Class representing a named rigid model. More...

#include <model/RigidModel.h>

Inheritance diagram for RigidModel:

Public Types
typedef std::list< LinkPtr >	LinkList
	A list of links. More...

typedef std::map< std::string, JointPtr >	JointMap
	Maps joint pointers to their name. More...

typedef std::map< std::string, MaterialPtr >	MaterialMap
	Maps material pointers to their name. More...

typedef std::list< std::pair< GeometryPtr, RigidTransform3f >, Eigen::aligned_allocator< std::pair< GeometryPtr, RigidTransform3f > > >	CollisionGeometries
	List of collision geometries, each item consisting of the geometry pointer and a transform that describes the position of the geometry. More...

Public Member Functions
virtual	~RigidModel ()
	Destructor. More...

template<typename Reflector >
void	reflect (Reflector &r)

void	reflect (XMLDeserializer &r)
	Specialized reflect for XMLDeserializer. More...

void	clear ()
	Clears the rigid model. More...

std::string	getRootLink () const
	Returns the name of the root link, the only link that has no parent. More...

CollisionGeometries	getCollisionGeometries (std::string targetFrame="", const Time &timestamp=Time::now(), const std::string &filter="") const
	Returns a list of the models collision geometries and the corresponding transforms for each geometry that describes its position within the model. More...

std::list< Box3f >	getCollisionBoundingBoxes (std::string targetFrame="", const Time &timestamp=Time::now(), const std::string &filter="") const
	Returns a list of the bounding boxes for each of the models collision geometries at their correct positions. More...

Footprint	getFootprint (std::string targetFrame="", const Time &timestamp=Time::now(), const std::string &filter="") const
	Returns the models footprint (the projection on the xy-plane). More...

void	resolveAndPublishLinks (const std::string &ns, const Time &timestamp=Time::now())
	Resolves all link names in the model and adds the transforms between them to the transform tree. More...

void	publishJoint (const std::string &name, float value, const Time &timestamp=Time::now()) const
	Publishes the state of the joint with the given name. More...

Class const &	getClass () const

Static Public Member Functions
static PseudoClass const &	CLASS ()

Public Attributes
std::string	name
	Name of the model. More...

LinkList	links
	List of links used by this model. More...

JointMap	joints
	Map with name - joint pointer pairs used by this model. More...

MaterialMap	materials
	Map with name - material pointer pairs used by this model. More...

Protected Member Functions
virtual Class const &	internalGetClass () const=0

Detailed Description

Class representing a named rigid model.

A rigid model consists of:

Links - A link is a single body part of the model.
Joints - A joint connects two body parts (links)
Materials - A material can be used when visualizing a rigid model two links.

Member Typedef Documentation

◆ LinkList

typedef std::list<LinkPtr> LinkList

A list of links.

◆ JointMap

typedef std::map<std::string, JointPtr> JointMap

Maps joint pointers to their name.

◆ MaterialMap

typedef std::map<std::string, MaterialPtr> MaterialMap

Maps material pointers to their name.

◆ CollisionGeometries

typedef std::list<std::pair<GeometryPtr, RigidTransform3f>, Eigen::aligned_allocator<std::pair<GeometryPtr, RigidTransform3f> > > CollisionGeometries

List of collision geometries, each item consisting of the geometry pointer and a transform that describes the position of the geometry.

Constructor & Destructor Documentation

◆ ~RigidModel()

virtual ~RigidModel ( )

inlinevirtual

Destructor.

Member Function Documentation

◆ reflect() [1/2]

void reflect ( Reflector & r )

inline

◆ reflect() [2/2]

void reflect ( XMLDeserializer & r )

Specialized reflect for XMLDeserializer.

◆ clear()

void clear ( )

Clears the rigid model.

◆ getRootLink()

std::string getRootLink ( ) const

Returns the name of the root link, the only link that has no parent.

Exceptions

XLogical,if NONE or MORE than one root link exists

◆ getCollisionGeometries()

CollisionGeometries getCollisionGeometries	(	std::string	targetFrame = `""`,
		const Time &	timestamp = `Time::now()`,
		const std::string &	filter = `""`
	)		const

Returns a list of the models collision geometries and the corresponding transforms for each geometry that describes its position within the model.

