Loads information about a robot from the parameter server. More...

#include <robot.h>

Inheritance diagram for robowflex::ParamRobot:

Public Member Functions
	ParamRobot (const std::string &name="DEFAULT")

Public Member Functions inherited from robowflex::Robot
	Robot (const std::string &name)
	Constructor. More...

	Robot (Robot const &)=delete

void	operator= (Robot const &)=delete

bool	initialize (const std::string &urdf_file)
	Initializes a robot from a kinematic description. A default semantic description is used. More...

bool	initializeKinematics (const std::string &kinematics_file)
	Initialize a robot with a kinematics description. More...

bool	initialize (const std::string &urdf_file, const std::string &srdf_file, const std::string &limits_file="", const std::string &kinematics_file="")
	Initializes a robot from a kinematic and semantic description. All files are loaded under the robot's namespace. More...

bool	initializeFromYAML (const std::string &config_file)
	Initializes a robot from a YAML config which includes URDF (urdf) and optional the SRDF (srdf), joint limits (joint_limits), IK plugins (kinematics) and a default state (robot_state). All files are loaded under the robot's namespace. The names of the YAML keys are in parenthesis. More...

bool	loadYAMLFile (const std::string &name, const std::string &file)
	Loads a YAML file into the robot's namespace under name. More...

bool	loadYAMLFile (const std::string &name, const std::string &file, const PostProcessYAMLFunction &function)
	Loads a YAML file into the robot's namespace under name, with a post-process function. More...

std::string	loadXMLFile (const std::string &file)
	Loads an XML or .xacro file into a string. More...

void	setURDFPostProcessFunction (const PostProcessXMLFunction &function)
	Sets a post processing function for loading the URDF. More...

bool	isLinkURDF (tinyxml2::XMLDocument &doc, const std::string &name)
	Checks if a node link exist with named name_link. More...

void	setSRDFPostProcessFunction (const PostProcessXMLFunction &function)
	Sets a post processing function for loading the SRDF. More...

void	setLimitsPostProcessFunction (const PostProcessYAMLFunction &function)
	Sets a post processing function for loading the joint limits file. More...

void	setKinematicsPostProcessFunction (const PostProcessYAMLFunction &function)
	Sets a post processing function for loading the kinematics plugin file. More...

void	setSRDFPostProcessAddPlanarJoint (const std::string &name)
	Adds a planar virtual joint through the SRDF to the loaded robot with name name. This joint will have three degrees of freedom: <name>/x, <name>/y, and <name>/theta. Will apply this joint between the world and the root frame. More...

void	setSRDFPostProcessAddFloatingJoint (const std::string &name)
	Adds a planar virtual joint through the SRDF to the loaded robot with name name. This joint will have three degrees of freedom: <name>/x, <name>/y, and <name>/theta. Will apply this joint between the world and the root frame. More...

bool	loadKinematics (const std::string &group, bool load_subgroups=true)
	Loads the kinematics plugin for a joint group and its subgroups. No kinematics are loaded by default. More...

const std::string &	getModelName () const
	Get the robot's model name. More...

const std::string &	getName () const
	Get the robot's name. More...

const robot_model::RobotModelPtr &	getModelConst () const
	Get a const reference to the loaded robot model. More...

robot_model::RobotModelPtr &	getModel ()
	Get a reference to the loaded robot model. More...

urdf::ModelInterfaceConstSharedPtr	getURDF () const
	Get the raw URDF Model. More...

const std::string &	getURDFString () const
	Get the raw URDF Model as a string. More...

srdf::ModelConstSharedPtr	getSRDF () const
	Get the raw SRDF Model. More...

const std::string &	getSRDFString () const
	Get the raw SRDF Model as a string. More...

const IO::Handler &	getHandlerConst () const
	Get the underlying IO handler used for this robot. More...

IO::Handler &	getHandler ()
	Get the underlying IO handler used for this robot. More...

const robot_model::RobotStatePtr &	getScratchStateConst () const
	Get a const reference to the scratch robot state. More...

robot_model::RobotStatePtr &	getScratchState ()
	Get a reference to the scratch robot state. More...

robot_model::RobotStatePtr	cloneScratchState () const
	Allocate a new robot state that is a clone of the current scratch state. More...

robot_model::RobotStatePtr	allocState () const
	Allocate a new robot state. More...

void	setState (const std::vector< double > &positions)
	Sets the scratch state from a vector of joint positions (all must be specified) More...

void	setState (const std::map< std::string, double > &variable_map)
	Sets the scratch state from a map of joint name to position. More...

void	setState (const std::vector< std::string > &variable_names, const std::vector< double > &variable_position)
	Sets the scratch state from a vector of joint names and their positions. More...

void	setState (const sensor_msgs::JointState &state)
	Sets the scratch state from a joint state message. More...

void	setState (const moveit_msgs::RobotState &state)
	Sets the scratch state from a robot state message. More...

void	setStateFromYAMLFile (const std::string &file)
	Sets the scratch state from a robot state message saved to a YAML file. More...

void	setGroupState (const std::string &name, const std::vector< double > &positions)
	Sets the group of the scratch state to a vector of joint positions. More...

std::vector< double >	getState () const
	Gets the current joint positions of the scratch state. More...

moveit_msgs::RobotState	getStateMsg () const
	Get the current scratch state as a message. More...

void	setStateMsgGroupState (moveit_msgs::RobotState &state, const std::string &group, const std::vector< double > &positions) const
	Set the group state of a MoveIt RobotState message. More...

