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| | R2Robot () |
| | Constructor. More...
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| bool | initialize (const std::vector< std::string > kinematics) |
| | Initialize the robot with a few kinematics groups. More...
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| robot_trajectory::RobotTrajectoryPtr | loadSMTData (const std::string &filename) |
| | Loads telemetry data from SMT from an HDF5 file into a robot trajectory. More...
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| | Robot (const std::string &name) |
| | Constructor. More...
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| | Robot (Robot const &)=delete |
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| void | operator= (Robot const &)=delete |
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| bool | initialize (const std::string &urdf_file) |
| | Initializes a robot from a kinematic description. A default semantic description is used. More...
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| bool | initializeKinematics (const std::string &kinematics_file) |
| | Initialize a robot with a kinematics description. More...
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| 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...
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| 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...
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| bool | loadYAMLFile (const std::string &name, const std::string &file) |
| | Loads a YAML file into the robot's namespace under name. More...
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| 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...
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| std::string | loadXMLFile (const std::string &file) |
| | Loads an XML or .xacro file into a string. More...
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| void | setURDFPostProcessFunction (const PostProcessXMLFunction &function) |
| | Sets a post processing function for loading the URDF. More...
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| bool | isLinkURDF (tinyxml2::XMLDocument &doc, const std::string &name) |
| | Checks if a node link exist with named name_link. More...
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| void | setSRDFPostProcessFunction (const PostProcessXMLFunction &function) |
| | Sets a post processing function for loading the SRDF. More...
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| void | setLimitsPostProcessFunction (const PostProcessYAMLFunction &function) |
| | Sets a post processing function for loading the joint limits file. More...
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| void | setKinematicsPostProcessFunction (const PostProcessYAMLFunction &function) |
| | Sets a post processing function for loading the kinematics plugin file. More...
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| 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...
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| 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...
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| 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...
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| const std::string & | getModelName () const |
| | Get the robot's model name. More...
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| const std::string & | getName () const |
| | Get the robot's name. More...
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| const robot_model::RobotModelPtr & | getModelConst () const |
| | Get a const reference to the loaded robot model. More...
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| robot_model::RobotModelPtr & | getModel () |
| | Get a reference to the loaded robot model. More...
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| urdf::ModelInterfaceConstSharedPtr | getURDF () const |
| | Get the raw URDF Model. More...
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| const std::string & | getURDFString () const |
| | Get the raw URDF Model as a string. More...
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| srdf::ModelConstSharedPtr | getSRDF () const |
| | Get the raw SRDF Model. More...
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| const std::string & | getSRDFString () const |
| | Get the raw SRDF Model as a string. More...
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| const IO::Handler & | getHandlerConst () const |
| | Get the underlying IO handler used for this robot. More...
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| IO::Handler & | getHandler () |
| | Get the underlying IO handler used for this robot. More...
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| const robot_model::RobotStatePtr & | getScratchStateConst () const |
| | Get a const reference to the scratch robot state. More...
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| robot_model::RobotStatePtr & | getScratchState () |
| | Get a reference to the scratch robot state. More...
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| robot_model::RobotStatePtr | cloneScratchState () const |
| | Allocate a new robot state that is a clone of the current scratch state. More...
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| robot_model::RobotStatePtr | allocState () const |
| | Allocate a new robot state. More...
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| void | setState (const std::vector< double > &positions) |
| | Sets the scratch state from a vector of joint positions (all must be specified) More...
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| void | setState (const std::map< std::string, double > &variable_map) |
| | Sets the scratch state from a map of joint name to position. More...
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| 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...
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| void | setState (const sensor_msgs::JointState &state) |
| | Sets the scratch state from a joint state message. More...
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| void | setState (const moveit_msgs::RobotState &state) |
| | Sets the scratch state from a robot state message. More...
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| void | setStateFromYAMLFile (const std::string &file) |
| | Sets the scratch state from a robot state message saved to a YAML file. More...
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| 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...
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| std::vector< double > | getState () const |
| | Gets the current joint positions of the scratch state. More...
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| moveit_msgs::RobotState | getStateMsg () const |
| | Get the current scratch state as a message. More...
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| 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...
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| std::vector< std::string > | getJointNames () const |
| | Gets the names of joints of the robot. More...
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| bool | hasJoint (const std::string &joint) const |
| | Checks if a joint exists in the robot. More...
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| const RobotPose & | getLinkTF (const std::string &name) const |
| | Get the current pose of a link on the scratch state. More...
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| 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...
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| 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...
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| 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...
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| bool | validateIKQuery (const IKQuery &query, const robot_state::RobotState &state) const |
| | Validates that a state satisfies an IK query's request poses. More...
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| double | distanceToIKQuery (const IKQuery &query, const robot_state::RobotState &state) const |
| | Returns the distance of the state to satisfying the IK query. More...
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| 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...
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| std::string | getSolverBaseFrame (const std::string &group) const |
| | Get the base frame for the IK solver given a joint model group group. More...
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| bool | toYAMLFile (const std::string &file) const |
| | Dumps the current configuration of the robot as a YAML file. More...
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| 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...
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| bool | dumpTransforms (const std::string &filename) const |
| | Dumps the tranforms of all links of a robot at its current state to a file. More...
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| 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...
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| bool | dumpToScene (const std::string &filename) const |
| | Dumps the current scratch configuration of the robot to a YAML file compatible with a scene. More...
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Convenience class that describes the default setup for R2 (R2C6 full).
Definition at line 23 of file r2.h.
Inheritance diagram for robowflex::R2Robot: