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virtual | ~RobotBase () |
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virtual void | Destroy () |
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virtual bool | Init (const std::vector< LinkInfoConstPtr > &linkinfos, const std::vector< JointInfoConstPtr > &jointinfos, const std::vector< ManipulatorInfoConstPtr > &manipinfos, const std::vector< AttachedSensorInfoConstPtr > &attachedsensorinfos) |
| initializes a robot with links, joints, manipulators, and sensors
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virtual std::vector
< ManipulatorPtr > & | GetManipulators () |
| Returns the manipulators of the robot.
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virtual std::vector
< AttachedSensorPtr > & | GetAttachedSensors () |
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virtual void | SetName (const std::string &name) |
| Set the name of the body, notifies the environment and checks for uniqueness.
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virtual void | SetDOFValues (const std::vector< dReal > &vJointValues, uint32_t checklimits=1, const std::vector< int > &dofindices=std::vector< int >()) |
| Sets the joint values of the robot.
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virtual void | SetDOFValues (const std::vector< dReal > &vJointValues, const Transform &transbase, uint32_t checklimits=1) |
| Sets the joint values and transformation of the body.
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virtual void | SetLinkTransformations (const std::vector< Transform > &transforms) |
| sets the transformations of all the links at once
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virtual void | SetLinkTransformations (const std::vector< Transform > &transforms, const std::vector< int > &dofbranches) |
| sets the transformations of all the links and dof branches at once.
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virtual bool | SetVelocity (const Vector &linearvel, const Vector &angularvel) |
| Set the velocity of the base link, rest of links are set to a consistent velocity so entire robot moves correctly.
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virtual void | SetDOFVelocities (const std::vector< dReal > &dofvelocities, const Vector &linearvel, const Vector &angularvel, uint32_t checklimits=1) |
| Sets the velocity of the base link and each of the joints.
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virtual void | SetDOFVelocities (const std::vector< dReal > &dofvelocities, uint32_t checklimits=1, const std::vector< int > &dofindices=std::vector< int >()) |
| Sets the velocity of the joints.
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virtual void | SetTransform (const Transform &trans) |
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virtual void | SimulationStep (dReal fElapsedTime) |
| Simulate the robot and update the grabbed bodies and attached sensors.
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virtual bool | CheckSelfCollision (CollisionReportPtr report=CollisionReportPtr()) const |
| Check if body is self colliding. Links that are joined together are ignored.
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virtual bool | CheckLinkCollision (int ilinkindex, const Transform &tlinktrans, CollisionReportPtr report=CollisionReportPtr()) |
| checks collision of a robot link with the surrounding environment. Attached/Grabbed bodies to this link are also checked for collision.
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virtual bool | CheckLinkSelfCollision (int ilinkindex, const Transform &tlinktrans, CollisionReportPtr report=CollisionReportPtr()) |
| checks self-collision of a robot link with the other robot links. Attached/Grabbed bodies to this link are also checked for self-collision.
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virtual void | Clone (InterfaceBaseConstPtr preference, int cloningoptions) |
| does not clone the grabbed bodies since it requires pointers from other bodies (that might not be initialized yet)
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virtual bool | IsRobot () const |
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virtual void | serialize (std::ostream &o, int options) const |
| only used for hashes...
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virtual const std::string & | GetRobotStructureHash () const |
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virtual ControllerBasePtr | GetController () const |
| gets the robot controller
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virtual bool | SetController (ControllerBasePtr controller, const std::vector< int > &dofindices, int nControlTransformation) |
| set a controller for a robot
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void | GetFullTrajectoryFromActive (TrajectoryBasePtr pfulltraj, TrajectoryBaseConstPtr pActiveTraj, bool bOverwriteTransforms=true) RAVE_DEPRECATED |
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A grabbed body becomes part of the robot and its relative pose with respect to a robot's link will be fixed. KinBody::_AttachBody is called for every grabbed body in order to make the grabbed body a part of the robot. Once grabbed, the inter-collisions between the robot and the body are regarded as self-collisions; any outside collisions of the body and the environment are regarded as environment collisions with the robot.
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virtual bool | Grab (KinBodyPtr body, LinkPtr pRobotLinkToGrabWith, const std::set< int > &setRobotLinksToIgnore) |
| Grab the body with the specified link.
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virtual bool | Grab (KinBodyPtr body, LinkPtr pRobotLinkToGrabWith) |
| Grab a body with the specified link.
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virtual bool | Grab (KinBodyPtr body, const std::set< int > &setRobotLinksToIgnore) |
| Grabs the body with the active manipulator's end effector.
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virtual bool | Grab (KinBodyPtr body) |
| Grabs the body with the active manipulator's end effector.
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virtual void | Release (KinBodyPtr body) |
| Release the body if grabbed.
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virtual void | ReleaseAllGrabbed () |
| Release all grabbed bodies.
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virtual void | RegrabAll () |
| Releases and grabs all bodies, has the effect of recalculating all the initial collision with the bodies.
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virtual LinkPtr | IsGrabbing (KinBodyConstPtr body) const |
| return the robot link that is currently grabbing the body. If the body is not grabbed, will return an empty pointer.
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virtual void | GetGrabbed (std::vector< KinBodyPtr > &vbodies) const |
| gets all grabbed bodies of the robot
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virtual void | GetGrabbedInfo (std::vector< GrabbedInfoPtr > &vgrabbedinfo) const |
| gets all grabbed bodies of the robot
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virtual void | ResetGrabbed (const std::vector< GrabbedInfoConstPtr > &vgrabbedinfo) |
| resets the grabbed bodies of the robot
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virtual void | GetIgnoredLinksOfGrabbed (KinBodyConstPtr body, std::list< KinBody::LinkConstPtr > &ignorelinks) const |
| returns all the links of the robot whose links are being ignored by the grabbed body.
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Public Member Functions inherited from OpenRAVE::KinBody |
virtual | ~KinBody () |
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virtual bool | InitFromBoxes (const std::vector< AABB > &boxes, bool visible) |
| Create a kinbody with one link composed of an array of aligned bounding boxes.
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virtual bool | InitFromBoxes (const std::vector< OBB > &boxes, bool visible) |
| Create a kinbody with one link composed of an array of oriented bounding boxes.
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virtual bool | InitFromSpheres (const std::vector< Vector > &spheres, bool visible) |
| Create a kinbody with one link composed of an array of spheres.
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virtual bool | InitFromTrimesh (const TriMesh &trimesh, bool visible) |
| Create a kinbody with one link composed of a triangle mesh surface.
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virtual bool | InitFromGeometries (const std::vector< KinBody::GeometryInfoConstPtr > &geometries) |
| Create a kinbody with one link composed of a list of geometries.
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virtual bool | InitFromGeometries (const std::list< KinBody::GeometryInfo > &geometries) |
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virtual bool | Init (const std::vector< LinkInfoConstPtr > &linkinfos, const std::vector< JointInfoConstPtr > &jointinfos) |
| initializes an complex kinematics body with links and joints
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virtual const std::string & | GetName () const |
| Unique name of the robot.
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virtual void | SubtractDOFValues (std::vector< dReal > &values1, const std::vector< dReal > &values2, const std::vector< int > &dofindices=std::vector< int >()) const |
| Computes the configuration difference values1-values2 and stores it in values1.
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virtual void | SetDOFTorques (const std::vector< dReal > &torques, bool add) |
| Adds a torque to every joint.
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virtual const std::vector
< LinkPtr > & | GetLinks () const |
| Returns all the rigid links of the body.
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virtual LinkPtr | GetLink (const std::string &name) const |
| return a pointer to the link with the given name
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virtual void | GetLinkTransformations (std::vector< Transform > &transforms) const |
| get the transformations of all the links at once
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virtual void | GetLinkTransformations (std::vector< Transform > &transforms, std::vector< int > &dofbranches) const |
| get the transformations of all the links and the dof branches at once.
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virtual void | GetBodyTransformations (std::vector< Transform > &transforms) const RAVE_DEPRECATED |
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virtual Transform | GetTransform () const |
| queries the transfromation of the first link of the body
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virtual void | GetLinkVelocities (std::vector< std::pair< Vector, Vector > > &velocities) const |
| Returns the linear and angular velocities for each link.
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virtual void | GetLinkAccelerations (const std::vector< dReal > &dofaccelerations, std::vector< std::pair< Vector, Vector > > &linkaccelerations) const |
| Returns the linear and angular accelerations for each link given the dof accelerations.
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virtual AABB | ComputeAABB () const |
| Return an axis-aligned bounding box of the entire object in the world coordinate system.
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virtual Vector | GetCenterOfMass () const |
| Return the center of mass of entire robot in the world coordinate system.
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virtual void | Enable (bool enable) |
| Enables or disables all the links.
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virtual bool | IsEnabled () const |
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virtual bool | SetVisible (bool visible) |
| Sets all the links as visible or not visible.
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virtual bool | IsVisible () const |
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virtual void | SetJointValues (const std::vector< dReal > &values, bool checklimits=true) |
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virtual void | SetJointValues (const std::vector< dReal > &values, const Transform &transform, bool checklimits=true) |
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virtual void | SetBodyTransformations (const std::vector< Transform > &transforms) RAVE_DEPRECATED |
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virtual void | SetLinkVelocities (const std::vector< std::pair< Vector, Vector > > &velocities) |
| sets the link velocities
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virtual void | ComputeJacobianTranslation (int linkindex, const Vector &position, std::vector< dReal > &jacobian, const std::vector< int > &dofindices=std::vector< int >()) const |
| Computes the translation jacobian with respect to a world position.
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virtual void | CalculateJacobian (int linkindex, const Vector &position, std::vector< dReal > &jacobian) const |
| calls std::vector version of ComputeJacobian internally
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virtual void | CalculateJacobian (int linkindex, const Vector &position, boost::multi_array< dReal, 2 > &jacobian) const |
| calls std::vector version of ComputeJacobian internally, a little inefficient since it copies memory
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virtual void | CalculateRotationJacobian (int linkindex, const Vector &quat, std::vector< dReal > &jacobian) const |
| Computes the rotational jacobian as a quaternion with respect to an initial rotation.
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virtual void | CalculateRotationJacobian (int linkindex, const Vector &quat, boost::multi_array< dReal, 2 > &jacobian) const |
| calls std::vector version of CalculateRotationJacobian internally, a little inefficient since it copies memory
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virtual void | ComputeJacobianAxisAngle (int linkindex, std::vector< dReal > &jacobian, const std::vector< int > &dofindices=std::vector< int >()) const |
| Computes the angular velocity jacobian of a specified link about the axes of world coordinates.
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virtual void | CalculateAngularVelocityJacobian (int linkindex, std::vector< dReal > &jacobian) const |
| Computes the angular velocity jacobian of a specified link about the axes of world coordinates.
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virtual void | CalculateAngularVelocityJacobian (int linkindex, boost::multi_array< dReal, 2 > &jacobian) const |
| calls std::vector version of CalculateAngularVelocityJacobian internally, a little inefficient since it copies memory
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virtual void | ComputeHessianTranslation (int linkindex, const Vector &position, std::vector< dReal > &hessian, const std::vector< int > &dofindices=std::vector< int >()) const |
| Computes the DOFx3xDOF hessian of the linear translation.
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virtual void | ComputeHessianAxisAngle (int linkindex, std::vector< dReal > &hessian, const std::vector< int > &dofindices=std::vector< int >()) const |
| Computes the DOFx3xDOF hessian of the rotation represented as angle-axis.
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virtual void | ComputeInverseDynamics (std::vector< dReal > &doftorques, const std::vector< dReal > &dofaccelerations, const ForceTorqueMap &externalforcetorque=ForceTorqueMap()) const |
| Computes the inverse dynamics (torques) from the current robot position, velocity, and acceleration.
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virtual void | ComputeInverseDynamics (boost::array< std::vector< dReal >, 3 > &doftorquecomponents, const std::vector< dReal > &dofaccelerations, const ForceTorqueMap &externalforcetorque=ForceTorqueMap()) const |
| Computes the separated inverse dynamics torque terms from the current robot position, velocity, and acceleration.
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virtual bool | IsAttached (KinBodyConstPtr body) const |
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virtual void | GetAttached (std::set< KinBodyPtr > &setAttached) const |
| Recursively get all attached bodies of this body, including this body.
