal > OpenRAVE::OpenRAVEFunctionParserRealPtr |
typedef boost::shared_ptr<PhysicsEngineBase const> OpenRAVE::PhysicsEngineBaseConstPtr |
Definition at line 646 of file openrave.h.
typedef boost::shared_ptr<PhysicsEngineBase> OpenRAVE::PhysicsEngineBasePtr |
Definition at line 645 of file openrave.h.
typedef boost::weak_ptr<PhysicsEngineBase> OpenRAVE::PhysicsEngineBaseWeakPtr |
Definition at line 647 of file openrave.h.
typedef boost::shared_ptr<PlannerBase const> OpenRAVE::PlannerBaseConstPtr |
Definition at line 649 of file openrave.h.
typedef boost::shared_ptr<PlannerBase> OpenRAVE::PlannerBasePtr |
Definition at line 648 of file openrave.h.
typedef boost::weak_ptr<PlannerBase> OpenRAVE::PlannerBaseWeakPtr |
Definition at line 650 of file openrave.h.
typedef InterfaceBasePtr(* OpenRAVE::PluginExportFn_CreateInterface)(InterfaceType type, const std::string &name, const char *pluginhash, EnvironmentBasePtr penv) RAVE_DEPRECATED |
Definition at line 2731 of file openrave.h.
typedef bool(* OpenRAVE::PluginExportFn_GetPluginAttributes)(PLUGININFO *pinfo, int size) RAVE_DEPRECATED |
Definition at line 2734 of file openrave.h.
typedef ModuleBase OpenRAVE::ProblemInstance |
typedef TrajectoryBase Trajectory OpenRAVE::RAVE_DEPRECATED = IKRA_Success |
typedef geometry::ray<dReal> OpenRAVE::RAY |
Definition at line 852 of file openrave.h.
typedef boost::shared_ptr<RobotBase const> OpenRAVE::RobotBaseConstPtr |
Definition at line 634 of file openrave.h.
typedef boost::shared_ptr<RobotBase> OpenRAVE::RobotBasePtr |
Definition at line 633 of file openrave.h.
typedef boost::weak_ptr<RobotBase> OpenRAVE::RobotBaseWeakPtr |
Definition at line 635 of file openrave.h.
typedef boost::shared_ptr<RRTParameters> OpenRAVE::RRTParametersPtr |
Definition at line 698 of file plannerparameters.h.
typedef boost::shared_ptr<SensorBase const> OpenRAVE::SensorBaseConstPtr |
Definition at line 655 of file openrave.h.
typedef boost::shared_ptr<SensorBase> OpenRAVE::SensorBasePtr |
Definition at line 654 of file openrave.h.
typedef boost::weak_ptr<SensorBase> OpenRAVE::SensorBaseWeakPtr |
Definition at line 656 of file openrave.h.
typedef boost::shared_ptr<SensorSystemBase const> OpenRAVE::SensorSystemBaseConstPtr |
Definition at line 658 of file openrave.h.
typedef boost::shared_ptr<SensorSystemBase> OpenRAVE::SensorSystemBasePtr |
Definition at line 657 of file openrave.h.
typedef boost::weak_ptr<SensorSystemBase> OpenRAVE::SensorSystemBaseWeakPtr |
Definition at line 659 of file openrave.h.
typedef boost::shared_ptr<SerializableData> OpenRAVE::SerializableDataPtr |
Definition at line 254 of file openrave.h.
typedef boost::weak_ptr<SerializableData> OpenRAVE::SerializableDataWeakPtr |
Definition at line 255 of file openrave.h.
typedef boost::shared_ptr<SpaceSamplerBase const> OpenRAVE::SpaceSamplerBaseConstPtr |
Definition at line 667 of file openrave.h.
typedef boost::shared_ptr<SpaceSamplerBase> OpenRAVE::SpaceSamplerBasePtr |
Definition at line 666 of file openrave.h.
typedef boost::weak_ptr<SpaceSamplerBase> OpenRAVE::SpaceSamplerBaseWeakPtr |
Definition at line 668 of file openrave.h.
typedef boost::shared_ptr<TrajectoryBase const> OpenRAVE::TrajectoryBaseConstPtr |
Definition at line 661 of file openrave.h.
typedef boost::shared_ptr<TrajectoryBase> OpenRAVE::TrajectoryBasePtr |
Definition at line 660 of file openrave.h.
