se2ez::Scene Class Reference

A representation of a Scene (in this case, one active robot and multiple passive robots (with all joints fixed representing the obstacles). More...

#include <scene.h>

Classes
struct	RobotData

Public Member Functions
	Scene (const RobotPtr &arobot)
	Constructor. Nothing interesting right now. More...
	Scene (const Scene &)=delete
	Scene (Scene &&)=delete
Scene Management
void	addRobot (const RobotPtr &robot, const std::string &name)
	Attach a robot as passive to the scene at a zero state. More...
void	addRobot (const RobotPtr &robot, const std::string &name, const StatePtr &state)
	Attach a robot as passive to the scene with given state. More...
void	compileScene ()
	creates the scene, is called after a robot is added. More...
void	removeRobot (const std::string &name)
	Removes the specific robot from the Scene. More...
void	clear ()
	Completely clears internal structures, a brand new scene! More...
void	clearPassive ()
	Completely clears the passive robots! More...
Getters and Setters
const RobotPtr &	getActiveRobot ()
	Returns a the active robot. More...
const RobotPtr &	getSceneRobot ()
	Returns a new aggregated robot including all the passive and active robots. More...
const std::string &	getSignature ()
	Returns the mrobot signature. More...
const RobotPtr &	getRobot (const std::string &name)
	Returns robot the robot named name, throws error otherwise. More...
const std::vector< std::string >	getRobotNames ()
	Gets the all the names of the robots active and passive. More...
void	setRobotState (const std::string &name, const StatePtr &state)
	Sets a state for a robot. More...
void	setRandom ()
	Sets every passive robot to a random state. More...
void	getNamedRobot (const std::string &name, const StatePtr &state)
	get the state for a robot. More...

Public Attributes
bool	dirty {false}
	Does the scene robot need updating? More...

Private Attributes
std::map< std::string, RobotData >	robots_
	Map of robots and their names. More...
const RobotPtr	arobot_
	Active Robot. More...
RobotPtr	mrobot_
	Mega Robot. More...

Detailed Description

A representation of a Scene (in this case, one active robot and multiple passive robots (with all joints fixed representing the obstacles).

Definition at line 32 of file scene.h.

Constructor & Destructor Documentation

Scene() [1/3]

Scene::Scene

(

const RobotPtr &

arobot

)

Constructor. Nothing interesting right now.

Definition at line 22 of file scene.cpp.

Scene() [2/3]

se2ez::Scene::Scene ( const Scene &  )

delete

Scene() [3/3]

se2ez::Scene::Scene ( Scene &&  )

delete

Member Function Documentation

addRobot() [1/2]

void Scene::addRobot	(	const RobotPtr &	robot,
		const std::string &	name
	)

Attach a robot as passive to the scene at a zero state.

Parameters

[in]	robot	Robot to attach.
[in]	name	Name of the robot.

Frame / Kinematic Tree Updating

Definition at line 32 of file scene.cpp.

addRobot() [2/2]

void Scene::addRobot	(	const RobotPtr &	robot,
		const std::string &	name,
		const StatePtr &	state
	)

Attach a robot as passive to the scene with given state.

Parameters

[in]	robot	Robot to attach.
[in]	name	Name of the robot.
[in]	state	State of the attached Frame.

Definition at line 38 of file scene.cpp.

clear()

void Scene::clear

(

)

Completely clears internal structures, a brand new scene!

Definition at line 79 of file scene.cpp.

clearPassive()

void se2ez::Scene::clearPassive

(

)

Completely clears the passive robots!

compileScene()

void Scene::compileScene

(

)

creates the scene, is called after a robot is added.

Definition at line 49 of file scene.cpp.

getActiveRobot()

const RobotPtr & Scene::getActiveRobot

(

)

Returns a the active robot.

Returns

Active Robot.

Definition at line 85 of file scene.cpp.

getNamedRobot()

void se2ez::Scene::getNamedRobot	(	const std::string &	name,
		const StatePtr &	state
	)

get the state for a robot.

Parameters

[in]	name	Name of state to set.
[in]	state	State to set named state to.

getRobot()

const RobotPtr & Scene::getRobot

(

const std::string &

name

)

Returns robot the robot named name, throws error otherwise.

Returns

RobotPtr to that robot.

Definition at line 106 of file scene.cpp.

getRobotNames()

const std::vector< std::string > Scene::getRobotNames

(

)

Gets the all the names of the robots active and passive.

Returns

Vector of all robots in the Scene.

Definition at line 115 of file scene.cpp.

getSceneRobot()

const RobotPtr & Scene::getSceneRobot

(

)

Returns a new aggregated robot including all the passive and active robots.

Returns

MegaRobot.

Definition at line 90 of file scene.cpp.

getSignature()

const std::string & Scene::getSignature

(

)

Returns the mrobot signature.

Returns

signature of the mega-robot.

Definition at line 101 of file scene.cpp.

removeRobot()

void Scene::removeRobot

(

const std::string &

name

)

Removes the specific robot from the Scene.

Definition at line 69 of file scene.cpp.

setRandom()

void Scene::setRandom

(

)

Sets every passive robot to a random state.

Definition at line 124 of file scene.cpp.

setRobotState()

void se2ez::Scene::setRobotState	(	const std::string &	name,
		const StatePtr &	state
	)

Sets a state for a robot.

Parameters

[in]	name	Name of state to set.
[in]	state	State to set named state to.

Member Data Documentation

arobot_

const RobotPtr se2ez::Scene::arobot_

private

Active Robot.

Definition at line 139 of file scene.h.

dirty

bool se2ez::Scene::dirty {false}

Does the scene robot need updating?

Definition at line 135 of file scene.h.

mrobot_

RobotPtr se2ez::Scene::mrobot_

private

Mega Robot.

Definition at line 140 of file scene.h.

robots_

std::map<std::string, RobotData> se2ez::Scene::robots_

private

Map of robots and their names.

Definition at line 138 of file scene.h.

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

• /home/zak/code/se2ez_work/include/se2ez/core/scene.h
• /home/zak/code/se2ez_work/src/core/scene.cpp