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virtual int | GetEnvironmentId () const |
| return a unique id of the body used in the environment.
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virtual int8_t | DoesAffect (int jointindex, int linkindex) const |
| Returns a nonzero value if the joint effects the link transformation.
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virtual UserDataPtr | GetViewerData () const RAVE_DEPRECATED |
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virtual const std::set< int > & | GetAdjacentLinks () const |
| return all possible link pairs whose collisions are ignored.
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virtual UserDataPtr | GetPhysicsData () const RAVE_DEPRECATED |
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virtual UserDataPtr | GetCollisionData () const RAVE_DEPRECATED |
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virtual ManageDataPtr | GetManageData () const |
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virtual int | GetUpdateStamp () const |
| Return a unique id for every transformation state change of any link. Used to check if robot state has changed.
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virtual UserDataPtr | RegisterChangeCallback (int properties, const boost::function< void()> &callback) const |
| Register a callback with the interface.
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void | Serialize (BaseXMLWriterPtr writer, int options=0) const |
| serializes the interface
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virtual const std::string & | GetKinematicsGeometryHash () const |
| A md5 hash unique to the particular kinematic and geometric structure of a KinBody.
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virtual void | SetZeroConfiguration () |
| Sets the joint offsets so that the current configuration becomes the new zero state of the robot.
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virtual void | SetNonCollidingConfiguration () |
| Treats the current pose as a pose not in collision, which sets the adjacent pairs of links.
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virtual int | GetDOF () const |
| Number controllable degrees of freedom of the body.
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virtual void | GetDOFValues (std::vector< dReal > &v, const std::vector< int > &dofindices=std::vector< int >()) const |
| Returns all the joint values as organized by the DOF indices.
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virtual void | GetDOFVelocities (std::vector< dReal > &v, const std::vector< int > &dofindices=std::vector< int >()) const |
| Returns all the joint velocities as organized by the DOF indices.
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virtual void | GetDOFLimits (std::vector< dReal > &lowerlimit, std::vector< dReal > &upperlimit, const std::vector< int > &dofindices=std::vector< int >()) const |
| Returns all the joint limits as organized by the DOF indices.
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virtual void | GetDOFVelocityLimits (std::vector< dReal > &lowerlimit, std::vector< dReal > &upperlimit, const std::vector< int > &dofindices=std::vector< int >()) const |
| Returns all the joint velocity limits as organized by the DOF indices.
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virtual void | GetDOFVelocityLimits (std::vector< dReal > &maxvelocities, const std::vector< int > &dofindices=std::vector< int >()) const |
| Returns the max velocity for each DOF.
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virtual void | GetDOFAccelerationLimits (std::vector< dReal > &maxaccelerations, const std::vector< int > &dofindices=std::vector< int >()) const |
| Returns the max acceleration for each DOF.
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virtual void | GetDOFTorqueLimits (std::vector< dReal > &maxaccelerations) const |
| Returns the max torque for each DOF.
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virtual void | GetDOFMaxVel (std::vector< dReal > &v) const RAVE_DEPRECATED |
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virtual void | GetDOFMaxAccel (std::vector< dReal > &v) const RAVE_DEPRECATED |
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virtual void | GetDOFMaxTorque (std::vector< dReal > &v) const |
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virtual void | GetDOFResolutions (std::vector< dReal > &v, const std::vector< int > &dofindices=std::vector< int >()) const |
| get the dof resolutions
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virtual void | GetDOFWeights (std::vector< dReal > &v, const std::vector< int > &dofindices=std::vector< int >()) const |
| get dof weights
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virtual void | SetDOFVelocityLimits (const std::vector< dReal > &maxlimits) |
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virtual void | SetDOFAccelerationLimits (const std::vector< dReal > &maxlimits) |
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virtual void | SetDOFTorqueLimits (const std::vector< dReal > &maxlimits) |
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virtual void | SetDOFWeights (const std::vector< dReal > &weights, const std::vector< int > &dofindices=std::vector< int >()) |
| sets dof weights
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virtual void | SetDOFLimits (const std::vector< dReal > &lower, const std::vector< dReal > &upper) |
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const std::vector< JointPtr > & | GetJoints () const |
| Returns the joints making up the controllable degrees of freedom of the body.