typedef boost::weak_ptr<TrajectoryBase> OpenRAVE::TrajectoryBaseWeakPtr |
Definition at line 662 of file openrave.h.
typedef boost::shared_ptr<TrajectoryTimingParameters const> OpenRAVE::TrajectoryTimingParametersConstPtr |
Definition at line 520 of file plannerparameters.h.
typedef boost::shared_ptr<TrajectoryTimingParameters> OpenRAVE::TrajectoryTimingParametersPtr |
Definition at line 519 of file plannerparameters.h.
typedef RaveTransform<dReal> OpenRAVE::Transform |
Definition at line 844 of file openrave.h.
typedef boost::shared_ptr< RaveTransform<dReal> const > OpenRAVE::TransformConstPtr |
Definition at line 846 of file openrave.h.
Definition at line 847 of file openrave.h.
typedef boost::shared_ptr< RaveTransformMatrix<dReal> const > OpenRAVE::TransformMatrixConstPtr |
Definition at line 849 of file openrave.h.
typedef boost::shared_ptr< RaveTransformMatrix<dReal> > OpenRAVE::TransformMatrixPtr |
Definition at line 848 of file openrave.h.
typedef boost::shared_ptr< RaveTransform<dReal> > OpenRAVE::TransformPtr |
Definition at line 845 of file openrave.h.
typedef boost::shared_ptr<UserData> OpenRAVE::UserDataPtr |
Definition at line 238 of file openrave.h.
typedef boost::weak_ptr<UserData> OpenRAVE::UserDataWeakPtr |
Definition at line 239 of file openrave.h.
typedef RaveVector<dReal> OpenRAVE::Vector |
Definition at line 843 of file openrave.h.
typedef boost::shared_ptr<ViewerBase const> OpenRAVE::ViewerBaseConstPtr |
Definition at line 664 of file openrave.h.
typedef boost::shared_ptr<ViewerBase> OpenRAVE::ViewerBasePtr |
Definition at line 663 of file openrave.h.
typedef boost::weak_ptr<ViewerBase> OpenRAVE::ViewerBaseWeakPtr |
Definition at line 665 of file openrave.h.
typedef boost::shared_ptr<WorkspaceTrajectoryParameters const> OpenRAVE::WorkspaceTrajectoryParametersConstPtr |
Definition at line 640 of file plannerparameters.h.
typedef boost::shared_ptr<WorkspaceTrajectoryParameters> OpenRAVE::WorkspaceTrajectoryParametersPtr |
Definition at line 639 of file plannerparameters.h.
typedef boost::shared_ptr<XMLReadable const> OpenRAVE::XMLReadableConstPtr |
Definition at line 711 of file openrave.h.
typedef boost::shared_ptr<XMLReadable> OpenRAVE::XMLReadablePtr |
Definition at line 710 of file openrave.h.
Definition at line 684 of file openrave.h.
action to perform whenever a collision is detected between objects
CA_DefaultAction |
let the physics/collision engine resolve the action |
CA_Ignore |
do nothing |
Definition at line 45 of file collisionchecker.h.
options for collision checker
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:
|
Definition at line 28 of file collisionchecker.h.
enum OpenRAVE::DebugLevel |
Definition at line 334 of file openrave.h.
enum OpenRAVE::DOFAffine |
Selects which DOFs of the affine transformation to include in the active configuration.
Definition at line 2347 of file openrave.h.
Controls what information gets validated when searching for an inverse kinematics solution.
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 | |
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. |
Definition at line 28 of file iksolver.h.
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.
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 |
Definition at line 876 of file openrave.h.
Return value for the ik filter that can be optionally set on an ik solver.
Definition at line 40 of file iksolver.h.
Specifies the boundary conditions of intervals for sampling.
Definition at line 28 of file spacesampler.h.
OpenRAVE error codes
Definition at line 140 of file openrave.h.
basic options for physics engine
Definition at line 28 of file physicsengine.h.
Definition at line 35 of file spacesampler.h.
serialization options for interfaces
Definition at line 28 of file interface.h.
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 | ||
) |
Definition at line 375 of file planner.cpp.
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 | ||
) |
Definition at line 413 of file planner.cpp.
