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Public Member Functions | Protected Attributes | List of all members
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:
Collaboration graph

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 > > 
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)


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 ( )

Definition at line 68 of file kinbody.cpp.

Member Function Documentation

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

Definition at line 1199 of file kinbody.h.

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

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>())

restore the state

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

saved options

Definition at line 1214 of file kinbody.h.

KinBodyPtr OpenRAVE::KinBody::KinBodyStateSaver::_pbody

Definition at line 1220 of file kinbody.h.

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

Definition at line 1218 of file kinbody.h.

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

Definition at line 1216 of file kinbody.h.

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

Definition at line 1215 of file kinbody.h.

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

Definition at line 1217 of file kinbody.h.

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

Definition at line 1219 of file kinbody.h.

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

Definition at line 1219 of file kinbody.h.

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