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const std::vector< JointPtr > & | GetPassiveJoints () const |
| Returns the passive joints, order does not matter.
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virtual const std::vector
< JointPtr > & | GetDependencyOrderedJoints () const |
| Returns the joints in hierarchical order starting at the base link.
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virtual const std::vector
< std::vector< std::pair
< LinkPtr, JointPtr > > > & | GetClosedLoops () const |
| Return the set of unique closed loops of the kinematics hierarchy.
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virtual bool | GetChain (int linkindex1, int linkindex2, std::vector< JointPtr > &vjoints) const |
| Computes the minimal chain of joints that are between two links in the order of linkindex1 to linkindex2.
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virtual bool | GetChain (int linkindex1, int linkindex2, std::vector< LinkPtr > &vlinks) const |
| similar to GetChain(int,int,std::vector<JointPtr>&) except returns the links along the path.
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virtual bool | IsDOFInChain (int linkindex1, int linkindex2, int dofindex) const |
| Returns true if the dof index affects the relative transformation between the two links.
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virtual int | GetJointIndex (const std::string &name) const |
| Return the index of the joint with the given name, else -1.
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virtual JointPtr | GetJoint (const std::string &name) const |
| Return a pointer to the joint with the given name. Search in the regular and passive joints.
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virtual JointPtr | GetJointFromDOFIndex (int dofindex) const |
| Returns the joint that covers the degree of freedom index.
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virtual ConfigurationSpecification | GetConfigurationSpecification (const std::string &interpolation="") const |
| return the configuration specification of the joint values and transform
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virtual ConfigurationSpecification | GetConfigurationSpecificationIndices (const std::vector< int > &indices, const std::string &interpolation="") const |
| return the configuration specification of the specified joint indices.
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virtual void | SetConfigurationValues (std::vector< dReal >::const_iterator itvalues, uint32_t checklimits=CLA_CheckLimits) |
| sets joint values and transform of the body using configuration values as specified by GetConfigurationSpecification()
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virtual void | GetConfigurationValues (std::vector< dReal > &v) const |
| returns the configuration values as specified by GetConfigurationSpecification()
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| InterfaceBase (InterfaceType type, EnvironmentBasePtr penv) |
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virtual | ~InterfaceBase () |
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InterfaceType | GetInterfaceType () const |
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const std::string & | GetXMLId () const |
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const std::string & | GetPluginName () const |
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EnvironmentBasePtr | GetEnv () const |
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const READERSMAP & | GetReadableInterfaces () const |
| Returns the raw map reference, this is not multithread safe and the GetInterfaceMutex should be locked before using.
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virtual XMLReadablePtr | GetReadableInterface (const std::string &xmltag) const |
| Returns the readable interface. [multi-thread safe]
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virtual XMLReadablePtr | SetReadableInterface (const std::string &xmltag, XMLReadablePtr readable) |
| Set a new readable interface and return the previously set interface if it exists. [multi-thread safe]
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virtual const std::string & | GetDescription () const |
| Documentation of the interface in reStructuredText format. See Documenting Interfaces. [multi-thread safe]
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virtual void | SetDescription (const std::string &description) |
| sets a description [multi-thread safe]
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virtual void | SetUserData (const std::string &key, UserDataPtr data) const |
| set user data for a specific key. [multi-thread safe]
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virtual UserDataPtr | GetUserData (const std::string &key=std::string()) const |
| return the user custom data [multi-thread safe]
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virtual bool | RemoveUserData (const std::string &key) const |
| removes a user data pointer. if user data pointer does not exist, then return 0, otherwise 1. [multi-thread safe]
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virtual void | SetUserData (UserDataPtr data) RAVE_DEPRECATED |
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virtual const std::string & | GetURI () const |
| the URI used to load the interface (sometimes this is not possible if the definition lies inside an environment file). [multi-thread safe]
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virtual const std::string & | GetXMLFilename () const |
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virtual bool | SendCommand (std::ostream &os, std::istream &is) |
| Used to send special commands to the interface and receive output.
