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OpenRAVE::ConfigurationSpecification::Group Class Reference

A group referencing the values of one body in the environment. More...

#include <openrave.h>

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Public Member Functions

 Group ()
 
bool operator== (const Group &r) const
 
bool operator!= (const Group &r) const
 

Public Attributes

int offset
 For each data point, the number of values to offset before data for this group starts.
 
int dof
 The number of values in this group.
 
std::string name
 semantic information on what part of the environment the group refers to.
 
std::string interpolation
 Describes how the data should be interpolated. Common methods are:
 

Detailed Description

A group referencing the values of one body in the environment.

Definition at line 945 of file openrave.h.

Constructor & Destructor Documentation

OpenRAVE::ConfigurationSpecification::Group::Group ( )
inline

Definition at line 948 of file openrave.h.

Member Function Documentation

bool OpenRAVE::ConfigurationSpecification::Group::operator!= ( const Group r) const
inline

Definition at line 954 of file openrave.h.

bool OpenRAVE::ConfigurationSpecification::Group::operator== ( const Group r) const
inline

Definition at line 951 of file openrave.h.

Member Data Documentation

int OpenRAVE::ConfigurationSpecification::Group::dof

The number of values in this group.

Definition at line 961 of file openrave.h.

std::string OpenRAVE::ConfigurationSpecification::Group::interpolation

Describes how the data should be interpolated. Common methods are:

  • previous - the previous waypoint's value is always chosen
  • next - the next waypoint's value is always chosen
  • linear - linear interpolation (default)
  • quadratic - position is piecewise-quadratic, velocity is piecewise-linear, acceleration is one of -amax, 0, or amax
  • cubic - 3 degree polynomial
  • quadric - 4 degree polynomial
  • quintic - 5 degree polynomial

Definition at line 989 of file openrave.h.

std::string OpenRAVE::ConfigurationSpecification::Group::name

semantic information on what part of the environment the group refers to.

Can be composed of multiple workds; the first word is the group type, and the words following narrow the specifics. Common types are:

  • joint_values - The joint values of a kinbody/robot. The joint names with the name of the body can follow.
  • joint_velocities - The joint velocities (1/second) of a kinbody/robot. The name of the body with the joint names can follow.
  • joint_accelerations - The joint accelerations (1/second^2) of a kinbody/robot. The name of the body with the joint names can follow.
  • joint_torques - The joint torques (Newton meter) of a kinbody/robot. The name of the body with the joint names can follow.
  • affine_transform - An affine transformation [quaternion, translation]. The name of the body with selected affine dofs (see DOFAffine) can follow.
  • affine_velocities - The velocity (1/second) of the affine transformation [rotation axis, translation velocity], the name of the body can follow.
  • affine_accelerations - The velocity (1/second^2) of the affine transformation [rotation axis, translation velocity], the name of the body can follow.
  • ikparam_values - The values of an IkParmeterization. The ikparam type is stored as the second value in name
  • ikparam_velocities - velocity of an IkParmeterization. The ikparam type is stored as the second value in name
  • iswaypoint - non-zero if the point represents a major knot point of the trajectory
  • grabbody - Grabs the body. The configuration values are 1 for grab and 0 for release. The group name format is: bodyname robotname robotlinkindex [relative_grab_pose]. relative_grab_pose is a 7 value (quaterion + translation) pose of the relative location of the body with respect to the grabbed link. Only 1 DOF is accepted.

Definition at line 978 of file openrave.h.

int OpenRAVE::ConfigurationSpecification::Group::offset

For each data point, the number of values to offset before data for this group starts.

Definition at line 959 of file openrave.h.


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