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 | ||
) |
Definition at line 525 of file planner.cpp.
bool OpenRAVE::_CallSampleFns | ( | const std::vector< std::pair< PlannerBase::PlannerParameters::SampleFn, int > > & | vfunctions, |
int | nDOF, | ||
int | nMaxDOFForGroup, | ||
std::vector< dReal > & | v | ||
) |
Definition at line 437 of file planner.cpp.
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 | ||
) |
Definition at line 457 of file planner.cpp.
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
vweights2 | squared weights |
Definition at line 402 of file planner.cpp.
bool OpenRAVE::addstates | ( | std::vector< dReal > & | q, |
const std::vector< dReal > & | qdelta, | ||
int | fromgoal | ||
) |
Definition at line 58 of file planner.cpp.
void OpenRAVE::CallGetStateFns | ( | const std::vector< std::pair< PlannerBase::PlannerParameters::GetStateFn, int > > & | vfunctions, |
int | nDOF, | ||
int | nMaxDOFForGroup, | ||
std::vector< dReal > & | v | ||
) |
Definition at line 508 of file planner.cpp.
void OpenRAVE::CallSetStateFns | ( | const std::vector< std::pair< PlannerBase::PlannerParameters::SetStateFn, int > > & | vfunctions, |
int | nDOF, | ||
int | nMaxDOFForGroup, | ||
const std::vector< dReal > & | v | ||
) |
Definition at line 490 of file planner.cpp.
|
inline |
Change the text color (on either stdout or stderr) with an attr:fg:bg (thanks to Radu Rusu for the code)
Definition at line 276 of file openrave.h.
|
inline |
Change the text color (on either stdout or stderr) with an attr:fg (thanks to Radu Rusu for the code)
Definition at line 284 of file openrave.h.
|
inline |
Definition at line 299 of file openrave.h.
|
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()
Definition at line 100 of file kinbodylink.cpp.
OPENRAVE_CORE_API EnvironmentBasePtr OpenRAVE::CreateEnvironment | ( | bool | bLoadAllPlugins = true | ) |
OpenRAVEFunctionParserRealPtr OpenRAVE::CreateJointFunctionParser | ( | ) |
Definition at line 86 of file kinbodyjoint.cpp.
bool OpenRAVE::CustomIkSolverFilterDataCompare | ( | UserDataPtr | data0, |
UserDataPtr | data1 | ||
) |
Definition at line 79 of file iksolver.cpp.
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
Definition at line 523 of file openrave.h.
|
static |
Definition at line 52 of file kinbodyjoint.cpp.
|
static |
Definition at line 42 of file kinbodyjoint.cpp.
|
static |
take triangle 2 sides and an angle and compute the missing angle
Definition at line 71 of file kinbodyjoint.cpp.
|
static |
take triangle 2 sides and an angle and compute the missing side
Definition at line 79 of file kinbodyjoint.cpp.
|
static |
Definition at line 62 of file kinbodyjoint.cpp.
|
inline |
Definition at line 155 of file openrave.h.
|
inline |
Definition at line 1259 of file openrave.h.
|
inline |
Definition at line 2233 of file openrave.h.
std::ostream & OpenRAVE::operator<< | ( | std::ostream & | O, |
const PlannerBase::PlannerParameters & | v | ||
) |
OPENRAVE_API std::ostream& OpenRAVE::operator<< | ( | std::ostream & | O, |
const ConfigurationSpecification & | spec | ||
) |
std::ostream & OpenRAVE::operator<< | ( | std::ostream & | O, |
const IkParameterization & | ikparam | ||
) |
Definition at line 1150 of file libopenrave.cpp.
std::ostream & OpenRAVE::operator<< | ( | std::ostream & | O, |
const TriMesh & | trimesh | ||
) |
Definition at line 1741 of file libopenrave.cpp.
std::istream & OpenRAVE::operator>> | ( | std::istream & | I, |
PlannerBase::PlannerParameters & | v | ||
) |
<PlannerParameters>
to be the first token. Parses stream until
</PlannerParameters>
reached
Definition at line 25 of file planner.cpp.
OPENRAVE_API std::istream& OpenRAVE::operator>> | ( | std::istream & | I, |
ConfigurationSpecification & | spec | ||
) |
std::istream & OpenRAVE::operator>> | ( | std::istream & | I, |
IkParameterization & | ikparam | ||
) |
Definition at line 1250 of file libopenrave.cpp.
std::istream & OpenRAVE::operator>> | ( | std::istream & | I, |
TriMesh & | trimesh | ||
) |
Definition at line 1747 of file libopenrave.cpp.
