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クラス OpenRAVE::ConfigurationSpecification::Group

A group referencing the values of one body in the environment. [詳細]

#include <openrave.h>

OpenRAVE::ConfigurationSpecification::Groupのコラボレーション図
Collaboration graph
[凡例]

Public メソッド

 Group ()
 
bool operator== (const Group &r) const
 
bool operator!= (const Group &r) const
 

Public 変数

int offset
 For each data point, the number of values to offset before data for this group starts.
 
int dof
 The number of values in this group.
 
std::string name
 semantic information on what part of the environment the group refers to.
 
std::string interpolation
 Describes how the data should be interpolated. Common methods are:
 

説明

A group referencing the values of one body in the environment.

openrave.h945 行で定義されています。

コンストラクタとデストラクタ

OpenRAVE::ConfigurationSpecification::Group::Group ( )
inline

openrave.h948 行で定義されています。

関数

bool OpenRAVE::ConfigurationSpecification::Group::operator!= ( const Group r) const
inline

openrave.h954 行で定義されています。

bool OpenRAVE::ConfigurationSpecification::Group::operator== ( const Group r) const
inline

openrave.h951 行で定義されています。

変数

int OpenRAVE::ConfigurationSpecification::Group::dof

The number of values in this group.

openrave.h961 行で定義されています。

std::string OpenRAVE::ConfigurationSpecification::Group::interpolation

Describes how the data should be interpolated. Common methods are:

  • previous - the previous waypoint's value is always chosen
  • next - the next waypoint's value is always chosen
  • linear - linear interpolation (default)
  • quadratic - position is piecewise-quadratic, velocity is piecewise-linear, acceleration is one of -amax, 0, or amax
  • cubic - 3 degree polynomial
  • quadric - 4 degree polynomial
  • quintic - 5 degree polynomial

openrave.h989 行で定義されています。

std::string OpenRAVE::ConfigurationSpecification::Group::name

semantic information on what part of the environment the group refers to.

Can be composed of multiple workds; the first word is the group type, and the words following narrow the specifics. Common types are:

  • joint_values - The joint values of a kinbody/robot. The joint names with the name of the body can follow.
  • joint_velocities - The joint velocities (1/second) of a kinbody/robot. The name of the body with the joint names can follow.
  • joint_accelerations - The joint accelerations (1/second^2) of a kinbody/robot. The name of the body with the joint names can follow.
  • joint_torques - The joint torques (Newton meter) of a kinbody/robot. The name of the body with the joint names can follow.
  • affine_transform - An affine transformation [quaternion, translation]. The name of the body with selected affine dofs (see DOFAffine) can follow.
  • affine_velocities - The velocity (1/second) of the affine transformation [rotation axis, translation velocity], the name of the body can follow.
  • affine_accelerations - The velocity (1/second^2) of the affine transformation [rotation axis, translation velocity], the name of the body can follow.
  • ikparam_values - The values of an IkParmeterization. The ikparam type is stored as the second value in name
  • ikparam_velocities - velocity of an IkParmeterization. The ikparam type is stored as the second value in name
  • iswaypoint - non-zero if the point represents a major knot point of the trajectory
  • grabbody - Grabs the body. The configuration values are 1 for grab and 0 for release. The group name format is: bodyname robotname robotlinkindex [relative_grab_pose]. relative_grab_pose is a 7 value (quaterion + translation) pose of the relative location of the body with respect to the grabbed link. Only 1 DOF is accepted.

openrave.h978 行で定義されています。

int OpenRAVE::ConfigurationSpecification::Group::offset

For each data point, the number of values to offset before data for this group starts.

openrave.h959 行で定義されています。


このクラスの説明は次のファイルから生成されました: