The entire OpenRAVE library. [詳細]
ネームスペース | |
namespace | geometry |
Templated math and geometric functions. | |
namespace | LocalXML |
namespace | mathextra |
Extra math routines that are useful to have but don't really belong anywhere. | |
namespace | planningutils |
namespace | utils |
namespace | xmlreaders |
構成 | |
class | CollisionReport |
Holds information about a particular collision that occured. [詳細] | |
class | CollisionCheckerBase |
[interface] Responsible for all collision checking queries of the environment. If not specified, method is not multi-thread safe. See Collision Checker Concepts. [詳細] | |
class | CollisionOptionsStateSaver |
Helper class to save and restore the collision options. If options are not supported and required is true, throws an exception. [詳細] | |
class | ControllerBase |
[interface] Abstract base class to encapsulate a local controller. If not specified, method is not multi-thread safe. See Controller Concepts. [詳細] | |
class | MultiController |
controller that manage multiple controllers, allows users to easily set multiple controllers for one robot. [詳細] | |
class | EnvironmentBase |
Maintains a world state, which serves as the gateway to all functions offered through OpenRAVE. See 環境の概念. [詳細] | |
class | IkReturn |
class | IkSolverBase |
[interface] Base class for all Inverse Kinematic solvers. If not specified, method is not multi-thread safe. See Inverse Kinematics Solver Concepts. [詳細] | |
class | InterfaceBase |
[interface] Base class for all interfaces that OpenRAVE provides. See Base Interface Concepts. [詳細] | |
class | KinBody |
[interface] A kinematic body of links and joints. If not specified, method is not multi-thread safe. See Kinematics Body Concepts. [詳細] | |
class | ModuleBase |
[interface] A loadable module of user code meant to solve a specific domain. If not specified, method is not multi-thread safe. See Module Concepts. [詳細] | |
class | openrave_exception |
Exception that all OpenRAVE internal methods throw; the error codes are held in OpenRAVEErrorCode. [詳細] | |
class | CaseInsensitiveCompare |
class | UserData |
base class for all user data [詳細] | |
class | SerializableData |
user data that can serialize/deserialize itself [詳細] | |
class | XMLReadable |
base class for readable interfaces [詳細] | |
class | BaseXMLReader |
base class for all xml readers. XMLReaders are used to process data from xml files. [詳細] | |
class | DummyXMLReader |
reads until the tag ends [詳細] | |
class | BaseXMLWriter |
base class for writing to XML files. [詳細] | |
class | ConfigurationSpecification |
A configuration specification references values in the environment that then define a configuration-space which can be searched for. [詳細] | |
class | IkParameterization |
Parameterization of basic primitives for querying inverse-kinematics solutions. [詳細] | |
class | TriMesh |
User data for trimesh geometries. Vertices are defined in counter-clockwise order for outward pointing faces. [詳細] | |
class | PhysicsEngineBase |
[interface] The physics engine interfaces supporting simulations and dynamics. See Physics Engine Concepts. [詳細] | |
class | PlannerBase |
[interface] Planner interface that generates trajectories for target objects to follow through the environment. If not specified, method is not multi-thread safe. See Planner Concepts. [詳細] | |
class | ExplorationParameters |
class | RAStarParameters |
class | GraspSetParameters |
class | GraspParameters |
class | TrajectoryTimingParameters |
parameters for timing/smoothing trajectories [詳細] | |
class | ConstraintTrajectoryTimingParameters |
class | WorkspaceTrajectoryParameters |
class | RRTParameters |
class | BasicRRTParameters |
class | PLUGININFO |
Holds all the OpenRAVE-specific information provided by a plugin. [詳細] | |
class | RobotBase |
[interface] A robot is a kinematic body that has attached manipulators, sensors, and controllers. If not specified, method is not multi-thread safe. See Robot Concepts. [詳細] | |
class | SensorBase |
[interface] A sensor measures physical properties from the environment. If not specified, method is not multi-thread safe. See Sensor Concepts. [詳細] | |
class | SensorSystemBase |
[interface] Used to manage the creation and destruction of bodies. See Sensor System Concepts. [詳細] | |
class | SimpleSensorSystem |
A very simple sensor system example that manages raw detection data. [詳細] | |
class | SpaceSamplerBase |
[interface] Contains space samplers commonly used in planners. If not specified, method is not multi-thread safe. See SpaceSampler Concepts. [詳細] | |
class | TrajectoryBase |
[interface] Encapsulate a time-parameterized trajectories of robot configurations. If not specified, method is not multi-thread safe. [詳細] | |
class | GraphHandle |
Handle holding the plot from the viewers. The plot will continue to be drawn as long as a reference to this handle is held. [詳細] | |
class | ViewerBase |
[interface] Base class for the graphics and gui engine that renders the environment and provides visual sensor information. If not specified, method is not multi-thread safe. See Viewer Concepts. [詳細] | |
class | CustomIkSolverFilterData |
class | ChangeCallbackData |
class | RaveGlobal |
class | CustomPlannerCallbackData |
class | CallOnDestruction |
列挙型 | |
enum | CollisionOptions { CO_Distance = 1, CO_UseTolerance = 2, CO_Contacts = 4, CO_RayAnyHit = 8, CO_ActiveDOFs = 16 } |
options for collision checker [詳細] | |
enum | CollisionAction { CA_DefaultAction = 0, CA_Ignore = 1 } |
action to perform whenever a collision is detected between objects [詳細] | |
enum | IkFilterOptions { IKFO_CheckEnvCollisions =1, IKFO_IgnoreSelfCollisions =2, IKFO_IgnoreJointLimits =4, IKFO_IgnoreCustomFilters =8, IKFO_IgnoreEndEffectorCollisions =16, IKFO_IgnoreEndEffectorEnvCollisions =16, IKFO_IgnoreEndEffectorSelfCollisions =32 } |
Controls what information gets validated when searching for an inverse kinematics solution. [詳細] | |
enum | IkReturnAction { IKRA_Success = 0, IKRA_Reject = 1, IKRA_Quit = 2, IKRA_QuitEndEffectorCollision = (IKRA_Quit|0x00000080), IKRA_RejectKinematics = (IKRA_Reject|0x00000010), IKRA_RejectSelfCollision = (IKRA_Reject|0x00000020), IKRA_RejectEnvCollision = (IKRA_Reject|0x00000040), IKRA_RejectJointLimits = (IKRA_Reject|0x00000100), IKRA_RejectKinematicsPrecision = (IKRA_Reject|0x00000200), IKRA_RejectCustomFilter = (IKRA_Reject|0x00008000) } |
Return value for the ik filter that can be optionally set on an ik solver. [詳細] | |
enum | SerializationOptions { SO_Kinematics = 0x01, SO_Dynamics = 0x02, SO_BodyState = 0x04, SO_NamesAndFiles = 0x08, SO_RobotManipulators = 0x10, SO_RobotSensors = 0x20, SO_Geometry = 0x40 } |
serialization options for interfaces [詳細] | |
enum | GeometryType { GT_None = 0, GT_Box = 1, GT_Sphere = 2, GT_Cylinder = 3, GT_TriMesh = 4 } |
The type of geometry primitive. [詳細] | |
enum | OpenRAVEErrorCode { ORE_Failed =0, ORE_InvalidArguments =1, ORE_EnvironmentNotLocked =2, ORE_CommandNotSupported =3, ORE_Assert =4, ORE_InvalidPlugin =5, ORE_InvalidInterfaceHash =6, ORE_NotImplemented =7, ORE_InconsistentConstraints =8, ORE_NotInitialized =9, ORE_InvalidState =10, ORE_Timeout =11 } |
OpenRAVE error codes [詳細] | |
enum | DebugLevel { Level_Fatal =0, Level_Error =1, Level_Warn =2, Level_Info =3, Level_Debug =4, Level_Verbose =5, Level_OutputMask =0xf, Level_VerifyPlans =0x80000000 } |
enum | CloningOptions { Clone_Bodies = 1, Clone_Viewer = 2, Clone_Simulation = 4, Clone_RealControllers = 8, Clone_Sensors = 16 } |
enum | IkParameterizationType { IKP_None =0, IKP_Transform6D =0x67000001, IKP_Rotation3D =0x34000002, IKP_Translation3D =0x33000003, IKP_Direction3D =0x23000004, IKP_Ray4D =0x46000005, IKP_Lookat3D =0x23000006, IKP_TranslationDirection5D =0x56000007, IKP_TranslationXY2D =0x22000008, IKP_TranslationXYOrientation3D =0x33000009, IKP_TranslationLocalGlobal6D =0x3600000a, IKP_TranslationXAxisAngle4D =0x4400000b, IKP_TranslationYAxisAngle4D =0x4400000c, IKP_TranslationZAxisAngle4D =0x4400000d, IKP_TranslationXAxisAngleZNorm4D =0x4400000e, IKP_TranslationYAxisAngleXNorm4D =0x4400000f, IKP_TranslationZAxisAngleYNorm4D =0x44000010, IKP_NumberOfParameterizations =16, IKP_VelocityDataBit = 0x00008000, IKP_Transform6DVelocity = IKP_Transform6D|IKP_VelocityDataBit, IKP_Rotation3DVelocity = IKP_Rotation3D|IKP_VelocityDataBit, IKP_Translation3DVelocity = IKP_Translation3D|IKP_VelocityDataBit, IKP_Direction3DVelocity = IKP_Direction3D|IKP_VelocityDataBit, IKP_Ray4DVelocity = IKP_Ray4D|IKP_VelocityDataBit, IKP_Lookat3DVelocity = IKP_Lookat3D|IKP_VelocityDataBit, IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D|IKP_VelocityDataBit, IKP_TranslationXY2DVelocity = IKP_TranslationXY2D|IKP_VelocityDataBit, IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D|IKP_VelocityDataBit, IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D|IKP_VelocityDataBit, IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D|IKP_VelocityDataBit, IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D|IKP_VelocityDataBit, IKP_UniqueIdMask = 0x0000ffff, IKP_CustomDataBit = 0x00010000 } |