All transforms are given in relation to the specified target frame. If the target frame is left blank, the root link of the model is used, i.e. the footprint is given in the coordinate frame of the model. The optional timestamp parameter allows to specify a timestamp that is used for querying the transforms.

Parameters

[in]	targetFrame	All transforms will be given relative to this frame. If empty (default) the root frame of the model will be used, so all transforms will be relative to the models origin.
[in]	timestamp	Timestamp used for querying transforms
[in]	filter	Filter for filtering only collision geometries where the name matches the filter By default collision geometries with no name are returned

◆ getCollisionBoundingBoxes()

std::list<Box3f> getCollisionBoundingBoxes	(	std::string	targetFrame = `""`,
		const Time &	timestamp = `Time::now()`,
		const std::string &	filter = `""`
	)		const

Returns a list of the bounding boxes for each of the models collision geometries at their correct positions.

All transforms and hence the position of the boxes are given in relation to the specified target frame. If the target frame is left blank, the root link of the model is used, i.e. the bounding boxes are given in the coordinate frame of the model. The optional timestamp parameter allows to specify a timestamp that is used for querying the transforms.

Parameters

[in]	targetFrame	All box positions will be given relative to this frame. If empty (default) the root frame of the model will be used, so all box positions will be relative to the models origin.
[in]	timestamp	Timestamp used for querying transforms
[in]	filter	Filter for filtering only collision geometries where the name matches the filter By default collision geometries with no name are used for calculating the bounding boxes

◆ getFootprint()

Footprint getFootprint	(	std::string	targetFrame = `""`,
		const Time &	timestamp = `Time::now()`,
		const std::string &	filter = `""`
	)		const

Returns the models footprint (the projection on the xy-plane).

The geometry of the footprint is returned in relation to the specified target frame. If the target frame is left blank, the root link of the model is used, i.e. the footprint is given in the coordinate frame of the model.

Parameters

[in]	targetFrame	The footprint will be given relative to this frame. If empty (default) the root frame of the model will be used, so the footprint will be relative to the models origin.
[in]	timestamp	Timestamp used for querying transforms
[in]	filter	Filter for filtering only collision geometries where the name matches the filter By default collision geometries with no name are used for calculating the footprint

◆ resolveAndPublishLinks()

void resolveAndPublishLinks	(	const std::string &	ns,
		const Time &	timestamp = `Time::now()`
	)

Resolves all link names in the model and adds the transforms between them to the transform tree.

Parameters

ns	The namespace of the model.
timestamp	An optional timestamp of the (initial) transformation states

◆ publishJoint()

void publishJoint	(	const std::string &	name,
		float	value,
		const Time &	timestamp = `Time::now()`
	)		const

Publishes the state of the joint with the given name.

Can be used for CONTINUOUS, REVOLUTE and PRISMATIC joints.

Exceptions

XInvalidConfig if used with not supported types of joints

Parameters

name	Name of the joint to alter
value	The new value for the joint radian for CONTINUOUS and REVOLUTE meter for PRISMATIC
timestamp	An optional timestamp of the new joint state

Member Data Documentation

◆ name

std::string name

Name of the model.

◆ links

LinkList links

List of links used by this model.

◆ joints

JointMap joints

Map with name - joint pointer pairs used by this model.

◆ materials

MaterialMap materials

Map with name - material pointer pairs used by this model.

The documentation for this class was generated from the following file:

include/model/RigidModel.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ LinkList

◆ JointMap

◆ MaterialMap

◆ CollisionGeometries

Constructor & Destructor Documentation

◆ ~RigidModel()

Member Function Documentation

◆ reflect() [1/2]

◆ reflect() [2/2]

◆ clear()

◆ getRootLink()

◆ getCollisionGeometries()

◆ getCollisionBoundingBoxes()

◆ getFootprint()

◆ resolveAndPublishLinks()

◆ publishJoint()

Member Data Documentation

◆ name

◆ links

◆ joints

◆ materials