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OpenRAVE Namespace Reference

The entire OpenRAVE library. More...

Namespaces

namespace  geometry
 Templated math and geometric functions.
 
namespace  LocalXML
 
namespace  mathextra
 Extra math routines that are useful to have but don't really belong anywhere.
 
namespace  planningutils
 
namespace  utils
 
namespace  xmlreaders
 

Classes

class  CollisionReport
 Holds information about a particular collision that occured. More...
 
class  CollisionCheckerBase
 [interface] Responsible for all collision checking queries of the environment. If not specified, method is not multi-thread safe. See Collision Checker Concepts. More...
 
class  CollisionOptionsStateSaver
 Helper class to save and restore the collision options. If options are not supported and required is true, throws an exception. More...
 
class  ControllerBase
 [interface] Abstract base class to encapsulate a local controller. If not specified, method is not multi-thread safe. See Controller Concepts. More...
 
class  MultiController
 controller that manage multiple controllers, allows users to easily set multiple controllers for one robot. More...
 
class  EnvironmentBase
 Maintains a world state, which serves as the gateway to all functions offered through OpenRAVE. See Environment Concepts. More...
 
class  IkReturn
 
class  IkSolverBase
 [interface] Base class for all Inverse Kinematic solvers. If not specified, method is not multi-thread safe. See Inverse Kinematics Solver Concepts. More...
 
class  InterfaceBase
 [interface] Base class for all interfaces that OpenRAVE provides. See Base Interface Concepts. More...
 
class  KinBody
 [interface] A kinematic body of links and joints. If not specified, method is not multi-thread safe. See Kinematics Body Concepts. More...
 
class  ModuleBase
 [interface] A loadable module of user code meant to solve a specific domain. If not specified, method is not multi-thread safe. See Module Concepts. More...
 
class  openrave_exception
 Exception that all OpenRAVE internal methods throw; the error codes are held in OpenRAVEErrorCode. More...
 
class  CaseInsensitiveCompare
 
class  UserData
 base class for all user data More...
 
class  SerializableData
 user data that can serialize/deserialize itself More...
 
class  XMLReadable
 base class for readable interfaces More...
 
class  BaseXMLReader
 base class for all xml readers. XMLReaders are used to process data from xml files. More...
 
class  DummyXMLReader
 reads until the tag ends More...
 
class  BaseXMLWriter
 base class for writing to XML files. More...
 
class  ConfigurationSpecification
 A configuration specification references values in the environment that then define a configuration-space which can be searched for. More...
 
class  IkParameterization
 Parameterization of basic primitives for querying inverse-kinematics solutions. More...
 
class  PhysicsEngineBase
 [interface] The physics engine interfaces supporting simulations and dynamics. See Physics Engine Concepts. More...
 
class  PlannerBase
 [interface] Planner interface that generates trajectories for target objects to follow through the environment. If not specified, method is not multi-thread safe. See Planner Concepts. More...
 
class  ExplorationParameters
 
class  RAStarParameters
 
class  GraspSetParameters
 
class  GraspParameters
 
class  TrajectoryTimingParameters
 
class  WorkspaceTrajectoryParameters
 
class  RRTParameters
 
class  BasicRRTParameters
 
class  PLUGININFO
 Holds all the OpenRAVE-specific information provided by a plugin. More...
 
class  RobotBase
 [interface] A robot is a kinematic body that has attached manipulators, sensors, and controllers. If not specified, method is not multi-thread safe. See Robot Concepts. More...
 
class  SensorBase
 [interface] A sensor measures physical properties from the environment. If not specified, method is not multi-thread safe. See Sensor Concepts. More...
 
class  SensorSystemBase
 [interface] Used to manage the creation and destruction of bodies. See Sensor System Concepts. More...
 
class  SimpleSensorSystem
 A very simple sensor system example that manages raw detection data. More...
 
class  SpaceSamplerBase
 [interface] Contains space samplers commonly used in planners. If not specified, method is not multi-thread safe. See SpaceSampler Concepts. More...
 
class  TrajectoryBase
 [interface] Encapsulate a time-parameterized trajectories of robot configurations. If not specified, method is not multi-thread safe. Trajectory Concepts More...
 
class  GraphHandle
 Handle holding the plot from the viewers. The plot will continue to be drawn as long as a reference to this handle is held. More...
 
class  ViewerBase
 [interface] Base class for the graphics and gui engine that renders the environment and provides visual sensor information. If not specified, method is not multi-thread safe. See Viewer Concepts. More...
 
class  CustomIkSolverFilterData
 
class  ChangeCallbackData
 
class  RaveGlobal
 
class  CustomPlannerCallbackData
 
class  CallOnDestruction
 

Typedefs

typedef CollisionReport
COLLISIONREPORT 
RAVE_DEPRECATED = IKRA_Success
 
typedef boost::shared_ptr
< MultiController
MultiControllerPtr
 
typedef boost::shared_ptr
< MultiController const > 
MultiControllerConstPtr
 
typedef boost::recursive_try_mutex EnvironmentMutex
 
typedef boost::shared_ptr
< OpenRAVEFunctionParserReal > 
OpenRAVEFunctionParserRealPtr
 
typedef ModuleBase ProblemInstance
 
typedef ModuleBasePtr ProblemInstancePtr
 
typedef ModuleBaseWeakPtr ProblemInstanceConstPtr
 
typedef ModuleBaseConstPtr ProblemInstanceWeakPtr
 
typedef float dReal
 
typedef boost::shared_ptr
< UserData
UserDataPtr
 
typedef boost::weak_ptr< UserDataUserDataWeakPtr
 
typedef boost::shared_ptr
< SerializableData
SerializableDataPtr
 
typedef boost::weak_ptr
< SerializableData
SerializableDataWeakPtr
 
typedef boost::shared_ptr
< CollisionReport
CollisionReportPtr
 
typedef boost::shared_ptr
< CollisionReport const > 
CollisionReportConstPtr
 
typedef boost::shared_ptr
< InterfaceBase
InterfaceBasePtr
 
typedef boost::shared_ptr
< InterfaceBase const > 
InterfaceBaseConstPtr
 
typedef boost::weak_ptr
< InterfaceBase
InterfaceBaseWeakPtr
 
typedef boost::shared_ptr
< KinBody
KinBodyPtr
 
typedef boost::shared_ptr
< KinBody const > 
KinBodyConstPtr
 
typedef boost::weak_ptr< KinBodyKinBodyWeakPtr
 
typedef boost::shared_ptr
< RobotBase
RobotBasePtr
 
typedef boost::shared_ptr
< RobotBase const > 
RobotBaseConstPtr
 
typedef boost::weak_ptr
< RobotBase
RobotBaseWeakPtr
 
typedef boost::shared_ptr
< CollisionCheckerBase
CollisionCheckerBasePtr
 
typedef boost::shared_ptr
< CollisionCheckerBase const > 
CollisionCheckerBaseConstPtr
 
typedef boost::weak_ptr
< CollisionCheckerBase
CollisionCheckerBaseWeakPtr
 
typedef boost::shared_ptr
< ControllerBase
ControllerBasePtr
 
typedef boost::shared_ptr
< ControllerBase const > 
ControllerBaseConstPtr
 
typedef boost::weak_ptr
< ControllerBase
ControllerBaseWeakPtr
 
typedef boost::shared_ptr
< IkSolverBase
IkSolverBasePtr
 
typedef boost::shared_ptr
< IkSolverBase const > 
IkSolverBaseConstPtr
 
typedef boost::weak_ptr
< IkSolverBase
IkSolverBaseWeakPtr
 
typedef boost::shared_ptr
< PhysicsEngineBase
PhysicsEngineBasePtr
 
typedef boost::shared_ptr
< PhysicsEngineBase const > 
PhysicsEngineBaseConstPtr
 
typedef boost::weak_ptr
< PhysicsEngineBase
PhysicsEngineBaseWeakPtr
 
typedef boost::shared_ptr
< PlannerBase
PlannerBasePtr
 
typedef boost::shared_ptr
< PlannerBase const > 
PlannerBaseConstPtr
 
typedef boost::weak_ptr
< PlannerBase
PlannerBaseWeakPtr
 
typedef boost::shared_ptr
< ModuleBase
ModuleBasePtr
 
typedef boost::shared_ptr
< ModuleBase const > 
ModuleBaseConstPtr
 
typedef boost::weak_ptr
< ModuleBase
ModuleBaseWeakPtr
 
typedef boost::shared_ptr
< SensorBase
SensorBasePtr
 
typedef boost::shared_ptr
< SensorBase const > 
SensorBaseConstPtr
 
typedef boost::weak_ptr
< SensorBase
SensorBaseWeakPtr
 
typedef boost::shared_ptr
< SensorSystemBase
SensorSystemBasePtr
 
typedef boost::shared_ptr
< SensorSystemBase const > 
SensorSystemBaseConstPtr
 
typedef boost::weak_ptr
< SensorSystemBase
SensorSystemBaseWeakPtr
 
typedef boost::shared_ptr
< TrajectoryBase
TrajectoryBasePtr
 
typedef boost::shared_ptr
< TrajectoryBase const > 
TrajectoryBaseConstPtr
 
typedef boost::weak_ptr
< TrajectoryBase
TrajectoryBaseWeakPtr
 
typedef boost::shared_ptr
< ViewerBase
ViewerBasePtr
 
typedef boost::shared_ptr
< ViewerBase const > 
ViewerBaseConstPtr
 
typedef boost::weak_ptr
< ViewerBase
ViewerBaseWeakPtr
 
typedef boost::shared_ptr
< SpaceSamplerBase
SpaceSamplerBasePtr
 
typedef boost::shared_ptr
< SpaceSamplerBase const > 
SpaceSamplerBaseConstPtr
 
typedef boost::weak_ptr
< SpaceSamplerBase
SpaceSamplerBaseWeakPtr
 
typedef boost::shared_ptr
< EnvironmentBase
EnvironmentBasePtr
 
typedef boost::shared_ptr
< EnvironmentBase const > 
EnvironmentBaseConstPtr
 
typedef boost::weak_ptr
< EnvironmentBase
EnvironmentBaseWeakPtr
 
typedef boost::shared_ptr
< IkReturn
IkReturnPtr
 
typedef boost::weak_ptr< IkReturnIkReturnWeakPtr
 
typedef boost::shared_ptr
< BaseXMLReader
BaseXMLReaderPtr
 
typedef boost::shared_ptr
< BaseXMLReader const > 
BaseXMLReaderConstPtr
 
typedef boost::shared_ptr
< BaseXMLWriter
BaseXMLWriterPtr
 
typedef boost::shared_ptr
< BaseXMLWriter const > 
BaseXMLWriterConstPtr
 Cloning Options for interfaces and environments.
 