std::vector< std::string >	getJointNames () const
	Gets the names of joints of the robot. More...

bool	hasJoint (const std::string &joint) const
	Checks if a joint exists in the robot. More...

const RobotPose &	getLinkTF (const std::string &name) const
	Get the current pose of a link on the scratch state. More...

const RobotPose	getRelativeLinkTF (const std::string &base, const std::string &target) const
	Get the current pose of a link target in the frame of base. More...

bool	setFromIK (const IKQuery &query)
	Sets a group of the scratch state from an IK query. If the IK query fails the scratch state retains its initial value. More...

bool	setFromIK (const IKQuery &query, robot_state::RobotState &state) const
	Sets a robot state from an IK query. If the IK query fails the scratch state retains its initial value. More...

bool	validateIKQuery (const IKQuery &query, const robot_state::RobotState &state) const
	Validates that a state satisfies an IK query's request poses. More...

double	distanceToIKQuery (const IKQuery &query, const robot_state::RobotState &state) const
	Returns the distance of the state to satisfying the IK query. More...

std::vector< std::string >	getSolverTipFrames (const std::string &group) const
	Get the tip frames for the IK solver for a given joint model group group. More...

std::string	getSolverBaseFrame (const std::string &group) const
	Get the base frame for the IK solver given a joint model group group. More...

bool	toYAMLFile (const std::string &file) const
	Dumps the current configuration of the robot as a YAML file. More...

bool	dumpGeometry (const std::string &file) const
	Dumps the names of links and absolute paths to their visual mesh files to a YAML file. More...

bool	dumpTransforms (const std::string &filename) const
	Dumps the tranforms of all links of a robot at its current state to a file. More...

bool	dumpPathTransforms (const robot_trajectory::RobotTrajectory &path, const std::string &filename, double fps=30, double threshold=0.0) const
	Dumps the tranforms of all links of a robot through a robot trajectory to a file. More...

bool	dumpToScene (const std::string &filename) const
	Dumps the current scratch configuration of the robot to a YAML file compatible with a scene. More...

Additional Inherited Members
Public Types inherited from robowflex::Robot
typedef std::function< bool(YAML::Node &)>	PostProcessYAMLFunction
	A function that runs after loading a YAML file and can modify its contents. Returns true on success, false on failure. More...

typedef std::function< bool(tinyxml2::XMLDocument &)>	PostProcessXMLFunction
	A function that runs after loading a XML file and can modify its contents. Returns true on success, false on failure. More...

Static Public Attributes inherited from robowflex::Robot
static const std::string	ROBOT_DESCRIPTION = "robot_description"
	Default robot description name. More...

static const std::string	ROBOT_SEMANTIC = "_semantic"
	Default robot semantic description suffix. More...

static const std::string	ROBOT_PLANNING = "_planning"
	Default robot planning description suffix. More...

static const std::string	ROBOT_KINEMATICS = "_kinematics"
	Default robot kinematics description suffix. More...

Protected Member Functions inherited from robowflex::Robot
bool	loadURDFFile (const std::string &urdf_file)
	Loads the URDF file. More...

bool	loadSRDFFile (const std::string &srdf_file)
	Loads the SRDF file. More...

void	initializeInternal (bool namespaced=true)
	Initializes and loads the robot. Calls post-processing functions and creates scratch state. More...

void	loadRobotModel (const std::string &description)
	Loads a robot model from the loaded information on the parameter server. More...

void	updateXMLString (std::string &string, const PostProcessXMLFunction &function)
	Updates a loaded XML string based on an XML post-process function. Called after initial, unmodified robot is loaded. More...

Protected Attributes inherited from robowflex::Robot
const std::string	name_
	Robot name. More...

IO::Handler	handler_
	IO handler (namespaced with name_) More...

std::string	urdf_
	The URDF as a string. More...

std::string	srdf_
	The SRDF as a string. More...

PostProcessXMLFunction	urdf_function_
	URDF post-processing function. More...

PostProcessXMLFunction	srdf_function_
	SRDF post-processing function. More...

PostProcessYAMLFunction	limits_function_
	Limits YAML post-processing function. More...

PostProcessYAMLFunction	kinematics_function_
	Kinematics plugin YAML post-processing function. More...

std::shared_ptr< robot_model_loader::RobotModelLoader >	loader_
	Robot model loader. More...

robot_model::RobotModelPtr	model_
	Loaded robot model. More...

std::map< std::string, robot_model::SolverAllocatorFn >	imap_
	Kinematic solver allocator map. More...

kinematics_plugin_loader::KinematicsPluginLoaderPtr	kinematics_
	Kinematic plugin loader. More...

robot_state::RobotStatePtr	scratch_
	Scratch robot state. More...

Detailed Description

Loads information about a robot from the parameter server.

Definition at line 823 of file robowflex_library/include/robowflex_library/robot.h.

Constructor & Destructor Documentation

◆ ParamRobot()

ParamRobot::ParamRobot ( const std::string & name = "DEFAULT" )

Constructor. Loads robot from parameter server.

Parameters

[in] name Name for this robot.

robowflex::ParamRobot

Definition at line 1371 of file robowflex_library/src/robot.cpp.

                                             : Robot(name)
 {
     // Retrieve values from parameter server.
     handler_.getParam(ROBOT_DESCRIPTION, urdf_);
     handler_.getParam(ROBOT_DESCRIPTION + ROBOT_SEMANTIC, srdf_);
  
     initializeInternal(false);
 }

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ParamRobot()