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.
Definition at line 974 of file libopenrave.cpp.
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_exception | Will throw with ORE_InvalidArguments if registered function could not be found. |
Definition at line 1114 of file libopenrave.cpp.
|
inline |
returned a fully cloned interface
Definition at line 2611 of file openrave.h.
CollisionCheckerBasePtr OpenRAVE::RaveCreateCollisionChecker | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
Definition at line 1074 of file libopenrave.cpp.
ControllerBasePtr OpenRAVE::RaveCreateController | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
Definition at line 1039 of file libopenrave.cpp.
OPENRAVE_CORE_API EnvironmentBasePtr OpenRAVE::RaveCreateEnvironment | ( | ) |
Creates an OpenRAVE environment.
bLoadAllPlugins | passed into RaveInitialize |
IkSolverBasePtr OpenRAVE::RaveCreateIkSolver | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
Definition at line 1059 of file libopenrave.cpp.
InterfaceBasePtr OpenRAVE::RaveCreateInterface | ( | EnvironmentBasePtr | penv, |
InterfaceType | type, | ||
const std::string & | interfacename | ||
) |
Definition at line 1019 of file libopenrave.cpp.
KinBodyPtr OpenRAVE::RaveCreateKinBody | ( | EnvironmentBasePtr | penv, |
const std::string & | name = "" |
||
) |
Definition at line 1084 of file libopenrave.cpp.
ModuleBasePtr OpenRAVE::RaveCreateModule | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
Definition at line 1044 of file libopenrave.cpp.
PhysicsEngineBasePtr OpenRAVE::RaveCreatePhysicsEngine | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
Definition at line 1064 of file libopenrave.cpp.
PlannerBasePtr OpenRAVE::RaveCreatePlanner | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
Definition at line 1029 of file libopenrave.cpp.
ModuleBasePtr OpenRAVE::RaveCreateProblem | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
Definition at line 1049 of file libopenrave.cpp.
ModuleBasePtr OpenRAVE::RaveCreateProblemInstance | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
Definition at line 1054 of file libopenrave.cpp.
RobotBasePtr OpenRAVE::RaveCreateRobot | ( | EnvironmentBasePtr | penv, |
const std::string & | name = "" |
||
) |
Definition at line 1024 of file libopenrave.cpp.
SensorBasePtr OpenRAVE::RaveCreateSensor | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
Definition at line 1069 of file libopenrave.cpp.
SensorSystemBasePtr OpenRAVE::RaveCreateSensorSystem | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
Definition at line 1034 of file libopenrave.cpp.
SpaceSamplerBasePtr OpenRAVE::RaveCreateSpaceSampler | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
Definition at line 1099 of file libopenrave.cpp.
TrajectoryBasePtr OpenRAVE::RaveCreateTrajectory | ( | EnvironmentBasePtr | penv, |
const std::string & | name = "" |
||
) |
Return an empty trajectory instance.
Definition at line 1089 of file libopenrave.cpp.
TrajectoryBasePtr OpenRAVE::RaveCreateTrajectory | ( | EnvironmentBasePtr | penv, |
int | dof | ||
) |
Definition at line 1094 of file libopenrave.cpp.
ViewerBasePtr OpenRAVE::RaveCreateViewer | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
Definition at line 1079 of file libopenrave.cpp.
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.
Definition at line 969 of file libopenrave.cpp.
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.
filename | the relative filename in the database |
bRead | if true will only return a file if it exists. If false, will return the filename of the first valid database directory. |
Definition at line 944 of file libopenrave.cpp.
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
filename | the filename to look for |
curdir | the current directory in case the filename is relative |
Definition at line 1119 of file libopenrave.cpp.
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.
openrave_exception | throws if |
Definition at line 1438 of file libopenrave.cpp.
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.
affinedofs | a mask of DOFAffine values |
index | an index into the affine dof array |
openrave_exception | throws if dof if index is out of bounds |
Definition at line 1404 of file libopenrave.cpp.
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.
[out] | itvalues | an iterator to the vector to write the values to. Will write exactly RaveGetAffineDOF(affinedofs) values. |
[in] | t | the affine transformation to convert |
[in] | affinedofs | the affine format to output values in |
[in] | axis | optional rotation axis if affinedofs specified DOF_RotationAxis |
Definition at line 1471 of file libopenrave.cpp.