The types of inverse kinematics parameterizations supported. [詳細] | |
enum | DOFAffine { DOF_NoTransform = 0, DOF_X = 1, DOF_Y = 2, DOF_Z = 4, DOF_XYZ =DOF_X|DOF_Y|DOF_Z, DOF_RotationAxis = 8, DOF_Rotation3D = 16, DOF_RotationQuat = 32, DOF_RotationMask =(DOF_RotationAxis|DOF_Rotation3D|DOF_RotationQuat), DOF_Transform = (DOF_XYZ|DOF_RotationQuat) } |
Selects which DOFs of the affine transformation to include in the active configuration. [詳細] | |
enum | PhysicsEngineOptions { PEO_SelfCollisions = 1 } |
basic options for physics engine [詳細] | |
enum | PlannerStatus { PS_Failed = 0, PS_HasSolution = 1, PS_Interrupted = 2, PS_InterruptedWithSolution = 3 } |
the status of the PlanPath method. Used when PlanPath can be called multiple times to resume planning. [詳細] | |
enum | PlannerAction { PA_None =0, PA_Interrupt =1, PA_ReturnWithAnySolution =2 } |
action to send to the planner while it is planning. This is usually done by the user-specified planner callback function [詳細] | |
enum | IntervalType { IT_Open =0, IT_OpenStart =1, IT_OpenEnd =2, IT_Closed =3 } |
Specifies the boundary conditions of intervals for sampling. [詳細] | |
enum | SampleDataType { SDT_Real =1, SDT_Uint32 =2 } |
関数 | |
const char * | GetErrorCodeString (OpenRAVEErrorCode error) |
std::string | ChangeTextColor (int attribute, int fg, int bg) |
Change the text color (on either stdout or stderr) with an attr:fg:bg (thanks to Radu Rusu for the code) | |
std::string | ChangeTextColor (int attribute, int fg) |
Change the text color (on either stdout or stderr) with an attr:fg (thanks to Radu Rusu for the code) | |
std::string | ResetTextColor () |
Reset the text color (on either stdout or stderr) to its original state (thanks to Radu Rusu for the code) | |
std::wstring | ChangeTextColorW (int attribute, int fg) |
std::wstring | RavePrintTransformString (const wchar_t *fmt) |
OPENRAVE_API void | RaveSetDebugLevel (int level) |
Sets the global openrave debug level. A combination of DebugLevel. | |
OPENRAVE_API int | RaveGetDebugLevel () |
Returns the openrave debug level. | |
const char * | RaveGetSourceFilename (const char *pfilename) |
extracts only the filename | |
int | RavePrintfA_INFOLEVEL (const std::string &s) |
int | RavePrintfA_INFOLEVEL (const char *fmt,...) |
int | RavePrintfA (const std::string &s, uint32_t level) |
DefineRavePrintfW (_FATALLEVEL) DefineRavePrintfW(_ERRORLEVEL) DefineRavePrintfW(_WARNLEVEL) DefineRavePrintfW(_DEBUGLEVEL) DefineRavePrintfW(_VERBOSELEVEL) DefineRavePrintfA(_FATALLEVEL) DefineRavePrintfA(_ERRORLEVEL) DefineRavePrintfA(_WARNLEVEL) DefineRavePrintfA(_DEBUGLEVEL) DefineRavePrintfA(_VERBOSELEVEL) enum InterfaceType | |
adds the function name and line number to an openrave exception | |
OPENRAVE_API const std::map < IkParameterizationType, std::string > & | RaveGetIkParameterizationMap (int alllowercase=0) |
returns a string of the ik parameterization type names | |
OPENRAVE_API IkParameterizationType | RaveGetIkTypeFromUniqueId (int uniqueid) |
returns the IkParameterizationType given the unique id detmerined b IKP_UniqueIdMask | |
OPENRAVE_API std::ostream & | operator<< (std::ostream &O, const ConfigurationSpecification &spec) |
OPENRAVE_API std::istream & | operator>> (std::istream &I, ConfigurationSpecification &spec) |
template<typename T > | |
T | NormalizeCircularAnglePrivate (T theta, T min, T max) |
IkParameterization | operator* (const Transform &t, const IkParameterization &ikparam) |
OPENRAVE_API std::ostream & | operator<< (std::ostream &O, const IkParameterization &ikparam) |
OPENRAVE_API std::istream & | operator>> (std::istream &I, IkParameterization &ikparam) |
OPENRAVE_API std::ostream & | operator<< (std::ostream &O, const TriMesh &trimesh) |
OPENRAVE_API std::istream & | operator>> (std::istream &I, TriMesh &trimesh) |
OPENRAVE_API int | RaveGetIndexFromAffineDOF (int affinedofs, DOFAffine dof) |
Given a mask of affine dofs and a dof inside that mask, returns the index where the value could be found. | |
OPENRAVE_API DOFAffine | RaveGetAffineDOFFromIndex (int affinedofs, int index) |
Given a mask of affine dofs and an index into the array, returns the affine dof that is being referenced. | |
OPENRAVE_API int | RaveGetAffineDOF (int affinedofs) |
Returns the degrees of freedom needed to represent all the values in the affine dof mask. | |
OPENRAVE_API void | RaveGetAffineDOFValuesFromTransform (std::vector< dReal >::iterator itvalues, const Transform &t, int affinedofs, const Vector &axis=Vector(0, 0, 1)) |
Converts the transformation matrix into the specified affine values format. | |
OPENRAVE_API void | RaveGetAffineDOFValuesFromVelocity (std::vector< dReal >::iterator itvalues, const Vector &linearvel, const Vector &angularvel, const Vector &quatrotation, int affinedofs, const Vector &axis=Vector(0, 0, 1)) |
Converts the linar and angular velocities into the specified affine values format. | |
OPENRAVE_API void | RaveGetTransformFromAffineDOFValues (Transform &t, std::vector< dReal >::const_iterator itvalues, int affinedofs, const Vector &axis=Vector(0, 0, 1), bool normalize=true) |
Converts affine dof values into a transform. | |
OPENRAVE_API void | RaveGetVelocityFromAffineDOFVelocities (Vector &linearvel, Vector &angularvel, std::vector< dReal >::const_iterator itvalues, int affinedofs, const Vector &axis=Vector(0, 0, 1), const Vector &quatrotation=Vector(1, 0, 0, 0)) |
Converts affine dof velocities into linear and angular velocity vectors. | |
OPENRAVE_API ConfigurationSpecification | RaveGetAffineConfigurationSpecification (int affinedofs, KinBodyConstPtr pbody=KinBodyConstPtr(), const std::string &interpolation="") |
OPENRAVE_API void | RaveInitRandomGeneration (uint32_t seed) |
OPENRAVE_API uint32_t | RaveRandomInt () |
OPENRAVE_API float | RaveRandomFloat (IntervalType interval=IT_Closed) |
OPENRAVE_API double | RaveRandomDouble (IntervalType interval=IT_Closed) |
bool | RaveParseDirectories (const char *pdirs, std::vector< std::string > &vdirs) RAVE_DEPRECATED |
OPENRAVE_API std::ostream & | operator<< (std::ostream &O, const PlannerBase::PlannerParameters &v) |
OPENRAVE_API std::istream & | operator>> (std::istream &I, PlannerBase::PlannerParameters &v) |
OPENRAVE_CORE_API EnvironmentBasePtr | RaveCreateEnvironment () |
Creates an OpenRAVE environment. | |
OPENRAVE_CORE_API EnvironmentBasePtr | CreateEnvironment (bool bLoadAllPlugins=true) RAVE_DEPRECATED |
bool | CustomIkSolverFilterDataCompare (UserDataPtr data0, UserDataPtr data1) |
static void | fparser_polyroots2 (vector< dReal > &rawroots, const vector< dReal > &rawcoeffs) |
template<int D> | |
static void | fparser_polyroots (vector< dReal > &rawroots, const vector< dReal > &rawcoeffs) |
static void | fparser_sssa (std::vector< dReal > &res, const vector< dReal > &coeffs) |
static void | fparser_sasa (std::vector< dReal > &res, const vector< dReal > &coeffs) |
take triangle 2 sides and an angle and compute the missing angle | |
static void | fparser_sass (std::vector< dReal > &res, const vector< dReal > &coeffs) |
take triangle 2 sides and an angle and compute the missing side | |
OpenRAVEFunctionParserRealPtr | CreateJointFunctionParser () |
static TransformMatrix | ComputeInertia (const Transform &tMassFrame, const Vector &vinertiamoments) |
bool | RaveInvertFileLookup (std::string &newfilename, const std::string &filename) |
void | subtractstates (std::vector< dReal > &q1, const std::vector< dReal > &q2) |
bool | addstates (std::vector< dReal > &q, const std::vector< dReal > &qdelta, int fromgoal) |
void | _CallDiffStateFns (const std::vector< std::pair< PlannerBase::PlannerParameters::DiffStateFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v0, const std::vector< dReal > &v1) |
dReal | _EvalJointDOFDistanceMetric (const PlannerBase::PlannerParameters::DiffStateFn &difffn, const std::vector< dReal > &c0, const std::vector< dReal > &c1, const std::vector< dReal > &vweights2) |
returns square root of joint distance * weights | |
dReal | _CallDistMetricFns (const std::vector< std::pair< PlannerBase::PlannerParameters::DistMetricFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, const std::vector< dReal > &v0, const std::vector< dReal > &v1) |
bool | _CallSampleFns (const std::vector< std::pair< PlannerBase::PlannerParameters::SampleFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v) |
bool | _CallSampleNeighFns (const std::vector< std::pair< PlannerBase::PlannerParameters::SampleNeighFn, int > > &vfunctions, const std::vector< std::pair< PlannerBase::PlannerParameters::DistMetricFn, int > > &vdistfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v, const std::vector< dReal > &vCurSample, dReal fRadius) |
void | CallSetStateFns (const std::vector< std::pair< PlannerBase::PlannerParameters::SetStateFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, const std::vector< dReal > &v) |
void | CallGetStateFns (const std::vector< std::pair< PlannerBase::PlannerParameters::GetStateFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v) |
bool | _CallNeighStateFns (const std::vector< std::pair< PlannerBase::PlannerParameters::NeighStateFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v, const std::vector< dReal > &vdelta, int fromgoal) |
OPENRAVE_API dReal | RaveExp (dReal f) |
exponential | |
OPENRAVE_API dReal | RaveLog (dReal f) |
logarithm | |
OPENRAVE_API dReal | RaveCos (dReal f) |
cosine | |
OPENRAVE_API dReal | RaveSin (dReal f) |
sine | |
OPENRAVE_API dReal | RaveTan (dReal f) |
tangent | |
OPENRAVE_API dReal | RaveLog2 (dReal f) |
base 2 logarithm | |
OPENRAVE_API dReal | RaveLog10 (dReal f) |
base 10 logarithm | |
OPENRAVE_API dReal | RaveAcos (dReal f) |
arccosine | |
OPENRAVE_API dReal | RaveAsin (dReal f) |
arcsine | |
OPENRAVE_API dReal | RaveAtan2 (dReal fy, dReal fx) |
arctangent2 covering entire circle | |
OPENRAVE_API dReal | RavePow (dReal fx, dReal fy) |
power x^y | |
OPENRAVE_API dReal | RaveSqrt (dReal f) |
square-root | |
OPENRAVE_API dReal | RaveFabs (dReal f) |
absolute value | |
Global Functionality - Interface Creation, Plugin Management, Logging | |
const char * | RaveGetInterfaceHash (InterfaceType type) |
Returns the a 16 character null-terminated string specifying a hash of the interfaces used for checking changes. | |
template<typename T > | |
boost::shared_ptr< T > | RaveInterfaceCast (InterfaceBasePtr pinterface) |
Safely casts from the base interface class to an openrave interface using static_pointer_cast. | |
template<typename T > | |
boost::shared_ptr< T const > | RaveInterfaceConstCast (InterfaceBaseConstPtr pinterface) |
Safely casts from the base interface class to an openrave interface using static_pointer_cast. | |
OPENRAVE_API const std::map < InterfaceType, std::string > & | RaveGetInterfaceNamesMap () |
returns a lower case string of the interface type | |
OPENRAVE_API const std::string & | RaveGetInterfaceName (InterfaceType type) |
OPENRAVE_API std::string | RaveGetHomeDirectory () |
Returns the openrave home directory where settings, cache, and other files are stored. | |
OPENRAVE_API std::string | RaveFindDatabaseFile (const std::string &filename, bool bRead=true) |
Searches for a filename in the database and returns a full path/URL to it. | |
OPENRAVE_API int | RaveInitialize (bool bLoadAllPlugins=true, int level=Level_Info) |
Explicitly initializes the global OpenRAVE state (optional). | |
OPENRAVE_API void | RaveInitializeFromState (UserDataPtr globalstate) |
Initializes the global state from an already loaded OpenRAVE environment. | |
OPENRAVE_API UserDataPtr | RaveGlobalState () |
A pointer to the global openrave state. | |
OPENRAVE_API void | RaveDestroy () |
Destroys the entire OpenRAVE state and all loaded environments. | |
OPENRAVE_API void | RaveAddCallbackForDestroy (const boost::function< void()> &fn) |
Add a callback when the OpenRAVE global runtime is destroyed. | |
OPENRAVE_API void | RaveGetPluginInfo (std::list< std::pair< std::string, PLUGININFO > > &plugins) |
Get all the loaded plugins and the interfaces they support. | |
OPENRAVE_API void | RaveGetLoadedInterfaces (std::map< InterfaceType, std::vector< std::string > > &interfacenames) |
Get a list of all the loaded interfaces. | |
OPENRAVE_API void | RaveReloadPlugins () |
Reloads all the plugins. | |
OPENRAVE_API bool | RaveLoadPlugin (const std::string &libraryname) |
Load a plugin and its interfaces. | |
OPENRAVE_API bool | RaveHasInterface (InterfaceType type, const std::string &interfacename) |
Returns true if interface can be created, otherwise false. | |
OPENRAVE_API InterfaceBasePtr | RaveCreateInterface (EnvironmentBasePtr penv, InterfaceType type, const std::string &interfacename) |
OPENRAVE_API RobotBasePtr | RaveCreateRobot (EnvironmentBasePtr penv, const std::string &name="") |
OPENRAVE_API PlannerBasePtr | RaveCreatePlanner (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API SensorSystemBasePtr | RaveCreateSensorSystem (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API ControllerBasePtr | RaveCreateController (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API ModuleBasePtr | RaveCreateModule (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API ModuleBasePtr | RaveCreateProblem (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API ModuleBasePtr | RaveCreateProblemInstance (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API IkSolverBasePtr | RaveCreateIkSolver (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API PhysicsEngineBasePtr | RaveCreatePhysicsEngine (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API SensorBasePtr | RaveCreateSensor (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API CollisionCheckerBasePtr | RaveCreateCollisionChecker (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API ViewerBasePtr | RaveCreateViewer (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API SpaceSamplerBasePtr | RaveCreateSpaceSampler (EnvironmentBasePtr penv, const std::string &name) |
OPENRAVE_API KinBodyPtr | RaveCreateKinBody (EnvironmentBasePtr penv, const std::string &name="") |
OPENRAVE_API TrajectoryBasePtr | RaveCreateTrajectory (EnvironmentBasePtr penv, const std::string &name="") |
Return an empty trajectory instance. | |
OPENRAVE_API TrajectoryBasePtr | RaveCreateTrajectory (EnvironmentBasePtr penv, int dof) RAVE_DEPRECATED |
template<typename T > | |
boost::shared_ptr< T > | RaveClone (boost::shared_ptr< T const > preference, int cloningoptions) |
returned a fully cloned interface | |
OPENRAVE_API UserDataPtr | RaveRegisterInterface (InterfaceType type, const std::string &name, const char *interfacehash, const char *envhash, const boost::function< InterfaceBasePtr(EnvironmentBasePtr, std::istream &)> &createfn) |
Registers a function to create an interface, this allows the interface to be created by other modules. | |
OPENRAVE_API UserDataPtr | RaveRegisterXMLReader (InterfaceType type, const std::string &xmltag, const CreateXMLReaderFn &fn) |
Registers a custom xml reader for a particular interface. | |
OPENRAVE_API int | RaveGetEnvironmentId (EnvironmentBasePtr penv) |
return the environment's unique id, returns 0 if environment could not be found or not registered | |
OPENRAVE_API EnvironmentBasePtr | RaveGetEnvironment (int id) |
get the environment from its unique id | |
OPENRAVE_API void | RaveGetEnvironments (std::list< EnvironmentBasePtr > &listenvironments) |
Return all the created OpenRAVE environments. | |
OPENRAVE_API BaseXMLReaderPtr | RaveCallXMLReader (InterfaceType type, const std::string &xmltag, InterfaceBasePtr pinterface, const AttributesList &atts) |
Returns the current registered reader for the interface type/xmlid. | |
OPENRAVE_API std::string | RaveFindLocalFile (const std::string &filename, const std::string &curdir="") |
Returns the absolute path of the filename on the local filesystem resolving relative paths from OpenRAVE paths. | |
OPENRAVE_API void | RaveSetDataAccess (int accessoptions) |
Sets the default data access options for cad resources/robot files. | |
OPENRAVE_API int | RaveGetDataAccess () |
Returns the acess options set. | |
変数 | |
static const dReal | PI = dReal(3.14159265358979323846) |
openrave constant for PI, could be replaced by accurate precision number depending on choice of dReal. | |
const char | s_filesep = '/' |
static boost::once_flag | _onceRaveInitialize = BOOST_ONCE_INIT |
static std::string | s_linearsmoother = "linearsmoother" |
The entire OpenRAVE library.
typedef geometry::aabb<dReal> OpenRAVE::AABB |
openrave.h の 851 行で定義されています。
typedef std::list<std::pair<std::string,std::string> > OpenRAVE::AttributesList |
a list of key-value pairs. It is possible for keys to repeat.
openrave.h の 714 行で定義されています。
typedef boost::shared_ptr<BaseXMLReader const> OpenRAVE::BaseXMLReaderConstPtr |
openrave.h の 678 行で定義されています。
typedef boost::shared_ptr<BaseXMLReader> OpenRAVE::BaseXMLReaderPtr |
openrave.h の 676 行で定義されています。
typedef boost::shared_ptr<BaseXMLWriter const> OpenRAVE::BaseXMLWriterConstPtr |
Cloning Options for interfaces and environments.
openrave.h の 683 行で定義されています。
typedef boost::shared_ptr<BaseXMLWriter> OpenRAVE::BaseXMLWriterPtr |
openrave.h の 679 行で定義されています。
typedef boost::shared_ptr<BasicRRTParameters> OpenRAVE::BasicRRTParametersPtr |
plannerparameters.h の 757 行で定義されています。
typedef boost::shared_ptr<ChangeCallbackData> OpenRAVE::ChangeCallbackDataPtr |
kinbody.cpp の 46 行で定義されています。
typedef boost::shared_ptr<CollisionCheckerBase const> OpenRAVE::CollisionCheckerBaseConstPtr |
openrave.h の 637 行で定義されています。
typedef boost::shared_ptr<CollisionCheckerBase> OpenRAVE::CollisionCheckerBasePtr |
openrave.h の 636 行で定義されています。
typedef boost::weak_ptr<CollisionCheckerBase> OpenRAVE::CollisionCheckerBaseWeakPtr |
openrave.h の 638 行で定義されています。
typedef boost::shared_ptr<CollisionOptionsStateSaver> OpenRAVE::CollisionOptionsStateSaverPtr |
collisionchecker.h の 224 行で定義されています。
typedef boost::shared_ptr<CollisionReport const> OpenRAVE::CollisionReportConstPtr |
openrave.h の 626 行で定義されています。
typedef boost::shared_ptr<CollisionReport> OpenRAVE::CollisionReportPtr |
openrave.h の 623 行で定義されています。
typedef boost::shared_ptr<ConfigurationSpecification const> OpenRAVE::ConfigurationSpecificationConstPtr |
openrave.h の 1256 行で定義されています。
typedef boost::shared_ptr<ConfigurationSpecification> OpenRAVE::ConfigurationSpecificationPtr |
openrave.h の 1255 行で定義されています。
typedef boost::shared_ptr<ConstraintTrajectoryTimingParameters const> OpenRAVE::ConstraintTrajectoryTimingParametersConstPtr |
plannerparameters.h の 609 行で定義されています。
typedef boost::shared_ptr<ConstraintTrajectoryTimingParameters> OpenRAVE::ConstraintTrajectoryTimingParametersPtr |
plannerparameters.h の 608 行で定義されています。
typedef boost::shared_ptr<ControllerBase const> OpenRAVE::ControllerBaseConstPtr |
openrave.h の 640 行で定義されています。
typedef boost::shared_ptr<ControllerBase> OpenRAVE::ControllerBasePtr |
openrave.h の 639 行で定義されています。
typedef boost::weak_ptr<ControllerBase> OpenRAVE::ControllerBaseWeakPtr |
openrave.h の 641 行で定義されています。
typedef boost::function<BaseXMLReaderPtr(InterfaceBasePtr, const AttributesList&)> OpenRAVE::CreateXMLReaderFn |
openrave.h の 758 行で定義されています。
typedef boost::shared_ptr<CustomIkSolverFilterData> OpenRAVE::CustomIkSolverFilterDataPtr |
iksolver.cpp の 77 行で定義されています。
typedef boost::shared_ptr<CustomPlannerCallbackData> OpenRAVE::CustomPlannerCallbackDataPtr |
planner.cpp の 739 行で定義されています。
typedef float OpenRAVE::dReal |
openrave.h の 99 行で定義されています。
typedef boost::shared_ptr<EnvironmentBase const> OpenRAVE::EnvironmentBaseConstPtr |
openrave.h の 670 行で定義されています。
typedef boost::shared_ptr<EnvironmentBase> OpenRAVE::EnvironmentBasePtr |
openrave.h の 669 行で定義されています。
typedef boost::weak_ptr<EnvironmentBase> OpenRAVE::EnvironmentBaseWeakPtr |
openrave.h の 671 行で定義されています。
typedef boost::recursive_try_mutex OpenRAVE::EnvironmentMutex |
environment.h の 27 行で定義されています。
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 |
plannerparameters.h の 426 行で定義されています。
typedef boost::shared_ptr<GraspParameters> OpenRAVE::GraspParametersPtr |
plannerparameters.h の 425 行で定義されています。
typedef boost::shared_ptr<IkReturn> OpenRAVE::IkReturnPtr |
openrave.h の 673 行で定義されています。
typedef boost::weak_ptr<IkReturn> OpenRAVE::IkReturnWeakPtr |
openrave.h の 674 行で定義されています。
typedef boost::shared_ptr<IkSolverBase const> OpenRAVE::IkSolverBaseConstPtr |
openrave.h の 643 行で定義されています。
typedef boost::shared_ptr<IkSolverBase> OpenRAVE::IkSolverBasePtr |
openrave.h の 642 行で定義されています。
typedef boost::weak_ptr<IkSolverBase> OpenRAVE::IkSolverBaseWeakPtr |
openrave.h の 644 行で定義されています。
typedef boost::shared_ptr<InterfaceBase const> OpenRAVE::InterfaceBaseConstPtr |
openrave.h の 628 行で定義されています。
typedef boost::shared_ptr<InterfaceBase> OpenRAVE::InterfaceBasePtr |
openrave.h の 627 行で定義されています。
typedef boost::weak_ptr<InterfaceBase> OpenRAVE::InterfaceBaseWeakPtr |
openrave.h の 629 行で定義されています。
typedef boost::shared_ptr<KinBody const> OpenRAVE::KinBodyConstPtr |
openrave.h の 631 行で定義されています。
typedef boost::shared_ptr<KinBody> OpenRAVE::KinBodyPtr |
openrave.h の 630 行で定義されています。
typedef boost::weak_ptr<KinBody> OpenRAVE::KinBodyWeakPtr |
openrave.h の 632 行で定義されています。
typedef boost::shared_ptr<ModuleBase const> OpenRAVE::ModuleBaseConstPtr |
openrave.h の 652 行で定義されています。
typedef boost::shared_ptr<ModuleBase> OpenRAVE::ModuleBasePtr |
openrave.h の 651 行で定義されています。
typedef boost::weak_ptr<ModuleBase> OpenRAVE::ModuleBaseWeakPtr |
openrave.h の 653 行で定義されています。
typedef boost::shared_ptr<MultiController const> OpenRAVE::MultiControllerConstPtr |
controller.h の 176 行で定義されています。
typedef boost::shared_ptr<MultiController> OpenRAVE::MultiControllerPtr |
controller.h の 175 行で定義されています。
typedef geometry::obb<dReal> OpenRAVE::OBB |
openrave.h の 850 行で定義されています。
typedef boost::shared_ptr< OpenRAVEFunctionParserReal > OpenRAVE::OpenRAVEFunctionParserRealPtr |
typedef boost::shared_ptr<PhysicsEngineBase const> OpenRAVE::PhysicsEngineBaseConstPtr |
openrave.h の 646 行で定義されています。
typedef boost::shared_ptr<PhysicsEngineBase> OpenRAVE::PhysicsEngineBasePtr |