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Methods using the active degrees of freedoms of the robot. Active DOFs are a way for the user to specify degrees of freedom of interest for a current execution block. All planners by default use the robot's active DOF and active manipultor. For every Get* method, there is a corresponding GetActive* method rather than the methods when setting joints. The active DOFs also include affine transfomrations of the robot's base. Affine transformation DOFs can be found after the joint DOFs in this order: X, Y, Z, Rotation where rotation can be around a specified axis a full 3D rotation. Usually the affine transforamtion is with respect to the first link in the body
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static const DOFAffine
DOF_NoTransform | RAVE_DEPRECATED = OpenRAVE::DOF_NoTransform |
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static const DOFAffine DOF_X | RAVE_DEPRECATED = OpenRAVE::DOF_X |
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static const DOFAffine DOF_Y | RAVE_DEPRECATED = OpenRAVE::DOF_Y |
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static const DOFAffine DOF_Z | RAVE_DEPRECATED = OpenRAVE::DOF_Z |
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static const DOFAffine
DOF_RotationAxis | RAVE_DEPRECATED = OpenRAVE::DOF_RotationAxis |
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static const DOFAffine
DOF_Rotation3D | RAVE_DEPRECATED = OpenRAVE::DOF_Rotation3D |
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static const DOFAffine
DOF_RotationQuat | RAVE_DEPRECATED = OpenRAVE::DOF_RotationQuat |
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virtual void | SetActiveDOFs (const std::vector< int > &dofindices, int affine=OpenRAVE::DOF_NoTransform) |
| Set the joint indices and affine transformation dofs that the planner should use. If DOF_RotationAxis is specified, the previously set axis is used.
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virtual void | SetActiveDOFs (const std::vector< int > &dofindices, int affine, const Vector &rotationaxis) |
| Set the joint indices and affine transformation dofs that the planner should use. If DOF_RotationAxis is specified, then rotationaxis is set as the new axis.
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virtual int | GetActiveDOF () const |
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virtual int | GetAffineDOF () const |
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virtual int | GetAffineDOFIndex (DOFAffine dof) const |
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virtual ConfigurationSpecification | GetActiveConfigurationSpecification (const std::string &interpolation="") const |
| return a copy of the configuration specification of the active dofs
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virtual const std::vector< int > & | GetActiveDOFIndices () const |
| Return the set of active dof indices of the joints.
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virtual Vector | GetAffineRotationAxis () const |
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virtual void | SetAffineTranslationLimits (const Vector &lower, const Vector &upper) |
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virtual void | SetAffineRotationAxisLimits (const Vector &lower, const Vector &upper) |
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virtual void | SetAffineRotation3DLimits (const Vector &lower, const Vector &upper) |
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virtual void | SetAffineRotationQuatLimits (const Vector &quatangle) |
| sets the quaternion limits using a starting rotation and the max angle deviation from it.
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virtual void | SetAffineTranslationMaxVels (const Vector &vels) |
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virtual void | SetAffineRotationAxisMaxVels (const Vector &vels) |
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virtual void | SetAffineRotation3DMaxVels (const Vector &vels) |
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virtual void | SetAffineRotationQuatMaxVels (dReal vels) |
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virtual void | SetAffineTranslationResolution (const Vector &resolution) |
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virtual void | SetAffineRotationAxisResolution (const Vector &resolution) |
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virtual void | SetAffineRotation3DResolution (const Vector &resolution) |
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virtual void | SetAffineRotationQuatResolution (dReal resolution) |
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virtual void | SetAffineTranslationWeights (const Vector &weights) |
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virtual void | SetAffineRotationAxisWeights (const Vector &weights) |
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virtual void | SetAffineRotation3DWeights (const Vector &weights) |
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virtual void | SetAffineRotationQuatWeights (dReal weights) |
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virtual void | GetAffineTranslationLimits (Vector &lower, Vector &upper) const |
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virtual void | GetAffineRotationAxisLimits (Vector &lower, Vector &upper) const |
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virtual void | GetAffineRotation3DLimits (Vector &lower, Vector &upper) const |
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virtual Vector | GetAffineRotationQuatLimits () const |
| gets the quaternion limits
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virtual Vector | GetAffineTranslationMaxVels () const |