typedef boost::shared_ptr
< XMLReadable
XMLReadablePtr
 
typedef boost::shared_ptr
< XMLReadable const > 
XMLReadableConstPtr
 
typedef std::list< std::pair
< std::string, std::string > > 
AttributesList
 a list of key-value pairs. It is possible for keys to repeat.
 
typedef boost::function
< BaseXMLReaderPtr(InterfaceBasePtr,
const AttributesList &)> 
CreateXMLReaderFn
 
typedef RaveVector< dRealVector
 
typedef RaveTransform< dRealTransform
 
typedef boost::shared_ptr
< RaveTransform< dReal > > 
TransformPtr
 
typedef boost::shared_ptr
< RaveTransform< dReal > const > 
TransformConstPtr
 
typedef RaveTransformMatrix
< dReal
TransformMatrix
 
typedef boost::shared_ptr
< RaveTransformMatrix< dReal > > 
TransformMatrixPtr
 
typedef boost::shared_ptr
< RaveTransformMatrix< dReal >
const > 
TransformMatrixConstPtr
 
typedef geometry::obb< dRealOBB
 
typedef geometry::aabb< dRealAABB
 
typedef geometry::ray< dRealRAY
 
typedef boost::shared_ptr
< ConfigurationSpecification
ConfigurationSpecificationPtr
 
typedef boost::shared_ptr
< ConfigurationSpecification
const > 
ConfigurationSpecificationConstPtr
 
typedef InterfaceBasePtr(* PluginExportFn_OpenRAVECreateInterface )(InterfaceType type, const std::string &name, const char *pluginhash, const char *envhash, EnvironmentBasePtr penv)
 Create the interfaces, see CreateInterfaceValidated.
 
typedef bool(* PluginExportFn_OpenRAVEGetPluginAttributes )(PLUGININFO *pinfo, int size, const char *infohash)
 Called to fill information about the plugin, see GetPluginAttributesValidated.
 
typedef void(* PluginExportFn_DestroyPlugin )()
 Called before plugin is unloaded from openrave. See DestroyPlugin.
 
typedef InterfaceBasePtr(* PluginExportFn_CreateInterface )(InterfaceType type, const std::string &name, const char *pluginhash, EnvironmentBasePtr penv) RAVE_DEPRECATED
 
typedef bool(* PluginExportFn_GetPluginAttributes )(PLUGININFO *pinfo, int size) RAVE_DEPRECATED
 
typedef boost::shared_ptr
< GraspParameters
GraspParametersPtr
 
typedef boost::shared_ptr
< GraspParameters const > 
GraspParametersConstPtr
 
typedef boost::shared_ptr
< TrajectoryTimingParameters
TrajectoryTimingParametersPtr
 
typedef boost::shared_ptr
< TrajectoryTimingParameters
const > 
TrajectoryTimingParametersConstPtr
 
typedef boost::shared_ptr
< WorkspaceTrajectoryParameters
WorkspaceTrajectoryParametersPtr
 
typedef boost::shared_ptr
< WorkspaceTrajectoryParameters
const > 
WorkspaceTrajectoryParametersConstPtr
 
typedef boost::shared_ptr
< RRTParameters
RRTParametersPtr
 
typedef boost::shared_ptr
< BasicRRTParameters
BasicRRTParametersPtr
 
typedef boost::shared_ptr
< GraphHandle
GraphHandlePtr
 
typedef boost::shared_ptr
< GraphHandle const > 
GraphHandleConstPtr
 
typedef boost::weak_ptr
< GraphHandle const > 
GraphHandleWeakPtr
 
typedef boost::shared_ptr
< CustomIkSolverFilterData
CustomIkSolverFilterDataPtr
 
typedef boost::shared_ptr
< ChangeCallbackData
ChangeCallbackDataPtr
 
typedef boost::shared_ptr
< CustomPlannerCallbackData
CustomPlannerCallbackDataPtr
 

Enumerations

enum  CollisionOptions {
  CO_Distance = 1, CO_UseTolerance = 2, CO_Contacts = 4, CO_RayAnyHit = 8,
  CO_ActiveDOFs = 16
}
 options for collision checker More...
 
enum  CollisionAction { CA_DefaultAction = 0, CA_Ignore = 1 }
 action to perform whenever a collision is detected between objects More...
 
enum  IkFilterOptions {
  IKFO_CheckEnvCollisions =1, IKFO_IgnoreSelfCollisions =2, IKFO_IgnoreJointLimits =4, IKFO_IgnoreCustomFilters =8,
  IKFO_IgnoreEndEffectorCollisions =16
}
 Controls what information gets validated when searching for an inverse kinematics solution. More...
 
enum  IkReturnAction {
  IKRA_Success = 0, IKRA_Reject = 1, IKRA_Quit = 2, IKRA_QuitEndEffectorCollision = (IKRA_Quit|0x00000080),
  IKRA_RejectKinematics = (IKRA_Reject|0x00000010), IKRA_RejectSelfCollision = (IKRA_Reject|0x00000020), IKRA_RejectEnvCollision = (IKRA_Reject|0x00000040), IKRA_RejectJointLimits = (IKRA_Reject|0x00000100),
  IKRA_RejectKinematicsPrecision = (IKRA_Reject|0x00000200), IKRA_RejectCustomFilter = (IKRA_Reject|0x00008000)
}
 Return value for the ik filter that can be optionally set on an ik solver. More...
 
enum  SerializationOptions {
  SO_Kinematics = 0x01, SO_Dynamics = 0x02, SO_BodyState = 0x04, SO_NamesAndFiles = 0x08,
  SO_RobotManipulators = 0x10, SO_RobotSensors = 0x20, SO_Geometry = 0x40
}
 serialization options for interfaces More...
 
enum  OpenRAVEErrorCode {
  ORE_Failed =0, ORE_InvalidArguments =1, ORE_EnvironmentNotLocked =2, ORE_CommandNotSupported =3,
  ORE_Assert =4, ORE_InvalidPlugin =5, ORE_InvalidInterfaceHash =6, ORE_NotImplemented =7,
  ORE_InconsistentConstraints =8, ORE_NotInitialized =9, ORE_InvalidState =10, ORE_Timeout =11
}
 OpenRAVE error codes More...
 
enum  DebugLevel {
  Level_Fatal =0, Level_Error =1, Level_Warn =2, Level_Info =3,
  Level_Debug =4, Level_Verbose =5, Level_OutputMask =0xf, Level_VerifyPlans =0x80000000
}
 
enum  CloningOptions {
  Clone_Bodies = 1, Clone_Viewer = 2, Clone_Simulation = 4, Clone_RealControllers = 8,
  Clone_Sensors = 16
}
 
enum  IkParameterizationType {
  IKP_None =0, IKP_Transform6D =0x67000001, IKP_Rotation3D =0x34000002, IKP_Translation3D =0x33000003,
  IKP_Direction3D =0x23000004, IKP_Ray4D =0x46000005, IKP_Lookat3D =0x23000006, IKP_TranslationDirection5D =0x56000007,
  IKP_TranslationXY2D =0x22000008, IKP_TranslationXYOrientation3D =0x33000009, IKP_TranslationLocalGlobal6D =0x3600000a, IKP_TranslationXAxisAngle4D =0x4400000b,
  IKP_TranslationYAxisAngle4D =0x4400000c, IKP_TranslationZAxisAngle4D =0x4400000d, IKP_TranslationXAxisAngleZNorm4D =0x4400000e, IKP_TranslationYAxisAngleXNorm4D =0x4400000f,
  IKP_TranslationZAxisAngleYNorm4D =0x44000010, IKP_NumberOfParameterizations =16, IKP_VelocityDataBit = 0x00008000, IKP_Transform6DVelocity = IKP_Transform6D|IKP_VelocityDataBit,
  IKP_Rotation3DVelocity = IKP_Rotation3D|IKP_VelocityDataBit, IKP_Translation3DVelocity = IKP_Translation3D|IKP_VelocityDataBit, IKP_Direction3DVelocity = IKP_Direction3D|IKP_VelocityDataBit, IKP_Ray4DVelocity = IKP_Ray4D|IKP_VelocityDataBit,
  IKP_Lookat3DVelocity = IKP_Lookat3D|IKP_VelocityDataBit, IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D|IKP_VelocityDataBit, IKP_TranslationXY2DVelocity = IKP_TranslationXY2D|IKP_VelocityDataBit, IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D|IKP_VelocityDataBit,
  IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D|IKP_VelocityDataBit, IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D|IKP_VelocityDataBit,
  IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D|IKP_VelocityDataBit, IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D|IKP_VelocityDataBit, IKP_UniqueIdMask = 0x0000ffff,
  IKP_CustomDataBit = 0x00010000
}
 The types of inverse kinematics parameterizations supported. More...
 
enum  DOFAffine {
  DOF_NoTransform = 0, DOF_X = 1, DOF_Y = 2, DOF_Z = 4,
  DOF_XYZ =DOF_X|DOF_Y|DOF_Z, DOF_RotationAxis = 8, DOF_Rotation3D = 16, DOF_RotationQuat = 32,
  DOF_RotationMask =(DOF_RotationAxis|DOF_Rotation3D|DOF_RotationQuat), DOF_Transform = (DOF_XYZ|DOF_RotationQuat)
}
 Selects which DOFs of the affine transformation to include in the active configuration. More...
 
enum  PhysicsEngineOptions { PEO_SelfCollisions = 1 }
 basic options for physics engine More...
 
enum  PlannerStatus { PS_Failed = 0, PS_HasSolution = 1, PS_Interrupted = 2, PS_InterruptedWithSolution = 3 }
 the status of the PlanPath method. Used when PlanPath can be called multiple times to resume planning. More...
 
enum  PlannerAction { PA_None =0, PA_Interrupt =1, PA_ReturnWithAnySolution =2 }
 action to send to the planner while it is planning. This is usually done by the user-specified planner callback function More...
 
enum  IntervalType { IT_Open =0, IT_OpenStart =1, IT_OpenEnd =2, IT_Closed =3 }
 Specifies the boundary conditions of intervals for sampling. More...
 
enum  SampleDataType { SDT_Real =1, SDT_Uint32 =2 }
 

Functions

OPENRAVE_API std::ostream & operator<< (std::ostream &O, const KinBody::Link::TRIMESH &trimesh)
 
OPENRAVE_API std::istream & operator>> (std::istream &I, KinBody::Link::TRIMESH &trimesh)
 
const char * GetErrorCodeString (OpenRAVEErrorCode error)
 
std::string ChangeTextColor (int attribute, int fg, int bg)
 Change the text color (on either stdout or stderr) with an attr:fg:bg (thanks to Radu Rusu for the code)
 
std::string ChangeTextColor (int attribute, int fg)
 Change the text color (on either stdout or stderr) with an attr:fg (thanks to Radu Rusu for the code)
 
std::string ResetTextColor ()
 Reset the text color (on either stdout or stderr) to its original state (thanks to Radu Rusu for the code)
 
std::wstring ChangeTextColorW (int attribute, int fg)
 
std::wstring RavePrintTransformString (const wchar_t *fmt)
 
OPENRAVE_API void RaveSetDebugLevel (int level)
 Sets the global openrave debug level. A combination of DebugLevel.
 