openrave.h の 645 行で定義されています。
typedef boost::weak_ptr<PhysicsEngineBase> OpenRAVE::PhysicsEngineBaseWeakPtr |
openrave.h の 647 行で定義されています。
typedef boost::shared_ptr<PlannerBase const> OpenRAVE::PlannerBaseConstPtr |
openrave.h の 649 行で定義されています。
typedef boost::shared_ptr<PlannerBase> OpenRAVE::PlannerBasePtr |
openrave.h の 648 行で定義されています。
typedef boost::weak_ptr<PlannerBase> OpenRAVE::PlannerBaseWeakPtr |
openrave.h の 650 行で定義されています。
typedef InterfaceBasePtr(* OpenRAVE::PluginExportFn_CreateInterface)(InterfaceType type, const std::string &name, const char *pluginhash, EnvironmentBasePtr penv) RAVE_DEPRECATED |
openrave.h の 2731 行で定義されています。
typedef bool(* OpenRAVE::PluginExportFn_GetPluginAttributes)(PLUGININFO *pinfo, int size) RAVE_DEPRECATED |
openrave.h の 2734 行で定義されています。
typedef ModuleBase OpenRAVE::ProblemInstance |
typedef TrajectoryBase Trajectory OpenRAVE::RAVE_DEPRECATED = IKRA_Success |
typedef geometry::ray<dReal> OpenRAVE::RAY |
openrave.h の 852 行で定義されています。
typedef boost::shared_ptr<RobotBase const> OpenRAVE::RobotBaseConstPtr |
openrave.h の 634 行で定義されています。
typedef boost::shared_ptr<RobotBase> OpenRAVE::RobotBasePtr |
openrave.h の 633 行で定義されています。
typedef boost::weak_ptr<RobotBase> OpenRAVE::RobotBaseWeakPtr |
openrave.h の 635 行で定義されています。
typedef boost::shared_ptr<RRTParameters> OpenRAVE::RRTParametersPtr |
plannerparameters.h の 698 行で定義されています。
typedef boost::shared_ptr<SensorBase const> OpenRAVE::SensorBaseConstPtr |
openrave.h の 655 行で定義されています。
typedef boost::shared_ptr<SensorBase> OpenRAVE::SensorBasePtr |
openrave.h の 654 行で定義されています。
typedef boost::weak_ptr<SensorBase> OpenRAVE::SensorBaseWeakPtr |
openrave.h の 656 行で定義されています。
typedef boost::shared_ptr<SensorSystemBase const> OpenRAVE::SensorSystemBaseConstPtr |
openrave.h の 658 行で定義されています。
typedef boost::shared_ptr<SensorSystemBase> OpenRAVE::SensorSystemBasePtr |
openrave.h の 657 行で定義されています。
typedef boost::weak_ptr<SensorSystemBase> OpenRAVE::SensorSystemBaseWeakPtr |
openrave.h の 659 行で定義されています。
typedef boost::shared_ptr<SerializableData> OpenRAVE::SerializableDataPtr |
openrave.h の 254 行で定義されています。
typedef boost::weak_ptr<SerializableData> OpenRAVE::SerializableDataWeakPtr |
openrave.h の 255 行で定義されています。
typedef boost::shared_ptr<SpaceSamplerBase const> OpenRAVE::SpaceSamplerBaseConstPtr |
openrave.h の 667 行で定義されています。
typedef boost::shared_ptr<SpaceSamplerBase> OpenRAVE::SpaceSamplerBasePtr |
openrave.h の 666 行で定義されています。
typedef boost::weak_ptr<SpaceSamplerBase> OpenRAVE::SpaceSamplerBaseWeakPtr |
openrave.h の 668 行で定義されています。
typedef boost::shared_ptr<TrajectoryBase const> OpenRAVE::TrajectoryBaseConstPtr |
openrave.h の 661 行で定義されています。
typedef boost::shared_ptr<TrajectoryBase> OpenRAVE::TrajectoryBasePtr |
openrave.h の 660 行で定義されています。
typedef boost::weak_ptr<TrajectoryBase> OpenRAVE::TrajectoryBaseWeakPtr |
openrave.h の 662 行で定義されています。
typedef boost::shared_ptr<TrajectoryTimingParameters const> OpenRAVE::TrajectoryTimingParametersConstPtr |
plannerparameters.h の 520 行で定義されています。
typedef boost::shared_ptr<TrajectoryTimingParameters> OpenRAVE::TrajectoryTimingParametersPtr |
plannerparameters.h の 519 行で定義されています。
typedef RaveTransform<dReal> OpenRAVE::Transform |
openrave.h の 844 行で定義されています。
typedef boost::shared_ptr< RaveTransform<dReal> const > OpenRAVE::TransformConstPtr |
openrave.h の 846 行で定義されています。
openrave.h の 847 行で定義されています。
typedef boost::shared_ptr< RaveTransformMatrix<dReal> const > OpenRAVE::TransformMatrixConstPtr |
openrave.h の 849 行で定義されています。
typedef boost::shared_ptr< RaveTransformMatrix<dReal> > OpenRAVE::TransformMatrixPtr |
openrave.h の 848 行で定義されています。
typedef boost::shared_ptr< RaveTransform<dReal> > OpenRAVE::TransformPtr |
openrave.h の 845 行で定義されています。
typedef boost::shared_ptr<UserData> OpenRAVE::UserDataPtr |
openrave.h の 238 行で定義されています。
typedef boost::weak_ptr<UserData> OpenRAVE::UserDataWeakPtr |
openrave.h の 239 行で定義されています。
typedef RaveVector<dReal> OpenRAVE::Vector |
typedef boost::shared_ptr<ViewerBase const> OpenRAVE::ViewerBaseConstPtr |
openrave.h の 664 行で定義されています。
typedef boost::shared_ptr<ViewerBase> OpenRAVE::ViewerBasePtr |
openrave.h の 663 行で定義されています。
typedef boost::weak_ptr<ViewerBase> OpenRAVE::ViewerBaseWeakPtr |
openrave.h の 665 行で定義されています。
typedef boost::shared_ptr<WorkspaceTrajectoryParameters const> OpenRAVE::WorkspaceTrajectoryParametersConstPtr |
plannerparameters.h の 640 行で定義されています。
typedef boost::shared_ptr<WorkspaceTrajectoryParameters> OpenRAVE::WorkspaceTrajectoryParametersPtr |
plannerparameters.h の 639 行で定義されています。
typedef boost::shared_ptr<XMLReadable const> OpenRAVE::XMLReadableConstPtr |
openrave.h の 711 行で定義されています。
typedef boost::shared_ptr<XMLReadable> OpenRAVE::XMLReadablePtr |
openrave.h の 710 行で定義されています。
openrave.h の 684 行で定義されています。
action to perform whenever a collision is detected between objects
collisionchecker.h の 45 行で定義されています。
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:
|
collisionchecker.h の 28 行で定義されています。
enum OpenRAVE::DebugLevel |
openrave.h の 334 行で定義されています。
enum OpenRAVE::DOFAffine |
Selects which DOFs of the affine transformation to include in the active configuration.
openrave.h の 2347 行で定義されています。
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. |
iksolver.h の 28 行で定義されています。
The types of inverse kinematics parameterizations supported.
The minimum degree of freedoms required is set in the upper 4 bits of each type. The number of values used to represent the parameterization ( >= dof ) is the next 4 bits. The lower bits contain a unique id of the type.
IKP_None | |
IKP_Transform6D |
end effector reaches desired 6D transformation |
IKP_Rotation3D |
end effector reaches desired 3D rotation |
IKP_Translation3D |
end effector origin reaches desired 3D translation |
IKP_Direction3D |
direction on end effector coordinate system reaches desired direction |
IKP_Ray4D |
ray on end effector coordinate system reaches desired global ray |
IKP_Lookat3D |
direction on end effector coordinate system points to desired 3D position |
IKP_TranslationDirection5D |
end effector origin and direction reaches desired 3D translation and direction. Can be thought of as Ray IK where the origin of the ray must coincide. |
IKP_TranslationXY2D |
2D translation along XY plane |
IKP_TranslationXYOrientation3D |
2D translation along XY plane and 1D rotation around Z axis. The offset of the rotation is measured starting at +X, so at +X is it 0, at +Y it is pi/2. |
IKP_TranslationLocalGlobal6D |
local point on end effector origin reaches desired 3D global point |
IKP_TranslationXAxisAngle4D |
end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with x-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system) |
IKP_TranslationYAxisAngle4D |
end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with y-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system) |
IKP_TranslationZAxisAngle4D |
end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with z-axis like a cone, angle is from 0-pi. Axes are defined in the manipulator base link's coordinate system. |
IKP_TranslationXAxisAngleZNorm4D |
end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the x-axis (defined in the manipulator base link's coordinate system) |
IKP_TranslationYAxisAngleXNorm4D |
end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to x-axis and be rotated at a certain angle starting from the y-axis (defined in the manipulator base link's coordinate system) |
IKP_TranslationZAxisAngleYNorm4D |
end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to y-axis and be rotated at a certain angle starting from the z-axis (defined in the manipulator base link's coordinate system) |
IKP_NumberOfParameterizations |
number of parameterizations (does not count IKP_None) |
IKP_VelocityDataBit |
bit is set if the data represents the time-derivate velocity of an IkParameterization |
IKP_Transform6DVelocity | |
IKP_Rotation3DVelocity | |
IKP_Translation3DVelocity | |
IKP_Direction3DVelocity | |
IKP_Ray4DVelocity | |
IKP_Lookat3DVelocity | |
IKP_TranslationDirection5DVelocity | |
IKP_TranslationXY2DVelocity | |
IKP_TranslationXYOrientation3DVelocity | |
IKP_TranslationLocalGlobal6DVelocity | |
IKP_TranslationXAxisAngle4DVelocity | |
IKP_TranslationYAxisAngle4DVelocity | |
IKP_TranslationZAxisAngle4DVelocity | |
IKP_TranslationXAxisAngleZNorm4DVelocity | |
IKP_TranslationYAxisAngleXNorm4DVelocity | |
IKP_TranslationZAxisAngleYNorm4DVelocity | |
IKP_UniqueIdMask |
the mask for the unique ids |
IKP_CustomDataBit |
bit is set if the ikparameterization contains custom data, this is only used when serializing the ik parameterizations |
openrave.h の 876 行で定義されています。
Return value for the ik filter that can be optionally set on an ik solver.
iksolver.h の 40 行で定義されています。
Specifies the boundary conditions of intervals for sampling.
spacesampler.h の 28 行で定義されています。
OpenRAVE error codes
openrave.h の 140 行で定義されています。
basic options for physics engine
physicsengine.h の 28 行で定義されています。
spacesampler.h の 35 行で定義されています。
serialization options for interfaces
interface.h の 28 行で定義されています。
void OpenRAVE::_CallDiffStateFns | ( | const std::vector< std::pair< PlannerBase::PlannerParameters::DiffStateFn, int > > & | vfunctions, |
int | nDOF, | ||
int | nMaxDOFForGroup, | ||
std::vector< dReal > & | v0, | ||
const std::vector< dReal > & | v1 | ||
) |
planner.cpp の 375 行で定義されています。
dReal OpenRAVE::_CallDistMetricFns | ( | const std::vector< std::pair< PlannerBase::PlannerParameters::DistMetricFn, int > > & | vfunctions, |
int | nDOF, | ||
int | nMaxDOFForGroup, | ||
const std::vector< dReal > & | v0, | ||
const std::vector< dReal > & | v1 | ||
) |
planner.cpp の 413 行で定義されています。
bool OpenRAVE::_CallNeighStateFns | ( | const std::vector< std::pair< PlannerBase::PlannerParameters::NeighStateFn, int > > & | vfunctions, |
int | nDOF, | ||
int | nMaxDOFForGroup, | ||
std::vector< dReal > & | v, | ||
const std::vector< dReal > & | vdelta, | ||
int | fromgoal | ||
) |
planner.cpp の 525 行で定義されています。
bool OpenRAVE::_CallSampleFns | ( | const std::vector< std::pair< PlannerBase::PlannerParameters::SampleFn, int > > & | vfunctions, |
int | nDOF, | ||
int | nMaxDOFForGroup, | ||
std::vector< dReal > & | v | ||
) |
planner.cpp の 437 行で定義されています。
bool OpenRAVE::_CallSampleNeighFns | ( | const std::vector< std::pair< PlannerBase::PlannerParameters::SampleNeighFn, int > > & | vfunctions, |
const std::vector< std::pair< PlannerBase::PlannerParameters::DistMetricFn, int > > & | vdistfunctions, | ||
int | nDOF, | ||
int | nMaxDOFForGroup, | ||
std::vector< dReal > & | v, | ||
const std::vector< dReal > & | vCurSample, | ||
dReal | fRadius | ||
) |
planner.cpp の 457 行で定義されています。
dReal OpenRAVE::_EvalJointDOFDistanceMetric | ( | const PlannerBase::PlannerParameters::DiffStateFn & | difffn, |
const std::vector< dReal > & | c0, | ||
const std::vector< dReal > & | c1, | ||
const std::vector< dReal > & | vweights2 | ||
) |
returns square root of joint distance * weights
vweights2 | squared weights |
planner.cpp の 402 行で定義されています。
bool OpenRAVE::addstates | ( | std::vector< dReal > & | q, |
const std::vector< dReal > & | qdelta, | ||
int | fromgoal | ||
) |
planner.cpp の 58 行で定義されています。
void OpenRAVE::CallGetStateFns | ( | const std::vector< std::pair< PlannerBase::PlannerParameters::GetStateFn, int > > & | vfunctions, |
int | nDOF, | ||
int | nMaxDOFForGroup, | ||
std::vector< dReal > & | v | ||
) |
planner.cpp の 508 行で定義されています。
void OpenRAVE::CallSetStateFns | ( | const std::vector< std::pair< PlannerBase::PlannerParameters::SetStateFn, int > > & | vfunctions, |
int | nDOF, | ||
int | nMaxDOFForGroup, | ||
const std::vector< dReal > & | v | ||
) |
planner.cpp の 490 行で定義されています。
|
inline |
Change the text color (on either stdout or stderr) with an attr:fg:bg (thanks to Radu Rusu for the code)
openrave.h の 276 行で定義されています。
|
inline |
Change the text color (on either stdout or stderr) with an attr:fg (thanks to Radu Rusu for the code)
openrave.h の 284 行で定義されています。
|
inline |
openrave.h の 299 行で定義されています。
|
static |
_tMassFrame * PrincipalInertia * _tMassFrame.inverse()
from openravepy.ikfast import * quat = [Symbol('q0'),Symbol('q1'),Symbol('q2'),Symbol('q3')] IKFastSolver.matrixFromQuat(quat) Inertia = eye(3) Inertia[0,0] = Symbol('i0'); Inertia[1,1] = Symbol('i1'); Inertia[2,2] = Symbol('i2') MM = M * Inertia * M.transpose()
kinbodylink.cpp の 100 行で定義されています。
OPENRAVE_CORE_API EnvironmentBasePtr OpenRAVE::CreateEnvironment | ( | bool | bLoadAllPlugins = true | ) |
OpenRAVEFunctionParserRealPtr OpenRAVE::CreateJointFunctionParser | ( | ) |
kinbodyjoint.cpp の 86 行で定義されています。
bool OpenRAVE::CustomIkSolverFilterDataCompare | ( | UserDataPtr | data0, |
UserDataPtr | data1 | ||
) |
iksolver.cpp の 79 行で定義されています。
OpenRAVE::DefineRavePrintfW | ( | _FATALLEVEL | ) |
adds the function name and line number to an openrave exception
Enumeration of all the interfaces.