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virtual Vector | GetAffineRotationAxisMaxVels () const |
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virtual Vector | GetAffineRotation3DMaxVels () const |
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virtual dReal | GetAffineRotationQuatMaxVels () const |
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virtual Vector | GetAffineTranslationResolution () const |
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virtual Vector | GetAffineRotationAxisResolution () const |
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virtual Vector | GetAffineRotation3DResolution () const |
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virtual dReal | GetAffineRotationQuatResolution () const |
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virtual Vector | GetAffineTranslationWeights () const |
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virtual Vector | GetAffineRotationAxisWeights () const |
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virtual Vector | GetAffineRotation3DWeights () const |
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virtual dReal | GetAffineRotationQuatWeights () const |
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virtual void | SetActiveDOFValues (const std::vector< dReal > &values, uint32_t checklimits=1) |
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virtual void | GetActiveDOFValues (std::vector< dReal > &v) const |
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virtual void | SetActiveDOFVelocities (const std::vector< dReal > &velocities, uint32_t checklimits=1) |
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virtual void | GetActiveDOFVelocities (std::vector< dReal > &velocities) const |
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virtual void | GetActiveDOFLimits (std::vector< dReal > &lower, std::vector< dReal > &upper) const |
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virtual void | GetActiveDOFResolutions (std::vector< dReal > &v) const |
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virtual void | GetActiveDOFWeights (std::vector< dReal > &v) const |
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virtual void | GetActiveDOFVelocityLimits (std::vector< dReal > &v) const |
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virtual void | GetActiveDOFAccelerationLimits (std::vector< dReal > &v) const |
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virtual void | GetActiveDOFMaxVel (std::vector< dReal > &v) const |
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virtual void | GetActiveDOFMaxAccel (std::vector< dReal > &v) const |
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virtual void | SubtractActiveDOFValues (std::vector< dReal > &q1, const std::vector< dReal > &q2) const |
| computes the configuration difference q1-q2 and stores it in q1. Takes into account joint limits and circular joints
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virtual void | SetActiveManipulator (int index) RAVE_DEPRECATED |
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virtual ManipulatorPtr | SetActiveManipulator (const std::string &manipname) |
| sets the active manipulator of the robot
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virtual void | SetActiveManipulator (ManipulatorConstPtr pmanip) |
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virtual ManipulatorPtr | GetActiveManipulator () |
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virtual ManipulatorConstPtr | GetActiveManipulator () const |
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virtual ManipulatorPtr | AddManipulator (const ManipulatorInfo &manipinfo) |
| adds a manipulator the list
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virtual void | RemoveManipulator (ManipulatorPtr manip) |
| removes a manipulator from the robot list.
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virtual int | GetActiveManipulatorIndex () const RAVE_DEPRECATED |
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virtual bool | SetMotion (TrajectoryBaseConstPtr ptraj) RAVE_DEPRECATED |
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virtual bool | SetActiveMotion (TrajectoryBaseConstPtr ptraj) RAVE_DEPRECATED |
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virtual bool | SetActiveMotion (TrajectoryBaseConstPtr ptraj, dReal fSpeed) RAVE_DEPRECATED |
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virtual void | CalculateActiveJacobian (int index, const Vector &offset, std::vector< dReal > &jacobian) const |
| Calculates the translation jacobian with respect to a link.
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virtual void | CalculateActiveJacobian (int index, const Vector &offset, boost::multi_array< dReal, 2 > &jacobian) const |
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virtual void | CalculateActiveRotationJacobian (int index, const Vector &qInitialRot, std::vector< dReal > &jacobian) const |
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virtual void | CalculateActiveRotationJacobian (int index, const Vector &qInitialRot, boost::multi_array< dReal, 2 > &jacobian) const |
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virtual void | CalculateActiveAngularVelocityJacobian (int index, std::vector< dReal > &jacobian) const |
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virtual void | CalculateActiveAngularVelocityJacobian (int index, boost::multi_array< dReal, 2 > &jacobian) const |
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virtual const std::set< int > & | GetNonAdjacentLinks (int adjacentoptions=0) const |
| return all possible link pairs that could get in collision.
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