OPENRAVE_API int RaveGetDebugLevel ()
 Returns the openrave debug level.
 
const char * RaveGetSourceFilename (const char *pfilename)
 extracts only the filename
 
int RavePrintfA_INFOLEVEL (const std::string &s)
 
int RavePrintfA_INFOLEVEL (const char *fmt,...)
 
int RavePrintfA (const std::string &s, uint32_t level)
 
 DefineRavePrintfW (_FATALLEVEL) DefineRavePrintfW(_ERRORLEVEL) DefineRavePrintfW(_WARNLEVEL) DefineRavePrintfW(_DEBUGLEVEL) DefineRavePrintfW(_VERBOSELEVEL) DefineRavePrintfA(_FATALLEVEL) DefineRavePrintfA(_ERRORLEVEL) DefineRavePrintfA(_WARNLEVEL) DefineRavePrintfA(_DEBUGLEVEL) DefineRavePrintfA(_VERBOSELEVEL) enum InterfaceType
 adds the function name and line number to an openrave exception
 
OPENRAVE_API const std::map
< IkParameterizationType,
std::string > & 
RaveGetIkParameterizationMap (int alllowercase=0)
 returns a string of the ik parameterization type names
 
OPENRAVE_API IkParameterizationType RaveGetIkTypeFromUniqueId (int uniqueid)
 returns the IkParameterizationType given the unique id detmerined b IKP_UniqueIdMask
 
OPENRAVE_API std::ostream & operator<< (std::ostream &O, const ConfigurationSpecification &spec)
 
OPENRAVE_API std::istream & operator>> (std::istream &I, ConfigurationSpecification &spec)
 
template<typename T >
NormalizeCircularAnglePrivate (T theta, T min, T max)
 
IkParameterization operator* (const Transform &t, const IkParameterization &ikparam)
 
OPENRAVE_API std::ostream & operator<< (std::ostream &O, const IkParameterization &ikparam)
 
OPENRAVE_API std::istream & operator>> (std::istream &I, IkParameterization &ikparam)
 
OPENRAVE_API int RaveGetIndexFromAffineDOF (int affinedofs, DOFAffine dof)
 Given a mask of affine dofs and a dof inside that mask, returns the index where the value could be found.
 
OPENRAVE_API DOFAffine RaveGetAffineDOFFromIndex (int affinedofs, int index)
 Given a mask of affine dofs and an index into the array, returns the affine dof that is being referenced.
 
OPENRAVE_API int RaveGetAffineDOF (int affinedofs)
 Returns the degrees of freedom needed to represent all the values in the affine dof mask.
 
OPENRAVE_API void RaveGetAffineDOFValuesFromTransform (std::vector< dReal >::iterator itvalues, const Transform &t, int affinedofs, const Vector &vActvAffineRotationAxis=Vector(0, 0, 1))
 Converts the transformation matrix into the specified affine values format.
 
OPENRAVE_API void RaveGetTransformFromAffineDOFValues (Transform &t, std::vector< dReal >::const_iterator itvalues, int affinedofs, const Vector &vActvAffineRotationAxis=Vector(0, 0, 1), bool normalize=true)
 Converts affine dof values into a transform.
 
OPENRAVE_API
ConfigurationSpecification 
RaveGetAffineConfigurationSpecification (int affinedofs, KinBodyConstPtr pbody=KinBodyConstPtr(), const std::string &interpolation="")
 
OPENRAVE_API void RaveInitRandomGeneration (uint32_t seed)
 
OPENRAVE_API uint32_t RaveRandomInt ()
 
OPENRAVE_API float RaveRandomFloat (IntervalType interval=IT_Closed)
 
OPENRAVE_API double RaveRandomDouble (IntervalType interval=IT_Closed)
 
bool RaveParseDirectories (const char *pdirs, std::vector< std::string > &vdirs) RAVE_DEPRECATED
 
OPENRAVE_API std::ostream & operator<< (std::ostream &O, const PlannerBase::PlannerParameters &v)
 
OPENRAVE_API std::istream & operator>> (std::istream &I, PlannerBase::PlannerParameters &v)
 
OPENRAVE_CORE_API
EnvironmentBasePtr 
RaveCreateEnvironment ()
 
OPENRAVE_CORE_API
EnvironmentBasePtr 
CreateEnvironment (bool bLoadAllPlugins=true) RAVE_DEPRECATED
 
bool CustomIkSolverFilterDataCompare (UserDataPtr data0, UserDataPtr data1)
 
static void fparser_polyroots2 (vector< dReal > &rawroots, const vector< dReal > &rawcoeffs)
 
template<int D>
static void fparser_polyroots (vector< dReal > &rawroots, const vector< dReal > &rawcoeffs)
 
static void fparser_sssa (std::vector< dReal > &res, const vector< dReal > &coeffs)
 
static void fparser_sasa (std::vector< dReal > &res, const vector< dReal > &coeffs)
 take triangle 2 sides and an angle and compute the missing angle
 
static void fparser_sass (std::vector< dReal > &res, const vector< dReal > &coeffs)
 take triangle 2 sides and an angle and compute the missing side
 
OpenRAVEFunctionParserRealPtr CreateJointFunctionParser ()
 
static TransformMatrix ComputeInertia (const Transform &tMassFrame, const Vector &vinertiamoments)
 
bool RaveInvertFileLookup (std::string &newfilename, const std::string &filename)
 
boost::mutex & GetInterfaceMutex (InterfaceBasePtr pinterface)
 
void subtractstates (std::vector< dReal > &q1, const std::vector< dReal > &q2)
 
bool addstates (std::vector< dReal > &q, const std::vector< dReal > &qdelta, int fromgoal)
 
void _CallDiffStateFns (const std::vector< std::pair< PlannerBase::PlannerParameters::DiffStateFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v0, const std::vector< dReal > &v1)
 
dReal _EvalJointDOFDistanceMetric (const PlannerBase::PlannerParameters::DiffStateFn &difffn, const std::vector< dReal > &c0, const std::vector< dReal > &c1, const std::vector< dReal > &vweights2)
 returns square root of joint distance * weights
 
dReal _CallDistMetricFns (const std::vector< std::pair< PlannerBase::PlannerParameters::DistMetricFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, const std::vector< dReal > &v0, const std::vector< dReal > &v1)
 
bool _CallSampleFns (const std::vector< std::pair< PlannerBase::PlannerParameters::SampleFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v)
 
bool _CallSampleNeighFns (const std::vector< std::pair< PlannerBase::PlannerParameters::SampleNeighFn, int > > &vfunctions, const std::vector< std::pair< PlannerBase::PlannerParameters::DistMetricFn, int > > &vdistfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v, const std::vector< dReal > &vCurSample, dReal fRadius)
 
void _CallSetStateFns (const std::vector< std::pair< PlannerBase::PlannerParameters::SetStateFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, const std::vector< dReal > &v)
 
void _CallGetStateFns (const std::vector< std::pair< PlannerBase::PlannerParameters::GetStateFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v)
 
bool _CallNeighStateFns (const std::vector< std::pair< PlannerBase::PlannerParameters::NeighStateFn, int > > &vfunctions, int nDOF, int nMaxDOFForGroup, std::vector< dReal > &v, const std::vector< dReal > &vdelta, int fromgoal)
 
OPENRAVE_API dReal RaveExp (dReal f)
 exponential
 
OPENRAVE_API dReal RaveLog (dReal f)
 logarithm
 
OPENRAVE_API dReal RaveCos (dReal f)
 cosine
 
OPENRAVE_API dReal RaveSin (dReal f)
 sine
 
OPENRAVE_API dReal RaveTan (dReal f)
 tangent
 
OPENRAVE_API dReal RaveLog2 (dReal f)
 base 2 logarithm
 
OPENRAVE_API dReal RaveLog10 (dReal f)
 base 10 logarithm
 
OPENRAVE_API dReal RaveAcos (dReal f)
 arccosine
 
OPENRAVE_API dReal RaveAsin (dReal f)
 arcsine
 
OPENRAVE_API dReal RaveAtan2 (dReal fy, dReal fx)
 arctangent2 covering entire circle
 
OPENRAVE_API dReal RavePow (dReal fx, dReal fy)
 power x^y
 
OPENRAVE_API dReal RaveSqrt (dReal f)
 square-root
 
OPENRAVE_API dReal RaveFabs (dReal f)
 absolute value
 
Global Functionality - Interface Creation, Plugin Management, Logging

const char * RaveGetInterfaceHash (InterfaceType type)
 Returns the a 16 character null-terminated string specifying a hash of the interfaces used for checking changes.
 
template<typename T >
boost::shared_ptr< T > RaveInterfaceCast (InterfaceBasePtr pinterface)
 Safely casts from the base interface class to an openrave interface using static_pointer_cast.
 
template<typename T >
boost::shared_ptr< T const > RaveInterfaceConstCast (InterfaceBaseConstPtr pinterface)
 Safely casts from the base interface class to an openrave interface using static_pointer_cast.
 
OPENRAVE_API const std::map
< InterfaceType, std::string > & 
RaveGetInterfaceNamesMap ()
 returns a lower case string of the interface type
 
OPENRAVE_API const std::string & RaveGetInterfaceName (InterfaceType type)
 
OPENRAVE_API std::string RaveGetHomeDirectory ()
 Returns the openrave home directory where settings, cache, and other files are stored.
 
OPENRAVE_API std::string RaveFindDatabaseFile (const std::string &filename, bool bRead=true)
 Searches for a filename in the database and returns a full path/URL to it.
 
OPENRAVE_API int RaveInitialize (bool bLoadAllPlugins=true, int level=Level_Info)
 Explicitly initializes the global OpenRAVE state (optional).
 
OPENRAVE_API void RaveInitializeFromState (UserDataPtr globalstate)
 Initializes the global state from an already loaded OpenRAVE environment.
 
OPENRAVE_API UserDataPtr RaveGlobalState ()
 A pointer to the global openrave state.
 
OPENRAVE_API void RaveDestroy ()
 Destroys the entire OpenRAVE state and all loaded environments.
 
OPENRAVE_API void RaveGetPluginInfo (std::list< std::pair< std::string, PLUGININFO > > &plugins)
 Get all the loaded plugins and the interfaces they support.
 
OPENRAVE_API void RaveGetLoadedInterfaces (std::map< InterfaceType, std::vector< std::string > > &interfacenames)
 Get a list of all the loaded interfaces.
 
OPENRAVE_API void RaveReloadPlugins ()
 Reloads all the plugins.
 
OPENRAVE_API bool RaveLoadPlugin (const std::string &libraryname)
 Load a plugin and its interfaces.
 
OPENRAVE_API bool RaveHasInterface (InterfaceType type, const std::string &interfacename)
 Returns true if interface can be created, otherwise false.
 
OPENRAVE_API InterfaceBasePtr RaveCreateInterface (EnvironmentBasePtr penv, InterfaceType type, const std::string &interfacename)
 
OPENRAVE_API RobotBasePtr RaveCreateRobot (EnvironmentBasePtr penv, const std::string &name="")
 
OPENRAVE_API PlannerBasePtr RaveCreatePlanner (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API SensorSystemBasePtr RaveCreateSensorSystem (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API ControllerBasePtr RaveCreateController (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API ModuleBasePtr RaveCreateModule (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API ModuleBasePtr RaveCreateProblem (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API ModuleBasePtr RaveCreateProblemInstance (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API IkSolverBasePtr RaveCreateIkSolver (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API PhysicsEngineBasePtr RaveCreatePhysicsEngine (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API SensorBasePtr RaveCreateSensor (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API
CollisionCheckerBasePtr 
RaveCreateCollisionChecker (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API ViewerBasePtr RaveCreateViewer (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API SpaceSamplerBasePtr RaveCreateSpaceSampler (EnvironmentBasePtr penv, const std::string &name)
 
OPENRAVE_API KinBodyPtr RaveCreateKinBody (EnvironmentBasePtr penv, const std::string &name="")
 
OPENRAVE_API TrajectoryBasePtr RaveCreateTrajectory (EnvironmentBasePtr penv, const std::string &name="")
 Return an empty trajectory instance.
 
OPENRAVE_API TrajectoryBasePtr RaveCreateTrajectory (EnvironmentBasePtr penv, int dof) RAVE_DEPRECATED
 
template<typename T >
boost::shared_ptr< T > RaveClone (boost::shared_ptr< T const > preference, int cloningoptions)
 returned a fully cloned interface
 
OPENRAVE_API UserDataPtr RaveRegisterInterface (InterfaceType type, const std::string &name, const char *interfacehash, const char *envhash, const boost::function< InterfaceBasePtr(EnvironmentBasePtr, std::istream &)> &createfn)
 Registers a function to create an interface, this allows the interface to be created by other modules.
 
OPENRAVE_API UserDataPtr RaveRegisterXMLReader (InterfaceType type, const std::string &xmltag, const CreateXMLReaderFn &fn)
 Registers a custom xml reader for a particular interface.
 
OPENRAVE_API int RaveGetEnvironmentId (EnvironmentBasePtr penv)
 return the environment's unique id, returns 0 if environment could not be found or not registered
 
OPENRAVE_API EnvironmentBasePtr RaveGetEnvironment (int id)
 get the environment from its unique id
 
OPENRAVE_API void RaveGetEnvironments (std::list< EnvironmentBasePtr > &listenvironments)
 Return all the created OpenRAVE environments.
 
OPENRAVE_API BaseXMLReaderPtr RaveCallXMLReader (InterfaceType type, const std::string &xmltag, InterfaceBasePtr pinterface, const AttributesList &atts)
 Returns the current registered reader for the interface type/xmlid.
 
OPENRAVE_API std::string RaveFindLocalFile (const std::string &filename, const std::string &curdir="")
 Returns the absolute path of the filename on the local filesystem resolving relative paths from OpenRAVE paths.
 
OPENRAVE_API void RaveSetDataAccess (int accessoptions)
 Sets the default data access options for cad resources/robot files.
 
OPENRAVE_API int RaveGetDataAccess ()
 Returns the acess options set.
 

Variables

static const dReal PI = dReal(3.14159265358979323846)
 openrave constant for PI, could be replaced by accurate precision number depending on choice of dReal.
 
const char s_filesep = '/'
 
static boost::once_flag _onceRaveInitialize = BOOST_ONCE_INIT
 

Detailed Description

The entire OpenRAVE library.

Typedef Documentation

Definition at line 846 of file openrave.h.

typedef std::list<std::pair<std::string,std::string> > OpenRAVE::AttributesList

a list of key-value pairs. It is possible for keys to repeat.

Definition at line 712 of file openrave.h.

typedef boost::shared_ptr<BaseXMLReader const> OpenRAVE::BaseXMLReaderConstPtr

Definition at line 676 of file openrave.h.

typedef boost::shared_ptr<BaseXMLReader> OpenRAVE::BaseXMLReaderPtr
Examples:
customreader.cpp.

Definition at line 674 of file openrave.h.

typedef boost::shared_ptr<BaseXMLWriter const> OpenRAVE::BaseXMLWriterConstPtr

Cloning Options for interfaces and environments.

Definition at line 681 of file openrave.h.

typedef boost::shared_ptr<BaseXMLWriter> OpenRAVE::BaseXMLWriterPtr

Definition at line 677 of file openrave.h.

Definition at line 646 of file plannerparameters.h.

Definition at line 46 of file kinbody.cpp.

Definition at line 635 of file openrave.h.

Definition at line 634 of file openrave.h.

Definition at line 636 of file openrave.h.

typedef boost::shared_ptr<CollisionReport const> OpenRAVE::CollisionReportConstPtr

Definition at line 624 of file openrave.h.

typedef boost::shared_ptr<CollisionReport> OpenRAVE::CollisionReportPtr

Definition at line 621 of file openrave.h.

Definition at line 1243 of file openrave.h.

Definition at line 1242 of file openrave.h.

typedef boost::shared_ptr<ControllerBase const> OpenRAVE::ControllerBaseConstPtr

Definition at line 638 of file openrave.h.

typedef boost::shared_ptr<ControllerBase> OpenRAVE::ControllerBasePtr

Definition at line 637 of file openrave.h.

Definition at line 639 of file openrave.h.

Definition at line 756 of file openrave.h.

Definition at line 77 of file iksolver.cpp.

Definition at line 735 of file planner.cpp.

typedef float OpenRAVE::dReal

Definition at line 97 of file openrave.h.

typedef boost::shared_ptr<EnvironmentBase const> OpenRAVE::EnvironmentBaseConstPtr

Definition at line 668 of file openrave.h.

typedef boost::shared_ptr<EnvironmentBase> OpenRAVE::EnvironmentBasePtr

Definition at line 667 of file openrave.h.

Definition at line 669 of file openrave.h.

typedef boost::recursive_try_mutex OpenRAVE::EnvironmentMutex

Definition at line 27 of file environment.h.

typedef boost::shared_ptr<GraphHandle const> OpenRAVE::GraphHandleConstPtr

Definition at line 47 of file viewer.h.

typedef boost::shared_ptr<GraphHandle> OpenRAVE::GraphHandlePtr

Definition at line 46 of file viewer.h.

typedef boost::weak_ptr<GraphHandle const> OpenRAVE::GraphHandleWeakPtr

Definition at line 48 of file viewer.h.

typedef boost::shared_ptr<GraspParameters const> OpenRAVE::GraspParametersConstPtr

Definition at line 414 of file plannerparameters.h.

typedef boost::shared_ptr<GraspParameters> OpenRAVE::GraspParametersPtr

Definition at line 413 of file plannerparameters.h.

typedef boost::shared_ptr<IkReturn> OpenRAVE::IkReturnPtr

Definition at line 671 of file openrave.h.

typedef boost::weak_ptr<IkReturn> OpenRAVE::IkReturnWeakPtr

Definition at line 672 of file openrave.h.

typedef boost::shared_ptr<IkSolverBase const> OpenRAVE::IkSolverBaseConstPtr

Definition at line 641 of file openrave.h.

typedef boost::shared_ptr<IkSolverBase> OpenRAVE::IkSolverBasePtr

Definition at line 640 of file openrave.h.

typedef boost::weak_ptr<IkSolverBase> OpenRAVE::IkSolverBaseWeakPtr

Definition at line 642 of file openrave.h.

typedef boost::shared_ptr<InterfaceBase const> OpenRAVE::InterfaceBaseConstPtr

Definition at line 626 of file openrave.h.

typedef boost::shared_ptr<InterfaceBase> OpenRAVE::InterfaceBasePtr

Definition at line 627 of file openrave.h.

typedef boost::shared_ptr<KinBody const> OpenRAVE::KinBodyConstPtr
Examples:
orconveyormovement.cpp.

Definition at line 629 of file openrave.h.

typedef boost::shared_ptr<KinBody> OpenRAVE::KinBodyPtr

Definition at line 628 of file openrave.h.

typedef boost::weak_ptr<KinBody> OpenRAVE::KinBodyWeakPtr

Definition at line 630 of file openrave.h.

typedef boost::shared_ptr<ModuleBase const> OpenRAVE::ModuleBaseConstPtr

Definition at line 650 of file openrave.h.

typedef boost::shared_ptr<ModuleBase> OpenRAVE::ModuleBasePtr

Definition at line 649 of file openrave.h.

typedef boost::weak_ptr<ModuleBase> OpenRAVE::ModuleBaseWeakPtr

Definition at line 651 of file openrave.h.

typedef boost::shared_ptr<MultiController const> OpenRAVE::MultiControllerConstPtr

Definition at line 176 of file controller.h.

typedef boost::shared_ptr<MultiController> OpenRAVE::MultiControllerPtr

Definition at line 175 of file controller.h.

Definition at line 845 of file openrave.h.

typedef boost::shared_ptr< OpenRAVEFunctionParserReal > OpenRAVE::OpenRAVEFunctionParserRealPtr

Definition at line 27 of file kinbody.h.

typedef boost::shared_ptr<PhysicsEngineBase const> OpenRAVE::PhysicsEngineBaseConstPtr

Definition at line 644 of file openrave.h.

Definition at line 643 of file openrave.h.

Definition at line 645 of file openrave.h.

typedef boost::shared_ptr<PlannerBase const> OpenRAVE::PlannerBaseConstPtr

Definition at line 647 of file openrave.h.

typedef boost::shared_ptr<PlannerBase> OpenRAVE::PlannerBasePtr

Definition at line 646 of file openrave.h.

typedef boost::weak_ptr<PlannerBase> OpenRAVE::PlannerBaseWeakPtr

Definition at line 648 of file openrave.h.

typedef InterfaceBasePtr(* OpenRAVE::PluginExportFn_CreateInterface)(InterfaceType type, const std::string &name, const char *pluginhash, EnvironmentBasePtr penv) RAVE_DEPRECATED
Deprecated:
(12/01/01)

Definition at line 2663 of file openrave.h.

typedef bool(* OpenRAVE::PluginExportFn_GetPluginAttributes)(PLUGININFO *pinfo, int size) RAVE_DEPRECATED
Deprecated:
(12/01/01)

Definition at line 2666 of file openrave.h.

Definition at line 67 of file module.h.

Definition at line 69 of file module.h.

Definition at line 68 of file module.h.

Definition at line 70 of file module.h.

Deprecated:
(11/10/04)
Deprecated:
(12/04/29)

Definition at line 90 of file collisionchecker.h.

Definition at line 847 of file openrave.h.

typedef boost::shared_ptr<RobotBase const> OpenRAVE::RobotBaseConstPtr
Examples:
ortrajectory.cpp.

Definition at line 632 of file openrave.h.

typedef boost::shared_ptr<RobotBase> OpenRAVE::RobotBasePtr
Examples:
orplanning_multirobot.cpp.

Definition at line 631 of file openrave.h.

typedef boost::weak_ptr<RobotBase> OpenRAVE::RobotBaseWeakPtr

Definition at line 633 of file openrave.h.

typedef boost::shared_ptr<RRTParameters> OpenRAVE::RRTParametersPtr

Definition at line 591 of file plannerparameters.h.

typedef boost::shared_ptr<SensorBase const> OpenRAVE::SensorBaseConstPtr

Definition at line 653 of file openrave.h.

typedef boost::shared_ptr<SensorBase> OpenRAVE::SensorBasePtr

Definition at line 652 of file openrave.h.

typedef boost::weak_ptr<SensorBase> OpenRAVE::SensorBaseWeakPtr

Definition at line 654 of file openrave.h.

typedef boost::shared_ptr<SensorSystemBase const> OpenRAVE::SensorSystemBaseConstPtr

Definition at line 656 of file openrave.h.

typedef boost::shared_ptr<SensorSystemBase> OpenRAVE::SensorSystemBasePtr

Definition at line 655 of file openrave.h.

Definition at line 657 of file openrave.h.

typedef boost::shared_ptr<SerializableData> OpenRAVE::SerializableDataPtr

Definition at line 252 of file openrave.h.

Definition at line 253 of file openrave.h.

typedef boost::shared_ptr<SpaceSamplerBase const> OpenRAVE::SpaceSamplerBaseConstPtr

Definition at line 665 of file openrave.h.

typedef boost::shared_ptr<SpaceSamplerBase> OpenRAVE::SpaceSamplerBasePtr

Definition at line 664 of file openrave.h.

Definition at line 666 of file openrave.h.

typedef boost::shared_ptr<TrajectoryBase const> OpenRAVE::TrajectoryBaseConstPtr

Definition at line 659 of file openrave.h.

typedef boost::shared_ptr<TrajectoryBase> OpenRAVE::TrajectoryBasePtr
Examples:
ortrajectory.cpp.

Definition at line 658 of file openrave.h.

Definition at line 660 of file openrave.h.

Definition at line 505 of file plannerparameters.h.

Definition at line 504 of file plannerparameters.h.

Examples:
orplanning_door.cpp.

Definition at line 839 of file openrave.h.

typedef boost::shared_ptr< RaveTransform<dReal> const > OpenRAVE::TransformConstPtr

Definition at line 841 of file openrave.h.

Definition at line 842 of file openrave.h.

typedef boost::shared_ptr< RaveTransformMatrix<dReal> const > OpenRAVE::TransformMatrixConstPtr

Definition at line 844 of file openrave.h.

Definition at line 843 of file openrave.h.

typedef boost::shared_ptr< RaveTransform<dReal> > OpenRAVE::TransformPtr

Definition at line 840 of file openrave.h.

typedef boost::shared_ptr<UserData> OpenRAVE::UserDataPtr
Examples:
orpythonbinding.cpp.

Definition at line 236 of file openrave.h.

typedef boost::weak_ptr<UserData> OpenRAVE::UserDataWeakPtr

Definition at line 237 of file openrave.h.

typedef RaveVector<dReal> OpenRAVE::Vector
typedef boost::shared_ptr<ViewerBase const> OpenRAVE::ViewerBaseConstPtr

Definition at line 662 of file openrave.h.

typedef boost::shared_ptr<ViewerBase> OpenRAVE::ViewerBasePtr

Definition at line 661 of file openrave.h.

typedef boost::weak_ptr<ViewerBase> OpenRAVE::ViewerBaseWeakPtr

Definition at line 663 of file openrave.h.

Definition at line 536 of file plannerparameters.h.

Definition at line 535 of file plannerparameters.h.

typedef boost::shared_ptr<XMLReadable const> OpenRAVE::XMLReadableConstPtr

Definition at line 709 of file openrave.h.

typedef boost::shared_ptr<XMLReadable> OpenRAVE::XMLReadablePtr

Definition at line 708 of file openrave.h.

Enumeration Type Documentation

Enumerator:
Clone_Bodies 

clone all the bodies/robots of the environment, exclude attached interfaces like sensors/controllers

Clone_Viewer 

clone the viewer type, although figures won't be copied, new viewer does try to match views

Clone_Simulation 

clone the physics engine and simulation state (ie, timesteps, gravity)

Clone_RealControllers 

if specified, will clone the real controllers of all the robots, otherwise each robot gets ideal controller

Clone_Sensors 

if specified, will clone the sensors attached to the robot and added to the environment

Definition at line 682 of file openrave.h.

action to perform whenever a collision is detected between objects

Enumerator:
CA_DefaultAction 

let the physics/collision engine resolve the action

CA_Ignore 

do nothing

Definition at line 45 of file collisionchecker.h.

options for collision checker

Enumerator:
CO_Distance 

Compute distance measurements, this is usually slow and not all checkers support it.

CO_UseTolerance 

not used

CO_Contacts 

Return the contact points of the collision in the CollisionReport. Note that this takes longer to compute.

CO_RayAnyHit 

When performing collision with rays, if this is set, algorithm just returns any hit instead of the closest (can be faster)

CO_ActiveDOFs 

Allows planners to greatly reduce redundant collision checks. If set and the target object is a robot, then only the links controlled by the currently set active DOFs and their attached bodies will be checked for collisions.

The things that will not be checked for collision are:

  • links that do not remove with respect to each other as a result of moving the active dofs.

Definition at line 28 of file collisionchecker.h.

Enumerator:
Level_Fatal 
Level_Error 
Level_Warn 
Level_Info 
Level_Debug 
Level_Verbose 
Level_OutputMask 
Level_VerifyPlans 

if set, should verify every plan returned. the verification is left up to the planners or the modules calling the planners. See planningutils::ValidateTrajectory

Examples:
orpythonbinding.cpp.

Definition at line 332 of file openrave.h.

Selects which DOFs of the affine transformation to include in the active configuration.

Enumerator:
DOF_NoTransform 
DOF_X 

can move in the x direction

DOF_Y 

can move in the y direction

DOF_Z 

can move in the z direction

DOF_XYZ 

moves in xyz direction

DOF_RotationAxis 

can rotate around an axis (1 dof)

DOF_Rotation3D 

can rotate freely (3 dof), the parameterization is theta * v, where v is the rotation axis and theta is the angle about that axis

DOF_RotationQuat 

can rotate freely (4 dof), parameterization is a quaternion. In order for limits to work correctly, the quaternion is in the space of _vRotationQuatLimitStart. _vRotationQuatLimitStart is always left-multiplied before setting the transform!

DOF_RotationMask 

mask for all bits representing 3D rotations

DOF_Transform 

translate and rotate freely in 3D space

Definition at line 2310 of file openrave.h.

Controls what information gets validated when searching for an inverse kinematics solution.

Enumerator:
IKFO_CheckEnvCollisions 

will check environment collisions with the robot (not checked by default)

IKFO_IgnoreSelfCollisions 

will not check the self-collision of the robot (checked by default)

IKFO_IgnoreJointLimits 

will not check the joint limits of the robot (checked by default). This has the side effect of only returning solutions within 360 degrees for revolute joints, even if they have a range > 360.

IKFO_IgnoreCustomFilters 

will not use the custom filter, even if one is set

IKFO_IgnoreEndEffectorCollisions 

will not check collision with the environment and the end effector links and bodies attached to the end effector links. The end effector links are defined by RobotBase::Manipulator::GetChildLinks. Use this option when RobotBase::Manipulator::CheckEndEffectorCollision has already been called, or it is ok for the end effector to collide given the IK constraints. Self-collisions between the moving links and end effector are still checked.

Definition at line 28 of file iksolver.h.

The types of inverse kinematics parameterizations supported.

The minimum degree of freedoms required is set in the upper 4 bits of each type. The number of values used to represent the parameterization ( >= dof ) is the next 4 bits. The lower bits contain a unique id of the type.

Enumerator:
IKP_None 
IKP_Transform6D 

end effector reaches desired 6D transformation

IKP_Rotation3D 

end effector reaches desired 3D rotation

IKP_Translation3D 

end effector origin reaches desired 3D translation

IKP_Direction3D 

direction on end effector coordinate system reaches desired direction

IKP_Ray4D 

ray on end effector coordinate system reaches desired global ray

IKP_Lookat3D 

direction on end effector coordinate system points to desired 3D position

IKP_TranslationDirection5D 

end effector origin and direction reaches desired 3D translation and direction. Can be thought of as Ray IK where the origin of the ray must coincide.

IKP_TranslationXY2D 

2D translation along XY plane

IKP_TranslationXYOrientation3D 

2D translation along XY plane and 1D rotation around Z axis. The offset of the rotation is measured starting at +X, so at +X is it 0, at +Y it is pi/2.

IKP_TranslationLocalGlobal6D 

local point on end effector origin reaches desired 3D global point

IKP_TranslationXAxisAngle4D 

end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with x-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)

IKP_TranslationYAxisAngle4D 

end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with y-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)

IKP_TranslationZAxisAngle4D 

end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with z-axis like a cone, angle is from 0-pi. Axes are defined in the manipulator base link's coordinate system.

IKP_TranslationXAxisAngleZNorm4D 

end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the x-axis (defined in the manipulator base link's coordinate system)

IKP_TranslationYAxisAngleXNorm4D 

end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to x-axis and be rotated at a certain angle starting from the y-axis (defined in the manipulator base link's coordinate system)

IKP_TranslationZAxisAngleYNorm4D 

end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to y-axis and be rotated at a certain angle starting from the z-axis (defined in the manipulator base link's coordinate system)

IKP_NumberOfParameterizations 

number of parameterizations (does not count IKP_None)

IKP_VelocityDataBit 

bit is set if the data represents the time-derivate velocity of an IkParameterization

IKP_Transform6DVelocity 
IKP_Rotation3DVelocity 
IKP_Translation3DVelocity 
IKP_Direction3DVelocity 
IKP_Ray4DVelocity 
IKP_Lookat3DVelocity 
IKP_TranslationDirection5DVelocity 
IKP_TranslationXY2DVelocity 
IKP_TranslationXYOrientation3DVelocity 
IKP_TranslationLocalGlobal6DVelocity 
IKP_TranslationXAxisAngle4DVelocity 
IKP_TranslationYAxisAngle4DVelocity 
IKP_TranslationZAxisAngle4DVelocity 
IKP_TranslationXAxisAngleZNorm4DVelocity 
IKP_TranslationYAxisAngleXNorm4DVelocity 
IKP_TranslationZAxisAngleYNorm4DVelocity 
IKP_UniqueIdMask 

the mask for the unique ids

IKP_CustomDataBit 

bit is set if the ikparameterization contains custom data, this is only used when serializing the ik parameterizations

Definition at line 871 of file openrave.h.

Return value for the ik filter that can be optionally set on an ik solver.

Enumerator:
IKRA_Success 

the ik solution is good

IKRA_Reject 

reject the ik solution

IKRA_Quit 

the ik solution is rejected and the ik call itself should quit with failure

IKRA_QuitEndEffectorCollision 
IKRA_RejectKinematics 
IKRA_RejectSelfCollision 
IKRA_RejectEnvCollision 
IKRA_RejectJointLimits 
IKRA_RejectKinematicsPrecision 
IKRA_RejectCustomFilter 

Definition at line 38 of file iksolver.h.

Specifies the boundary conditions of intervals for sampling.

Enumerator:
IT_Open 

(a,b)

IT_OpenStart 

(a,b]

IT_OpenEnd 

[a,b)

IT_Closed 

[a,b]

Definition at line 28 of file spacesampler.h.

OpenRAVE error codes

Enumerator:
ORE_Failed 
ORE_InvalidArguments 

passed in input arguments are not valid

ORE_EnvironmentNotLocked 
ORE_CommandNotSupported 

string command could not be parsed or is not supported

ORE_Assert 
ORE_InvalidPlugin 

shared object is not a valid plugin

ORE_InvalidInterfaceHash 

interface hashes do not match between plugins

ORE_NotImplemented 

function is not implemented by the interface.

ORE_InconsistentConstraints 

returned solutions or trajectories do not follow the constraints of the planner/module. The constraints invalidated here are planning constraints, not programming constraints.

ORE_NotInitialized 

when object is used without it getting fully initialized

ORE_InvalidState 

the state of the object is not consistent with its parameters, or cannot be used. This is usually due to a programming error where a vector is not the correct length, etc.

ORE_Timeout 

process timed out

Definition at line 138 of file openrave.h.

basic options for physics engine

Enumerator:
PEO_SelfCollisions 

if set, physics engine will use contact forces from self-collisions

Definition at line 28 of file physicsengine.h.

action to send to the planner while it is planning. This is usually done by the user-specified planner callback function

Enumerator:
PA_None 

no action

PA_Interrupt 

interrupt the planner and return to user

PA_ReturnWithAnySolution 

return quickly with any path

Definition at line 37 of file planner.h.

the status of the PlanPath method. Used when PlanPath can be called multiple times to resume planning.

Enumerator:
PS_Failed 

planner failed

PS_HasSolution 

planner succeeded

PS_Interrupted 

planning was interrupted, but can be resumed by calling PlanPath again

PS_InterruptedWithSolution 

Definition at line 28 of file planner.h.

Enumerator:
SDT_Real 
SDT_Uint32 

Definition at line 35 of file spacesampler.h.

serialization options for interfaces

Enumerator:
SO_Kinematics 

kinematics information

SO_Dynamics 

dynamics information

SO_BodyState 

state of the body

SO_NamesAndFiles 

resource files and names

SO_RobotManipulators 

serialize robot manipulators

SO_RobotSensors 

serialize robot sensors

SO_Geometry 

geometry information (for collision detection)

Definition at line 28 of file interface.h.

Function Documentation

void OpenRAVE::_CallDiffStateFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::DiffStateFn, int > > &  vfunctions,
int  nDOF,
int  nMaxDOFForGroup,
std::vector< dReal > &  v0,
const std::vector< dReal > &  v1 
)

Definition at line 371 of file planner.cpp.

dReal OpenRAVE::_CallDistMetricFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::DistMetricFn, int > > &  vfunctions,
int  nDOF,
int  nMaxDOFForGroup,
const std::vector< dReal > &  v0,
const std::vector< dReal > &  v1 
)

Definition at line 409 of file planner.cpp.

void OpenRAVE::_CallGetStateFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::GetStateFn, int > > &  vfunctions,
int  nDOF,
int  nMaxDOFForGroup,
std::vector< dReal > &  v 
)

Definition at line 504 of file planner.cpp.

bool OpenRAVE::_CallNeighStateFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::NeighStateFn, int > > &  vfunctions,
int  nDOF,
int  nMaxDOFForGroup,
std::vector< dReal > &  v,
const std::vector< dReal > &  vdelta,
int  fromgoal 
)

Definition at line 521 of file planner.cpp.

bool OpenRAVE::_CallSampleFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::SampleFn, int > > &  vfunctions,
int  nDOF,
int  nMaxDOFForGroup,
std::vector< dReal > &  v 
)

Definition at line 433 of file planner.cpp.

bool OpenRAVE::_CallSampleNeighFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::SampleNeighFn, int > > &  vfunctions,
const std::vector< std::pair< PlannerBase::PlannerParameters::DistMetricFn, int > > &  vdistfunctions,
int  nDOF,
int  nMaxDOFForGroup,
std::vector< dReal > &  v,
const std::vector< dReal > &  vCurSample,
dReal  fRadius 
)

Definition at line 453 of file planner.cpp.

void OpenRAVE::_CallSetStateFns ( const std::vector< std::pair< PlannerBase::PlannerParameters::SetStateFn, int > > &  vfunctions,
int  nDOF,
int  nMaxDOFForGroup,
const std::vector< dReal > &  v 
)

Definition at line 486 of file planner.cpp.

dReal OpenRAVE::_EvalJointDOFDistanceMetric ( const PlannerBase::PlannerParameters::DiffStateFn &  difffn,
const std::vector< dReal > &  c0,
const std::vector< dReal > &  c1,
const std::vector< dReal > &  vweights2 
)

returns square root of joint distance * weights

Parameters
vweights2squared weights

Definition at line 398 of file planner.cpp.

bool OpenRAVE::addstates ( std::vector< dReal > &  q,
const std::vector< dReal > &  qdelta,
int  fromgoal 
)

Definition at line 56 of file planner.cpp.

std::string OpenRAVE::ChangeTextColor ( int  attribute,
int  fg,
int  bg 
)
inline

Change the text color (on either stdout or stderr) with an attr:fg:bg (thanks to Radu Rusu for the code)

Definition at line 274 of file openrave.h.

std::string OpenRAVE::ChangeTextColor ( int  attribute,
int  fg 
)
inline

Change the text color (on either stdout or stderr) with an attr:fg (thanks to Radu Rusu for the code)

Definition at line 282 of file openrave.h.

std::wstring OpenRAVE::ChangeTextColorW ( int  attribute,
int  fg 
)
inline

Definition at line 297 of file openrave.h.

static TransformMatrix OpenRAVE::ComputeInertia ( const Transform &  tMassFrame,
const Vector &  vinertiamoments 
)
static

_tMassFrame * PrincipalInertia * _tMassFrame.inverse()

from openravepy.ikfast import * quat = [Symbol('q0'),Symbol('q1'),Symbol('q2'),Symbol('q3')] IKFastSolver.matrixFromQuat(quat) Inertia = eye(3) Inertia[0,0] = Symbol('i0'); Inertia[1,1] = Symbol('i1'); Inertia[2,2] = Symbol('i2') MM = M * Inertia * M.transpose()

Definition at line 99 of file kinbodylink.cpp.

OPENRAVE_CORE_API EnvironmentBasePtr OpenRAVE::CreateEnvironment ( bool  bLoadAllPlugins = true)
OpenRAVEFunctionParserRealPtr OpenRAVE::CreateJointFunctionParser ( )

Definition at line 70 of file kinbodyjoint.cpp.

bool OpenRAVE::CustomIkSolverFilterDataCompare ( UserDataPtr  data0,
UserDataPtr  data1 
)

Definition at line 79 of file iksolver.cpp.

OpenRAVE::DefineRavePrintfW ( _FATALLEVEL  )

adds the function name and line number to an openrave exception

Enumeration of all the interfaces.

< describes PlannerBase interface

< describes RobotBase interface

< describes SensorSystemBase interface

< describes ControllerBase interface

< describes ModuleBase interface

< describes ModuleBase interface

< describes IkSolverBase interface

< describes IkSolverBase interface

< describes KinBody

< describes PhysicsEngineBase

< describes SensorBase

< describes CollisionCheckerBase

< describes TrajectoryBase

< describes ViewerBase

< describes SamplerBase

< number of interfaces, do not forget to update

Definition at line 521 of file openrave.h.

template<int D>
static void OpenRAVE::fparser_polyroots ( vector< dReal > &  rawroots,
const vector< dReal > &  rawcoeffs 
)
static

Definition at line 36 of file kinbodyjoint.cpp.

static void OpenRAVE::fparser_polyroots2 ( vector< dReal > &  rawroots,
const vector< dReal > &  rawcoeffs 
)
static

Definition at line 26 of file kinbodyjoint.cpp.

static void OpenRAVE::fparser_sasa ( std::vector< dReal > &  res,
const vector< dReal > &  coeffs 
)
static

take triangle 2 sides and an angle and compute the missing angle

Definition at line 55 of file kinbodyjoint.cpp.

static void OpenRAVE::fparser_sass ( std::vector< dReal > &  res,
const vector< dReal > &  coeffs 
)
static

take triangle 2 sides and an angle and compute the missing side

Definition at line 63 of file kinbodyjoint.cpp.

static void OpenRAVE::fparser_sssa ( std::vector< dReal > &  res,
const vector< dReal > &  coeffs 
)
static

Definition at line 46 of file kinbodyjoint.cpp.

const char* OpenRAVE::GetErrorCodeString ( OpenRAVEErrorCode  error)
inline

Definition at line 153 of file openrave.h.

boost::mutex& OpenRAVE::GetInterfaceMutex ( InterfaceBasePtr  pinterface)

Definition at line 1851 of file libopenrave.cpp.

template<typename T >
T OpenRAVE::NormalizeCircularAnglePrivate ( theta,
min,
max 
)
inline

Definition at line 1246 of file openrave.h.

IkParameterization OpenRAVE::operator* ( const Transform &  t,
const IkParameterization &  ikparam 
)
inline

Definition at line 2220 of file openrave.h.

std::ostream & OpenRAVE::operator<< ( std::ostream &  O,
const PlannerBase::PlannerParameters &  v 
)
<PlannerParameters> 

tags

Definition at line 328 of file planner.cpp.

OPENRAVE_API std::ostream& OpenRAVE::operator<< ( std::ostream &  O,
const ConfigurationSpecification &  spec 
)
OPENRAVE_API std::ostream& OpenRAVE::operator<< ( std::ostream &  O,
const KinBody::Link::TRIMESH &  trimesh 
)
std::ostream & OpenRAVE::operator<< ( std::ostream &  O,
const IkParameterization &  ikparam 
)

Definition at line 1122 of file libopenrave.cpp.

std::istream & OpenRAVE::operator>> ( std::istream &  I,
PlannerBase::PlannerParameters &  v 
)
<PlannerParameters> 

to be the first token. Parses stream until

</PlannerParameters> 

reached

Definition at line 23 of file planner.cpp.

OPENRAVE_API std::istream& OpenRAVE::operator>> ( std::istream &  I,
ConfigurationSpecification &  spec 
)
OPENRAVE_API std::istream& OpenRAVE::operator>> ( std::istream &  I,
KinBody::Link::TRIMESH &  trimesh 
)
std::istream & OpenRAVE::operator>> ( std::istream &  I,
IkParameterization &  ikparam 
)

Definition at line 1222 of file libopenrave.cpp.

BaseXMLReaderPtr OpenRAVE::RaveCallXMLReader ( InterfaceType  type,
const std::string &  xmltag,
InterfaceBasePtr  pinterface,
const AttributesList &  atts 
)

Returns the current registered reader for the interface type/xmlid.

Exceptions
openrave_exceptionWill throw with ORE_InvalidArguments if registered function could not be found.

Definition at line 1086 of file libopenrave.cpp.

template<typename T >
boost::shared_ptr<T> OpenRAVE::RaveClone ( boost::shared_ptr< T const >  preference,
int  cloningoptions 
)
inline

returned a fully cloned interface

Definition at line 2543 of file openrave.h.

CollisionCheckerBasePtr OpenRAVE::RaveCreateCollisionChecker ( EnvironmentBasePtr  penv,
const std::string &  name 
)
Examples:
orcollision.cpp.

Definition at line 1046 of file libopenrave.cpp.

ControllerBasePtr OpenRAVE::RaveCreateController ( EnvironmentBasePtr  penv,
const std::string &  name 
)
Examples:
ormulticontrol.cpp.

Definition at line 1011 of file libopenrave.cpp.

OPENRAVE_CORE_API EnvironmentBasePtr OpenRAVE::RaveCreateEnvironment ( )

Creates an OpenRAVE environment.

Parameters
bLoadAllPluginspassed into RaveInitialize
Examples:
ikfastloader.cpp, orcollision.cpp, orikfilter.cpp, and orloadviewer.cpp.
IkSolverBasePtr OpenRAVE::RaveCreateIkSolver ( EnvironmentBasePtr  penv,
const std::string &  name 
)

Definition at line 1031 of file libopenrave.cpp.

InterfaceBasePtr OpenRAVE::RaveCreateInterface ( EnvironmentBasePtr  penv,
InterfaceType  type,
const std::string &  interfacename 
)

Definition at line 991 of file libopenrave.cpp.

KinBodyPtr OpenRAVE::RaveCreateKinBody ( EnvironmentBasePtr  penv,
const std::string &  name = "" 
)
Examples:
orpr2turnlever.cpp.

Definition at line 1056 of file libopenrave.cpp.

ModuleBasePtr OpenRAVE::RaveCreateModule ( EnvironmentBasePtr  penv,
const std::string &  name 
)
PhysicsEngineBasePtr OpenRAVE::RaveCreatePhysicsEngine ( EnvironmentBasePtr  penv,
const std::string &  name 
)
Examples:
ormulticontrol.cpp.

Definition at line 1036 of file libopenrave.cpp.

PlannerBasePtr OpenRAVE::RaveCreatePlanner ( EnvironmentBasePtr  penv,
const std::string &  name 
)
ModuleBasePtr OpenRAVE::RaveCreateProblem ( EnvironmentBasePtr  penv,
const std::string &  name 
)

Definition at line 1021 of file libopenrave.cpp.

ModuleBasePtr OpenRAVE::RaveCreateProblemInstance ( EnvironmentBasePtr  penv,
const std::string &  name 
)

Definition at line 1026 of file libopenrave.cpp.

RobotBasePtr OpenRAVE::RaveCreateRobot ( EnvironmentBasePtr  penv,
const std::string &  name = "" 
)

Definition at line 996 of file libopenrave.cpp.

SensorBasePtr OpenRAVE::RaveCreateSensor ( EnvironmentBasePtr  penv,
const std::string &  name 
)

Definition at line 1041 of file libopenrave.cpp.

SensorSystemBasePtr OpenRAVE::RaveCreateSensorSystem ( EnvironmentBasePtr  penv,
const std::string &  name 
)

Definition at line 1006 of file libopenrave.cpp.

SpaceSamplerBasePtr OpenRAVE::RaveCreateSpaceSampler ( EnvironmentBasePtr  penv,
const std::string &  name 
)
Examples:
orconveyormovement.cpp, and orplanning_door.cpp.

Definition at line 1071 of file libopenrave.cpp.

TrajectoryBasePtr OpenRAVE::RaveCreateTrajectory ( EnvironmentBasePtr  penv,
const std::string &  name = "" 
)
TrajectoryBasePtr OpenRAVE::RaveCreateTrajectory ( EnvironmentBasePtr  penv,
int  dof 
)
Deprecated:
(11/10/01)

Definition at line 1066 of file libopenrave.cpp.

ViewerBasePtr OpenRAVE::RaveCreateViewer ( EnvironmentBasePtr  penv,
const std::string &  name 
)
Examples:
orloadviewer.cpp.

Definition at line 1051 of file libopenrave.cpp.

void OpenRAVE::RaveDestroy ( )

Destroys the entire OpenRAVE state and all loaded environments.

This functions should be always called before program shutdown in order to assure all resources are relased appropriately.

Examples:
ikfastloader.cpp, orcollision.cpp, and orikfilter.cpp.

Definition at line 946 of file libopenrave.cpp.

std::string OpenRAVE::RaveFindDatabaseFile ( const std::string &  filename,
bool  bRead = true 
)

Searches for a filename in the database and returns a full path/URL to it.

Parameters
filenamethe relative filename in the database
bReadif true will only return a file if it exists. If false, will return the filename of the first valid database directory.
Returns
a non-empty string if a file could be found.

Definition at line 921 of file libopenrave.cpp.

std::string OpenRAVE::RaveFindLocalFile ( const std::string &  filename,
const std::string &  curdir = "" 
)

Returns the absolute path of the filename on the local filesystem resolving relative paths from OpenRAVE paths.

The OpenRAVE paths consist of a list of directories specified by $OPENRAVE_DATA environment variable and custom added user paths. Requires boost::filesystem to be installed

Parameters
filenamethe filename to look for
curdirthe current directory in case the filename is relative
Returns
an empty string if file isn't found, otherwise path to full filename on local filesystem

Definition at line 1091 of file libopenrave.cpp.

OPENRAVE_API ConfigurationSpecification OpenRAVE::RaveGetAffineConfigurationSpecification ( int  affinedofs,
KinBodyConstPtr  pbody = KinBodyConstPtr(),
const std::string &  interpolation = "" 
)
int OpenRAVE::RaveGetAffineDOF ( int  affinedofs)

Returns the degrees of freedom needed to represent all the values in the affine dof mask.

Exceptions
openrave_exceptionthrows if

Definition at line 1410 of file libopenrave.cpp.

DOFAffine OpenRAVE::RaveGetAffineDOFFromIndex ( int  affinedofs,
int  index 
)

Given a mask of affine dofs and an index into the array, returns the affine dof that is being referenced.

Parameters
affinedofsa mask of DOFAffine values
indexan index into the affine dof array
Exceptions
openrave_exceptionthrows if dof if index is out of bounds

Definition at line 1376 of file libopenrave.cpp.

void OpenRAVE::RaveGetAffineDOFValuesFromTransform ( std::vector< dReal >::iterator  itvalues,
const Transform &  t,
int  affinedofs,
const Vector &  vActvAffineRotationAxis = Vector(0,0,1) 
)

Converts the transformation matrix into the specified affine values format.

Parameters
[out]itvaluesan iterator to the vector to write the values to. Will write exactly RaveGetAffineDOF(affinedofs) values.
[in]theaffine transformation to convert
[in]affinedofsthe affine format to output values in
[in]vActvAffineRotationAxisoptional rotation axis if affinedofs specified DOF_RotationAxis

Definition at line 1443 of file libopenrave.cpp.

int OpenRAVE::RaveGetDataAccess ( )

Returns the acess options set.

See Also
RaveSetDataAccess

Definition at line 1106 of file libopenrave.cpp.

int OpenRAVE::RaveGetDebugLevel ( )

Returns the openrave debug level.

Definition at line 885 of file libopenrave.cpp.

EnvironmentBasePtr OpenRAVE::RaveGetEnvironment ( int  id)

get the environment from its unique id

Parameters
idthe unique environment id returned by RaveGetEnvironmentId
Examples:
orpythonbinding.cpp.

Definition at line 956 of file libopenrave.cpp.

int OpenRAVE::RaveGetEnvironmentId ( EnvironmentBasePtr  penv)

return the environment's unique id, returns 0 if environment could not be found or not registered

Examples:
orpythonbinding.cpp.

Definition at line 951 of file libopenrave.cpp.

void OpenRAVE::RaveGetEnvironments ( std::list< EnvironmentBasePtr > &  listenvironments)

Return all the created OpenRAVE environments.

Definition at line 961 of file libopenrave.cpp.

std::string OpenRAVE::RaveGetHomeDirectory ( )

Returns the openrave home directory where settings, cache, and other files are stored.

On Linux/Unix systems, this is usually $HOME/.openrave, on Windows this is $HOMEPATH/.openrave

Definition at line 916 of file libopenrave.cpp.

const std::map< IkParameterizationType, std::string > & OpenRAVE::RaveGetIkParameterizationMap ( int  alllowercase = 0)

returns a string of the ik parameterization type names

Parameters
[in]alllowercaseIf 1, sets all characters to lower case. Otherwise can include upper case in order to match IkParameterizationType definition.

Definition at line 895 of file libopenrave.cpp.