< describes PlannerBase interface
< describes RobotBase interface
< describes SensorSystemBase interface
< describes ControllerBase interface
< describes ModuleBase interface
< describes ModuleBase interface
< describes IkSolverBase interface
< describes IkSolverBase interface
< describes KinBody
< describes PhysicsEngineBase
< describes SensorBase
< describes CollisionCheckerBase
< describes TrajectoryBase
< describes ViewerBase
< describes SamplerBase
< number of interfaces, do not forget to update
openrave.h の 523 行で定義されています。
|
static |
kinbodyjoint.cpp の 52 行で定義されています。
|
static |
kinbodyjoint.cpp の 42 行で定義されています。
|
static |
take triangle 2 sides and an angle and compute the missing angle
kinbodyjoint.cpp の 71 行で定義されています。
|
static |
take triangle 2 sides and an angle and compute the missing side
kinbodyjoint.cpp の 79 行で定義されています。
|
static |
kinbodyjoint.cpp の 62 行で定義されています。
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inline |
openrave.h の 155 行で定義されています。
|
inline |
openrave.h の 1259 行で定義されています。
|
inline |
openrave.h の 2233 行で定義されています。
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 | ||
) |
libopenrave.cpp の 1150 行で定義されています。
std::ostream & OpenRAVE::operator<< | ( | std::ostream & | O, |
const TriMesh & | trimesh | ||
) |
libopenrave.cpp の 1741 行で定義されています。
std::istream & OpenRAVE::operator>> | ( | std::istream & | I, |
PlannerBase::PlannerParameters & | v | ||
) |
<PlannerParameters>
to be the first token. Parses stream until
</PlannerParameters>
reached
planner.cpp の 25 行で定義されています。
OPENRAVE_API std::istream& OpenRAVE::operator>> | ( | std::istream & | I, |
ConfigurationSpecification & | spec | ||
) |
std::istream & OpenRAVE::operator>> | ( | std::istream & | I, |
IkParameterization & | ikparam | ||
) |
libopenrave.cpp の 1250 行で定義されています。
std::istream & OpenRAVE::operator>> | ( | std::istream & | I, |
TriMesh & | trimesh | ||
) |
libopenrave.cpp の 1747 行で定義されています。
void OpenRAVE::RaveAddCallbackForDestroy | ( | const boost::function< void()> & | fn | ) |
Add a callback when the OpenRAVE global runtime is destroyed.
The callback is called after all OpenRAVE environments have been destroyed and before plugins are unloaded. Callback is added only for this run-time. Once the run-time is destroyed/swapped, it will have to be re-added. OpenRAVE runtime is destroyed when RaveDestroy is called or on system exits.
libopenrave.cpp の 974 行で定義されています。
BaseXMLReaderPtr OpenRAVE::RaveCallXMLReader | ( | InterfaceType | type, |
const std::string & | xmltag, | ||
InterfaceBasePtr | pinterface, | ||
const AttributesList & | atts | ||
) |
Returns the current registered reader for the interface type/xmlid.
openrave_exception | Will throw with ORE_InvalidArguments if registered function could not be found. |
libopenrave.cpp の 1114 行で定義されています。
|
inline |
returned a fully cloned interface
openrave.h の 2611 行で定義されています。
CollisionCheckerBasePtr OpenRAVE::RaveCreateCollisionChecker | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
libopenrave.cpp の 1074 行で定義されています。
ControllerBasePtr OpenRAVE::RaveCreateController | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
libopenrave.cpp の 1039 行で定義されています。
OPENRAVE_CORE_API EnvironmentBasePtr OpenRAVE::RaveCreateEnvironment | ( | ) |
Creates an OpenRAVE environment.
bLoadAllPlugins | passed into RaveInitialize |
IkSolverBasePtr OpenRAVE::RaveCreateIkSolver | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
libopenrave.cpp の 1059 行で定義されています。
InterfaceBasePtr OpenRAVE::RaveCreateInterface | ( | EnvironmentBasePtr | penv, |
InterfaceType | type, | ||
const std::string & | interfacename | ||
) |
libopenrave.cpp の 1019 行で定義されています。
KinBodyPtr OpenRAVE::RaveCreateKinBody | ( | EnvironmentBasePtr | penv, |
const std::string & | name = "" |
||
) |
libopenrave.cpp の 1084 行で定義されています。
ModuleBasePtr OpenRAVE::RaveCreateModule | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
PhysicsEngineBasePtr OpenRAVE::RaveCreatePhysicsEngine | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
libopenrave.cpp の 1064 行で定義されています。
PlannerBasePtr OpenRAVE::RaveCreatePlanner | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
libopenrave.cpp の 1029 行で定義されています。
ModuleBasePtr OpenRAVE::RaveCreateProblem | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
libopenrave.cpp の 1049 行で定義されています。
ModuleBasePtr OpenRAVE::RaveCreateProblemInstance | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
libopenrave.cpp の 1054 行で定義されています。
RobotBasePtr OpenRAVE::RaveCreateRobot | ( | EnvironmentBasePtr | penv, |
const std::string & | name = "" |
||
) |
libopenrave.cpp の 1024 行で定義されています。
SensorBasePtr OpenRAVE::RaveCreateSensor | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
libopenrave.cpp の 1069 行で定義されています。
SensorSystemBasePtr OpenRAVE::RaveCreateSensorSystem | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
libopenrave.cpp の 1034 行で定義されています。
SpaceSamplerBasePtr OpenRAVE::RaveCreateSpaceSampler | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
libopenrave.cpp の 1099 行で定義されています。
TrajectoryBasePtr OpenRAVE::RaveCreateTrajectory | ( | EnvironmentBasePtr | penv, |
const std::string & | name = "" |
||
) |
Return an empty trajectory instance.
libopenrave.cpp の 1089 行で定義されています。
TrajectoryBasePtr OpenRAVE::RaveCreateTrajectory | ( | EnvironmentBasePtr | penv, |
int | dof | ||
) |
libopenrave.cpp の 1094 行で定義されています。
ViewerBasePtr OpenRAVE::RaveCreateViewer | ( | EnvironmentBasePtr | penv, |
const std::string & | name | ||
) |
libopenrave.cpp の 1079 行で定義されています。
void OpenRAVE::RaveDestroy | ( | ) |
Destroys the entire OpenRAVE state and all loaded environments.
This functions should be always called before program shutdown in order to assure all resources are relased appropriately.
libopenrave.cpp の 969 行で定義されています。
std::string OpenRAVE::RaveFindDatabaseFile | ( | const std::string & | filename, |
bool | bRead = true |
||
) |
Searches for a filename in the database and returns a full path/URL to it.
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. |
libopenrave.cpp の 944 行で定義されています。
std::string OpenRAVE::RaveFindLocalFile | ( | const std::string & | filename, |
const std::string & | curdir = "" |
||
) |
Returns the absolute path of the filename on the local filesystem resolving relative paths from OpenRAVE paths.
The OpenRAVE paths consist of a list of directories specified by $OPENRAVE_DATA environment variable and custom added user paths. Requires boost::filesystem to be installed
filename | the filename to look for |
curdir | the current directory in case the filename is relative |
libopenrave.cpp の 1119 行で定義されています。
OPENRAVE_API ConfigurationSpecification OpenRAVE::RaveGetAffineConfigurationSpecification | ( | int | affinedofs, |
KinBodyConstPtr | pbody = KinBodyConstPtr() , |
||
const std::string & | interpolation = "" |
||
) |
int OpenRAVE::RaveGetAffineDOF | ( | int | affinedofs | ) |
Returns the degrees of freedom needed to represent all the values in the affine dof mask.
openrave_exception | throws if |
libopenrave.cpp の 1438 行で定義されています。
DOFAffine OpenRAVE::RaveGetAffineDOFFromIndex | ( | int | affinedofs, |
int | index | ||
) |
Given a mask of affine dofs and an index into the array, returns the affine dof that is being referenced.
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 |
libopenrave.cpp の 1404 行で定義されています。
void OpenRAVE::RaveGetAffineDOFValuesFromTransform | ( | std::vector< dReal >::iterator | itvalues, |
const Transform & | t, | ||
int | affinedofs, | ||
const Vector & | axis = Vector(0,0,1) |
||
) |
Converts the transformation matrix into the specified affine values format.
[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 |
libopenrave.cpp の 1471 行で定義されています。
void OpenRAVE::RaveGetAffineDOFValuesFromVelocity | ( | std::vector< dReal >::iterator | itvalues, |
const Vector & | linearvel, | ||
const Vector & | angularvel, | ||
const Vector & | quatrotation, | ||
int | affinedofs, | ||
const Vector & | axis = Vector(0,0,1) |
||
) |
Converts the linar and angular velocities into the specified affine values format.
[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 |
libopenrave.cpp の 1508 行で定義されています。
int OpenRAVE::RaveGetDataAccess | ( | ) |
int OpenRAVE::RaveGetDebugLevel | ( | ) |
Returns the openrave debug level.
libopenrave.cpp の 908 行で定義されています。
EnvironmentBasePtr OpenRAVE::RaveGetEnvironment | ( | int | id | ) |
get the environment from its unique id
id | the unique environment id returned by RaveGetEnvironmentId |
libopenrave.cpp の 984 行で定義されています。
int OpenRAVE::RaveGetEnvironmentId | ( | EnvironmentBasePtr | penv | ) |
return the environment's unique id, returns 0 if environment could not be found or not registered
libopenrave.cpp の 979 行で定義されています。
void OpenRAVE::RaveGetEnvironments | ( | std::list< EnvironmentBasePtr > & | listenvironments | ) |
Return all the created OpenRAVE environments.
libopenrave.cpp の 989 行で定義されています。
std::string OpenRAVE::RaveGetHomeDirectory | ( | ) |
Returns the openrave home directory where settings, cache, and other files are stored.
