OpenRAVE::KinBody::KinBodyStateSaver Class Reference

Helper class to save and restore the entire kinbody state. More...

#include <kinbody.h>

Collaboration diagram for OpenRAVE::KinBody::KinBodyStateSaver:

Public Member Functions
	KinBodyStateSaver (KinBodyPtr pbody, int options=Save_LinkTransformation|Save_LinkEnable)
virtual	~KinBodyStateSaver ()
KinBodyPtr	GetBody () const
virtual void	Restore (boost::shared_ptr< KinBody > body=boost::shared_ptr< KinBody >())
	restore the state
virtual void	Release ()
	release the body state. _pbody will not get restored on destruction

Protected Attributes
int	_options
	saved options
std::vector< Transform >	_vLinkTransforms
std::vector< uint8_t >	_vEnabledLinks
std::vector< std::pair< Vector, Vector > >	_vLinkVelocities
std::vector< int >	_vdofbranches
std::vector< dReal >	_vMaxVelocities
std::vector< dReal >	_vMaxAccelerations
KinBodyPtr	_pbody

Detailed Description

Helper class to save and restore the entire kinbody state.

Options can be passed to the constructor in order to choose which parameters to save (see SaveParameters)

Examples:

orplanning_door.cpp.

Definition at line 1194 of file kinbody.h.

Constructor & Destructor Documentation

OpenRAVE::KinBody::KinBodyStateSaver::KinBodyStateSaver	(	KinBodyPtr	pbody,
		int	options = Save_LinkTransformation|Save_LinkEnable
	)

Definition at line 48 of file kinbody.cpp.

OpenRAVE::KinBody::KinBodyStateSaver::~KinBodyStateSaver ( )

virtual

Definition at line 68 of file kinbody.cpp.

Member Function Documentation

KinBodyPtr OpenRAVE::KinBody::KinBodyStateSaver::GetBody ( ) const

inline

Definition at line 1199 of file kinbody.h.

void OpenRAVE::KinBody::KinBodyStateSaver::Release ( )

virtual

release the body state. _pbody will not get restored on destruction

After this call, it will still be possible to use Restore.

Definition at line 78 of file kinbody.cpp.

void OpenRAVE::KinBody::KinBodyStateSaver::Restore ( boost::shared_ptr< KinBody >  body = boost::shared_ptr<KinBody>() )

virtual

restore the state

Parameters

body	if set, will attempt to restore the stored state to the passed in body, otherwise will restore it for the original body.

Exceptions

openrave_exception

if the passed in body is not compatible with the saved state, will throw

Definition at line 73 of file kinbody.cpp.

Member Data Documentation

int OpenRAVE::KinBody::KinBodyStateSaver::_options

protected

saved options

Definition at line 1214 of file kinbody.h.

KinBodyPtr OpenRAVE::KinBody::KinBodyStateSaver::_pbody

protected

Definition at line 1220 of file kinbody.h.

std::vector<int> OpenRAVE::KinBody::KinBodyStateSaver::_vdofbranches

protected

Definition at line 1218 of file kinbody.h.

std::vector<uint8_t> OpenRAVE::KinBody::KinBodyStateSaver::_vEnabledLinks

protected

Definition at line 1216 of file kinbody.h.

std::vector<Transform> OpenRAVE::KinBody::KinBodyStateSaver::_vLinkTransforms

protected

Definition at line 1215 of file kinbody.h.

std::vector<std::pair<Vector,Vector> > OpenRAVE::KinBody::KinBodyStateSaver::_vLinkVelocities

protected

Definition at line 1217 of file kinbody.h.

std::vector<dReal> OpenRAVE::KinBody::KinBodyStateSaver::_vMaxAccelerations

protected

Definition at line 1219 of file kinbody.h.

std::vector<dReal> OpenRAVE::KinBody::KinBodyStateSaver::_vMaxVelocities

protected

Definition at line 1219 of file kinbody.h.

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

• /var/lib/jenkins/workspace/openrave_documentation/openrave/include/openrave/kinbody.h (2013-03-18 10:33:00 +0900, commit:334d202)
• /var/lib/jenkins/workspace/openrave_documentation/openrave/src/libopenrave/kinbody.cpp (2013-03-18 10:33:00 +0900, commit:334d202)