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.
[out] | itvalues | an iterator to the vector to write the values to. Will write exactly RaveGetAffineDOF(affinedofs) values. |
[in] | linearvel | the linear velocity to convert |
[in] | angularvel | the angular velocity to convert |
[in] | quatrotation | the rotation (in quaternion) of the frame that has the linearvel and angularvel. Used if affinedofs specified DOF_RotationAxis. |
[in] | affinedofs | the affine format to output values in |
[in] | axis | optional rotation axis if affinedofs specified DOF_RotationAxis |
Definition at line 1508 of file libopenrave.cpp.
int OpenRAVE::RaveGetDataAccess | ( | ) |
Returns the acess options set.
Definition at line 1134 of file libopenrave.cpp.
int OpenRAVE::RaveGetDebugLevel | ( | ) |
Returns the openrave debug level.
Definition at line 908 of file libopenrave.cpp.
EnvironmentBasePtr OpenRAVE::RaveGetEnvironment | ( | int | id | ) |
get the environment from its unique id
id | the unique environment id returned by RaveGetEnvironmentId |
Definition at line 984 of file libopenrave.cpp.
int OpenRAVE::RaveGetEnvironmentId | ( | EnvironmentBasePtr | penv | ) |
return the environment's unique id, returns 0 if environment could not be found or not registered
Definition at line 979 of file libopenrave.cpp.
void OpenRAVE::RaveGetEnvironments | ( | std::list< EnvironmentBasePtr > & | listenvironments | ) |
Return all the created OpenRAVE environments.
Definition at line 989 of file libopenrave.cpp.
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
Definition at line 939 of file libopenrave.cpp.
const std::map< IkParameterizationType, std::string > & OpenRAVE::RaveGetIkParameterizationMap | ( | int | alllowercase = 0 | ) |
returns a string of the ik parameterization type names
[in] | alllowercase | If 1, sets all characters to lower case. Otherwise can include upper case in order to match IkParameterizationType definition. |
Definition at line 918 of file libopenrave.cpp.
IkParameterizationType OpenRAVE::RaveGetIkTypeFromUniqueId | ( | int | uniqueid | ) |
returns the IkParameterizationType given the unique id detmerined b IKP_UniqueIdMask
Definition at line 923 of file libopenrave.cpp.
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.
affinedofs | a mask of DOFAffine values |
dof | a set of values inside affinedofs, the index of the first value is returned |
openrave_exception | throws if dof is not present in affinedofs |
Definition at line 1369 of file libopenrave.cpp.
|
inline |
Returns the a 16 character null-terminated string specifying a hash of the interfaces used for checking changes.
Definition at line 2456 of file openrave.h.
const std::string & OpenRAVE::RaveGetInterfaceName | ( | InterfaceType | type | ) |
Definition at line 934 of file libopenrave.cpp.
const std::map< InterfaceType, std::string > & OpenRAVE::RaveGetInterfaceNamesMap | ( | ) |
returns a lower case string of the interface type
Definition at line 913 of file libopenrave.cpp.
void OpenRAVE::RaveGetLoadedInterfaces | ( | std::map< InterfaceType, std::vector< std::string > > & | interfacenames | ) |
Get a list of all the loaded interfaces.
Definition at line 999 of file libopenrave.cpp.
void OpenRAVE::RaveGetPluginInfo | ( | std::list< std::pair< std::string, PLUGININFO > > & | plugins | ) |
Get all the loaded plugins and the interfaces they support.
plugins | A list of plugins. Each entry has the plugin name and the interfaces it supports |
Definition at line 994 of file libopenrave.cpp.
|
inline |
extracts only the filename
Definition at line 359 of file openrave.h.
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.
inout] | t the output transform | |
[in] | itvalues | the start iterator of the affine dof values |
[in] | affinedofs | the affine dof mask |
[in] | axis | optional rotation axis if affinedofs specified (vActvAffineRotationAxis of RobotBase) DOF_RotationAxis |
[in] | normalize | if true will normalize rotations, should set to false if extracting velocity data |
Definition at line 1536 of file libopenrave.cpp.
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.
[out] | linearvel | the output transform |
[in] | itvalues | the start iterator of the affine dof values |
[in] | affinedofs | the affine dof mask |
[in] | axis | optional rotation axis if affinedofs specified (vActvAffineRotationAxis of RobotBase) DOF_RotationAxis |
[in] | normalize | if true will normalize rotations, should set to false if extracting velocity data |
[in] | quatrotation | the quaternion of 3d rotation of the frame where the velocity is being measured at. |
Definition at line 1594 of file libopenrave.cpp.
UserDataPtr OpenRAVE::RaveGlobalState | ( | ) |
A pointer to the global openrave state.
Definition at line 959 of file libopenrave.cpp.
bool OpenRAVE::RaveHasInterface | ( | InterfaceType | type, |
const std::string & | interfacename | ||
) |
Returns true if interface can be created, otherwise false.
Definition at line 1014 of file libopenrave.cpp.
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.
bLoadAllPlugins | If true will load all the openrave plugins automatically that can be found in the OPENRAVE_PLUGINS environment path |
Definition at line 949 of file libopenrave.cpp.
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.
[in] | globalstate |
Definition at line 954 of file libopenrave.cpp.
void OpenRAVE::RaveInitRandomGeneration | ( | uint32_t | seed | ) |
Definition at line 1882 of file libopenrave.cpp.
|
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.
Definition at line 2482 of file openrave.h.
|
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.
Definition at line 2500 of file openrave.h.
bool OpenRAVE::RaveInvertFileLookup | ( | std::string & | newfilename, |
const std::string & | filename | ||
) |
Definition at line 1124 of file libopenrave.cpp.
bool OpenRAVE::RaveLoadPlugin | ( | const std::string & | libraryname | ) |
Load a plugin and its interfaces.
If the plugin is already loaded, will reload it.
name | the filename of the plugin to load |
Definition at line 1009 of file libopenrave.cpp.
|
inline |
Definition at line 2693 of file openrave.h.
|
inline |
Definition at line 491 of file openrave.h.
|
inline |
Definition at line 447 of file openrave.h.
|
inline |
Definition at line 458 of file openrave.h.
|
inline |
Definition at line 306 of file openrave.h.
double OpenRAVE::RaveRandomDouble | ( | IntervalType | interval = IT_Closed | ) |
Definition at line 1901 of file libopenrave.cpp.
float OpenRAVE::RaveRandomFloat | ( | IntervalType | interval = IT_Closed | ) |
Definition at line 1894 of file libopenrave.cpp.
uint32_t OpenRAVE::RaveRandomInt | ( | ) |
Definition at line 1887 of file libopenrave.cpp.
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.
type | interface type |
name | interface name |
interfacehash | the hash of the interface being created (use the global defines OPENRAVE_X_HASH) |
envhash | the hash of the environment (use the global define OPENRAVE_ENVIRONMENT_HASH) |
createfn | functions to create the interface it takes two parameters: the environment and an istream to the rest of the interface creation arguments. |
openrave_exception | Will throw with ORE_InvalidInterfaceHash if hashes do not match |
Definition at line 1104 of file libopenrave.cpp.
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
xmltag | the tag specified in xmltag is seen in the interface, the the custom reader will be created. |
fn | CreateXMLReaderFn(pinterface,atts) - passed in the pointer to the interface where the tag was seen along with the list of attributes |
Definition at line 1109 of file libopenrave.cpp.
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.
Definition at line 1004 of file libopenrave.cpp.
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
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. |
Definition at line 1129 of file libopenrave.cpp.
void OpenRAVE::RaveSetDebugLevel | ( | int | level | ) |
Sets the global openrave debug level. A combination of DebugLevel.
Definition at line 903 of file libopenrave.cpp.
|
inline |
Reset the text color (on either stdout or stderr) to its original state (thanks to Radu Rusu for the code)
Definition at line 292 of file openrave.h.
void OpenRAVE::subtractstates | ( | std::vector< dReal > & | q1, |
const std::vector< dReal > & | q2 | ||
) |
Definition at line 50 of file planner.cpp.
|
static |
Definition at line 300 of file libopenrave.cpp.
openrave constant for PI, could be replaced by accurate precision number depending on choice of dReal.
Definition at line 104 of file openrave.h.
const char OpenRAVE::s_filesep = '/' |
Definition at line 51 of file libopenrave.cpp.
|
static |
Definition at line 23 of file planner.cpp.