On Linux/Unix systems, this is usually $HOME/.openrave, on Windows this is $HOMEPATH/.openrave
libopenrave.cpp の 939 行で定義されています。
const std::map< IkParameterizationType, std::string > & OpenRAVE::RaveGetIkParameterizationMap | ( | int | alllowercase = 0 | ) |
returns a string of the ik parameterization type names
[in] | alllowercase | If 1, sets all characters to lower case. Otherwise can include upper case in order to match IkParameterizationType definition. |
libopenrave.cpp の 918 行で定義されています。
IkParameterizationType OpenRAVE::RaveGetIkTypeFromUniqueId | ( | int | uniqueid | ) |
returns the IkParameterizationType given the unique id detmerined b IKP_UniqueIdMask
libopenrave.cpp の 923 行で定義されています。
int OpenRAVE::RaveGetIndexFromAffineDOF | ( | int | affinedofs, |
DOFAffine | dof | ||
) |
Given a mask of affine dofs and a dof inside that mask, returns the index where the value could be found.
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 |
libopenrave.cpp の 1369 行で定義されています。
|
inline |
Returns the a 16 character null-terminated string specifying a hash of the interfaces used for checking changes.
openrave.h の 2456 行で定義されています。
const std::string & OpenRAVE::RaveGetInterfaceName | ( | InterfaceType | type | ) |
libopenrave.cpp の 934 行で定義されています。
const std::map< InterfaceType, std::string > & OpenRAVE::RaveGetInterfaceNamesMap | ( | ) |
returns a lower case string of the interface type
libopenrave.cpp の 913 行で定義されています。
void OpenRAVE::RaveGetLoadedInterfaces | ( | std::map< InterfaceType, std::vector< std::string > > & | interfacenames | ) |
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 |
libopenrave.cpp の 994 行で定義されています。
|
inline |
extracts only the filename
openrave.h の 359 行で定義されています。
void OpenRAVE::RaveGetTransformFromAffineDOFValues | ( | Transform & | t, |
std::vector< dReal >::const_iterator | itvalues, | ||
int | affinedofs, | ||
const Vector & | axis = Vector(0,0,1) , |
||
bool | normalize = true |
||
) |
Converts affine dof values into a transform.
Note that depending on what the dof values holds, only a part of the transform will be updated.
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 |
libopenrave.cpp の 1536 行で定義されています。
void OpenRAVE::RaveGetVelocityFromAffineDOFVelocities | ( | Vector & | linearvel, |
Vector & | angularvel, | ||
std::vector< dReal >::const_iterator | itvalues, | ||
int | affinedofs, | ||
const Vector & | axis = Vector(0,0,1) , |
||
const Vector & | quatrotation = Vector(1,0,0,0) |
||
) |
Converts affine dof velocities into linear and angular velocity vectors.
Note that depending on what the dof values holds, only a part of the transform will be updated.
[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. |
libopenrave.cpp の 1594 行で定義されています。
UserDataPtr OpenRAVE::RaveGlobalState | ( | ) |
A pointer to the global openrave state.
libopenrave.cpp の 959 行で定義されています。
bool OpenRAVE::RaveHasInterface | ( | InterfaceType | type, |
const std::string & | interfacename | ||
) |
Returns true if interface can be created, otherwise false.
libopenrave.cpp の 1014 行で定義されています。
int OpenRAVE::RaveInitialize | ( | bool | bLoadAllPlugins = true , |
int | level = Level_Info |
||
) |
Explicitly initializes the global OpenRAVE state (optional).
Optional function to initialize openrave plugins, logging, and read OPENRAVE_* environment variables. Although environment creation will automatically make sure this function is called, users might want explicit control of when this happens. Will not do anything if OpenRAVE runtime is already initialized. If OPENRAVE_* environment variables must be re-read, first call RaveDestroy.
bLoadAllPlugins | If true will load all the openrave plugins automatically that can be found in the OPENRAVE_PLUGINS environment path |
libopenrave.cpp の 949 行で定義されています。
void OpenRAVE::RaveInitializeFromState | ( | UserDataPtr | globalstate | ) |
Initializes the global state from an already loaded OpenRAVE environment.
Because of shared object boundaries, it is necessary to pass the global state pointer around. If using plugin.h, this function is automatically called by CreateInterfaceValidated. It is also called by and every InterfaceBase constructor.
[in] | globalstate |
libopenrave.cpp の 954 行で定義されています。
void OpenRAVE::RaveInitRandomGeneration | ( | uint32_t | seed | ) |
libopenrave.cpp の 1882 行で定義されています。
|
inline |
Safely casts from the base interface class to an openrave interface using static_pointer_cast.
The reason why dynamic_pointer_cast cannot be used is because interfaces might be created by different plugins, and the runtime type information will be different.
openrave.h の 2482 行で定義されています。
|
inline |
Safely casts from the base interface class to an openrave interface using static_pointer_cast.
The reason why dynamic_pointer_cast cannot be used is because interfaces might be created by different plugins, and the runtime type information will be different.
openrave.h の 2500 行で定義されています。
bool OpenRAVE::RaveInvertFileLookup | ( | std::string & | newfilename, |
const std::string & | filename | ||
) |
libopenrave.cpp の 1124 行で定義されています。
bool OpenRAVE::RaveLoadPlugin | ( | const std::string & | libraryname | ) |
Load a plugin and its interfaces.
If the plugin is already loaded, will reload it.
name | the filename of the plugin to load |
libopenrave.cpp の 1009 行で定義されています。
|
inline |
openrave.h の 2693 行で定義されています。
|
inline |
openrave.h の 491 行で定義されています。
|
inline |
openrave.h の 447 行で定義されています。
|
inline |
openrave.h の 458 行で定義されています。
|
inline |
openrave.h の 306 行で定義されています。
double OpenRAVE::RaveRandomDouble | ( | IntervalType | interval = IT_Closed | ) |
libopenrave.cpp の 1901 行で定義されています。
float OpenRAVE::RaveRandomFloat | ( | IntervalType | interval = IT_Closed | ) |
uint32_t OpenRAVE::RaveRandomInt | ( | ) |
libopenrave.cpp の 1887 行で定義されています。
UserDataPtr OpenRAVE::RaveRegisterInterface | ( | InterfaceType | type, |
const std::string & | name, | ||
const char * | interfacehash, | ||
const char * | envhash, | ||
const boost::function< InterfaceBasePtr(EnvironmentBasePtr, std::istream &)> & | createfn | ||
) |
Registers a function to create an interface, this allows the interface to be created by other modules.
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 |
libopenrave.cpp の 1104 行で定義されています。
UserDataPtr OpenRAVE::RaveRegisterXMLReader | ( | InterfaceType | type, |
const std::string & | xmltag, | ||
const CreateXMLReaderFn & | fn | ||
) |
Registers a custom xml reader for a particular interface.
Once registered, anytime an interface is created through XML and the xmltag is seen, the function CreateXMLReaderFn will be called to get a reader for that tag
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 |
libopenrave.cpp の 1109 行で定義されています。
void OpenRAVE::RaveReloadPlugins | ( | ) |
Reloads all the plugins.
The interfaces currently created remain will continue using the old plugins, so this function is safe in that plugins currently loaded remain loaded until the last interface that uses them is released.
libopenrave.cpp の 1004 行で定義されています。
void OpenRAVE::RaveSetDataAccess | ( | int | accessoptions | ) |
Sets the default data access options for cad resources/robot files.
Controls how files are processed in functions like RaveFindLocalFile
accessoptions | - if 1 will only allow resources inside directories specified from OPERNAVE_DATA environment variable. This allows reject of full paths from unsecure/unauthenticated resources. |
libopenrave.cpp の 1129 行で定義されています。
void OpenRAVE::RaveSetDebugLevel | ( | int | level | ) |
Sets the global openrave debug level. A combination of DebugLevel.
libopenrave.cpp の 903 行で定義されています。
|
inline |
Reset the text color (on either stdout or stderr) to its original state (thanks to Radu Rusu for the code)
openrave.h の 292 行で定義されています。
void OpenRAVE::subtractstates | ( | std::vector< dReal > & | q1, |
const std::vector< dReal > & | q2 | ||
) |
planner.cpp の 50 行で定義されています。
|
static |
libopenrave.cpp の 300 行で定義されています。
openrave constant for PI, could be replaced by accurate precision number depending on choice of dReal.
openrave.h の 104 行で定義されています。
const char OpenRAVE::s_filesep = '/' |
libopenrave.cpp の 51 行で定義されています。
|
static |
planner.cpp の 23 行で定義されています。