IkParameterizationType OpenRAVE::RaveGetIkTypeFromUniqueId ( int  uniqueid)

returns the IkParameterizationType given the unique id detmerined b IKP_UniqueIdMask

Definition at line 900 of file libopenrave.cpp.

int OpenRAVE::RaveGetIndexFromAffineDOF ( int  affinedofs,
DOFAffine  dof 
)

Given a mask of affine dofs and a dof inside that mask, returns the index where the value could be found.

Parameters
affinedofsa mask of DOFAffine values
dofa set of values inside affinedofs, the index of the first value is returned
Exceptions
openrave_exceptionthrows if dof is not present in affinedofs

Definition at line 1341 of file libopenrave.cpp.

const char* OpenRAVE::RaveGetInterfaceHash ( InterfaceType  type)
inline

Returns the a 16 character null-terminated string specifying a hash of the interfaces used for checking changes.

Definition at line 2396 of file openrave.h.

const std::string & OpenRAVE::RaveGetInterfaceName ( InterfaceType  type)
Examples:
orcollision.cpp.

Definition at line 911 of file libopenrave.cpp.

const std::map< InterfaceType, std::string > & OpenRAVE::RaveGetInterfaceNamesMap ( )

returns a lower case string of the interface type

Definition at line 890 of file libopenrave.cpp.

void OpenRAVE::RaveGetLoadedInterfaces ( std::map< InterfaceType, std::vector< std::string > > &  interfacenames)

Get a list of all the loaded interfaces.

Examples:
orcollision.cpp.

Definition at line 971 of file libopenrave.cpp.

void OpenRAVE::RaveGetPluginInfo ( std::list< std::pair< std::string, PLUGININFO > > &  plugins)

Get all the loaded plugins and the interfaces they support.

Parameters
pluginsA list of plugins. Each entry has the plugin name and the interfaces it supports

Definition at line 966 of file libopenrave.cpp.

const char* OpenRAVE::RaveGetSourceFilename ( const char *  pfilename)
inline

extracts only the filename

Definition at line 357 of file openrave.h.

void OpenRAVE::RaveGetTransformFromAffineDOFValues ( Transform &  t,
std::vector< dReal >::const_iterator  itvalues,
int  affinedofs,
const Vector &  vActvAffineRotationAxis = Vector(0,0,1),
bool  normalize = true 
)

Converts affine dof values into a transform.

Note that depending on what the dof values holds, only a part of the transform will be updated.

Parameters
[out]tthe output transform
[in]itvaluesthe start iterator of the affine dof values
[in]affinedofsthe affine dof mask
[in]vActvAffineRotationAxisoptional rotation axis if affinedofs specified DOF_RotationAxis
[in]iftrue will normalize rotations, should set to false if extracting velocity data

Definition at line 1480 of file libopenrave.cpp.

UserDataPtr OpenRAVE::RaveGlobalState ( )

A pointer to the global openrave state.

Returns
a managed pointer to the state.
Examples:
orpythonbinding.cpp.

Definition at line 936 of file libopenrave.cpp.

bool OpenRAVE::RaveHasInterface ( InterfaceType  type,
const std::string &  interfacename 
)

Returns true if interface can be created, otherwise false.

Definition at line 986 of file libopenrave.cpp.

int OpenRAVE::RaveInitialize ( bool  bLoadAllPlugins = true,
int  level = Level_Info 
)

Explicitly initializes the global OpenRAVE state (optional).

Optional function to initialize openrave plugins, logging, and read OPENRAVE_* environment variables. Although environment creation will automatically make sure this function is called, users might want explicit control of when this happens. Will not do anything if OpenRAVE runtime is already initialized. If OPENRAVE_* environment variables must be re-read, first call RaveDestroy.

Parameters
bLoadAllPluginsIf true will load all the openrave plugins automatically that can be found in the OPENRAVE_PLUGINS environment path
Returns
0 if successful, otherwise an error code
Examples:
ikfastloader.cpp, orcollision.cpp, orikfilter.cpp, and orloadviewer.cpp.

Definition at line 926 of file libopenrave.cpp.

void OpenRAVE::RaveInitializeFromState ( UserDataPtr  globalstate)

Initializes the global state from an already loaded OpenRAVE environment.

Because of shared object boundaries, it is necessary to pass the global state pointer around. If using plugin.h, this function is automatically called by CreateInterfaceValidated. It is also called by and every InterfaceBase constructor.

Parameters
[in]globalstate
Examples:
orpythonbinding.cpp.

Definition at line 931 of file libopenrave.cpp.

void OpenRAVE::RaveInitRandomGeneration ( uint32_t  seed)
Deprecated:
(11/06/03), use SpaceSamplerBase

Definition at line 1669 of file libopenrave.cpp.

template<typename T >
boost::shared_ptr<T> OpenRAVE::RaveInterfaceCast ( InterfaceBasePtr  pinterface)
inline

Safely casts from the base interface class to an openrave interface using static_pointer_cast.

The reason why dynamic_pointer_cast cannot be used is because interfaces might be created by different plugins, and the runtime type information will be different.

Definition at line 2422 of file openrave.h.

template<typename T >
boost::shared_ptr<T const> OpenRAVE::RaveInterfaceConstCast ( InterfaceBaseConstPtr  pinterface)
inline

Safely casts from the base interface class to an openrave interface using static_pointer_cast.

The reason why dynamic_pointer_cast cannot be used is because interfaces might be created by different plugins, and the runtime type information will be different.

Definition at line 2440 of file openrave.h.

bool OpenRAVE::RaveInvertFileLookup ( std::string &  newfilename,
const std::string &  filename 
)

Definition at line 1096 of file libopenrave.cpp.

bool OpenRAVE::RaveLoadPlugin ( const std::string &  libraryname)

Load a plugin and its interfaces.

If the plugin is already loaded, will reload it.

Parameters
namethe filename of the plugin to load

Definition at line 981 of file libopenrave.cpp.

bool OpenRAVE::RaveParseDirectories ( const char *  pdirs,
std::vector< std::string > &  vdirs 
)
inline
Deprecated:
(12/02/06) see OpenRAVE::utils::TokenizeString

Definition at line 2625 of file openrave.h.

int OpenRAVE::RavePrintfA ( const std::string &  s,
uint32_t  level 
)
inline

Definition at line 489 of file openrave.h.

int OpenRAVE::RavePrintfA_INFOLEVEL ( const std::string &  s)
inline

Definition at line 445 of file openrave.h.

int OpenRAVE::RavePrintfA_INFOLEVEL ( const char *  fmt,
  ... 
)
inline

Definition at line 456 of file openrave.h.

std::wstring OpenRAVE::RavePrintTransformString ( const wchar_t *  fmt)
inline

Definition at line 304 of file openrave.h.

double OpenRAVE::RaveRandomDouble ( IntervalType  interval = IT_Closed)
Deprecated:
(11/06/03), use SpaceSamplerBase

Definition at line 1688 of file libopenrave.cpp.

float OpenRAVE::RaveRandomFloat ( IntervalType  interval = IT_Closed)
uint32_t OpenRAVE::RaveRandomInt ( )
Deprecated:
(11/06/03), use SpaceSamplerBase
Examples:
ormulticontrol.cpp, and ortrajectory.cpp.

Definition at line 1674 of file libopenrave.cpp.

UserDataPtr OpenRAVE::RaveRegisterInterface ( InterfaceType  type,
const std::string &  name,
const char *  interfacehash,
const char *  envhash,
const boost::function< InterfaceBasePtr(EnvironmentBasePtr, std::istream &)> &  createfn 
)

Registers a function to create an interface, this allows the interface to be created by other modules.

Parameters
typeinterface type
nameinterface name
interfacehashthe hash of the interface being created (use the global defines OPENRAVE_X_HASH)
envhashthe hash of the environment (use the global define OPENRAVE_ENVIRONMENT_HASH)
createfnfunctions to create the interface it takes two parameters: the environment and an istream to the rest of the interface creation arguments.
Returns
a handle if function is successfully registered. By destroying the handle, the interface will be automatically unregistered.
Exceptions
openrave_exceptionWill throw with ORE_InvalidInterfaceHash if hashes do not match
Examples:
orconveyormovement.cpp, and orpythonbinding.cpp.

Definition at line 1076 of file libopenrave.cpp.

UserDataPtr OpenRAVE::RaveRegisterXMLReader ( InterfaceType  type,
const std::string &  xmltag,
const CreateXMLReaderFn &  fn 
)

Registers a custom xml reader for a particular interface.

Once registered, anytime an interface is created through XML and the xmltag is seen, the function CreateXMLReaderFn will be called to get a reader for that tag

Parameters
xmltagthe tag specified in xmltag is seen in the interface, the the custom reader will be created.
fnCreateXMLReaderFn(pinterface,atts) - passed in the pointer to the interface where the tag was seen along with the list of attributes
Returns
a pointer holding the registration, releasing the pointer will unregister the XML reader
Examples:
customreader.cpp.

Definition at line 1081 of file libopenrave.cpp.

void OpenRAVE::RaveReloadPlugins ( )

Reloads all the plugins.

The interfaces currently created remain will continue using the old plugins, so this function is safe in that plugins currently loaded remain loaded until the last interface that uses them is released.

Definition at line 976 of file libopenrave.cpp.

void OpenRAVE::RaveSetDataAccess ( int  accessoptions)

Sets the default data access options for cad resources/robot files.

Controls how files are processed in functions like RaveFindLocalFile

Parameters
accessoptions- if 1 will only allow resources inside directories specified from OPERNAVE_DATA environment variable. This allows reject of full paths from unsecure/unauthenticated resources.

Definition at line 1101 of file libopenrave.cpp.

void OpenRAVE::RaveSetDebugLevel ( int  level)

Sets the global openrave debug level. A combination of DebugLevel.

Examples:
orloadviewer.cpp, orplanning_door.cpp, orplanning_multirobot.cpp, orplanning_planner.cpp, orpr2turnlever.cpp, and orpythonbinding.cpp.

Definition at line 880 of file libopenrave.cpp.

std::string OpenRAVE::ResetTextColor ( )
inline

Reset the text color (on either stdout or stderr) to its original state (thanks to Radu Rusu for the code)

Definition at line 290 of file openrave.h.

void OpenRAVE::subtractstates ( std::vector< dReal > &  q1,
const std::vector< dReal > &  q2 
)

Definition at line 48 of file planner.cpp.

Variable Documentation

boost::once_flag OpenRAVE::_onceRaveInitialize = BOOST_ONCE_INIT
static

Definition at line 300 of file libopenrave.cpp.

const dReal OpenRAVE::PI = dReal(3.14159265358979323846)
static

openrave constant for PI, could be replaced by accurate precision number depending on choice of dReal.

Examples:
orconveyormovement.cpp, and orpr2turnlever.cpp.

Definition at line 102 of file openrave.h.

const char OpenRAVE::s_filesep = '/'

Definition at line 51 of file libopenrave.cpp.