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OpenRAVE::RobotBase Class Reference

[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...

#include <robot.h>

Inheritance diagram for OpenRAVE::RobotBase:
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Classes

class  AttachedSensor
 Attaches a sensor to a link on the robot. More...
 
class  AttachedSensorInfo
 holds all user-set attached sensor information used to initialize the AttachedSensor class. More...
 
class  GrabbedInfo
 holds all user-set attached sensor information used to initialize the AttachedSensor class. More...
 
class  Manipulator
 Defines a chain of joints for an arm and set of joints for a gripper. Simplifies operating with them. More...
 
class  ManipulatorInfo
 holds all user-set manipulator information used to initialize the Manipulator class. More...
 
class  RobotStateSaver
 Helper class derived from KinBodyStateSaver to additionaly save robot information. More...
 

Public Types

typedef boost::shared_ptr
< ManipulatorInfo
ManipulatorInfoPtr
 
typedef boost::shared_ptr
< ManipulatorInfo const > 
ManipulatorInfoConstPtr
 
typedef boost::shared_ptr
< RobotBase::Manipulator
ManipulatorPtr
 
typedef boost::shared_ptr
< RobotBase::Manipulator const > 
ManipulatorConstPtr
 
typedef boost::weak_ptr
< RobotBase::Manipulator
ManipulatorWeakPtr
 
typedef boost::shared_ptr
< AttachedSensorInfo
AttachedSensorInfoPtr
 
typedef boost::shared_ptr
< AttachedSensorInfo const > 
AttachedSensorInfoConstPtr
 
typedef boost::shared_ptr
< RobotBase::AttachedSensor
AttachedSensorPtr
 
typedef boost::shared_ptr
< RobotBase::AttachedSensor
const > 
AttachedSensorConstPtr
 
typedef boost::shared_ptr
< GrabbedInfo
GrabbedInfoPtr
 
typedef boost::shared_ptr
< GrabbedInfo const > 
GrabbedInfoConstPtr
 
typedef boost::shared_ptr
< RobotStateSaver
RobotStateSaverPtr
 
- Public Types inherited from OpenRAVE::KinBody
enum  KinBodyProperty {
  Prop_JointMimic =0x1, Prop_JointLimits =0x2, Prop_JointOffset =0x4, Prop_JointProperties =0x8,
  Prop_JointAccelerationVelocityTorqueLimits =0x10, Prop_Joints =Prop_JointMimic|Prop_JointLimits|Prop_JointOffset|Prop_JointProperties|Prop_JointAccelerationVelocityTorqueLimits, Prop_Name =0x20, Prop_LinkDraw =0x40,
  Prop_LinkGeometry =0x80, Prop_LinkStatic =0x400, Prop_LinkEnable =0x800, Prop_LinkDynamics =0x1000,
  Prop_Links =Prop_LinkDraw|Prop_LinkGeometry|Prop_LinkStatic|Prop_LinkEnable|Prop_LinkDynamics, Prop_JointCustomParameters = 0x2000, Prop_LinkCustomParameters = 0x4000, Prop_RobotSensors = 0x00020000,
  Prop_Sensors = 0x00020000, Prop_RobotSensorPlacement = 0x00040000, Prop_SensorPlacement = 0x00040000, Prop_RobotActiveDOFs = 0x00080000,
  Prop_RobotManipulatorTool = 0x00100000, Prop_RobotManipulatorName = 0x00200000, Prop_RobotManipulatorSolver = 0x00400000, Prop_RobotManipulators = Prop_RobotManipulatorTool | Prop_RobotManipulatorName | Prop_RobotManipulatorSolver
}
 A set of properties for the kinbody. These properties are used to describe a set of variables used in KinBody. More...
 
enum  CheckLimitsAction { CLA_Nothing = 0, CLA_CheckLimits = 1, CLA_CheckLimitsSilent = 2, CLA_CheckLimitsThrow = 3 }
 used for specifying the type of limit checking and the messages associated with it More...
 
enum  JointType {
  JointNone = 0, JointHinge = 0x01, JointRevolute = 0x01, JointSlider = 0x11,
  JointPrismatic = 0x11, JointRR = 0x02, JointRP = 0x12, JointPR = 0x22,
  JointPP = 0x32, JointSpecialBit = 0x80000000, JointUniversal = 0x80000001, JointHinge2 = 0x80000002,
  JointSpherical = 0x80000003, JointTrajectory = 0x80000004
}
 The type of joint movement. More...
 
enum  SaveParameters {
  Save_LinkTransformation =0x00000001, Save_LinkEnable =0x00000002, Save_LinkVelocities =0x00000004, Save_JointMaxVelocityAndAcceleration =0x00000008,
  Save_ActiveDOF =0x00010000, Save_ActiveManipulator =0x00020000, Save_GrabbedBodies =0x00040000
}
 Parameters passed into the state savers to control what information gets saved. More...
 
enum  AdjacentOptions { AO_Enabled = 1, AO_ActiveDOFs = 2 }
 specifies the type of adjacent link information to receive More...
 
typedef boost::shared_ptr
< GeometryInfo
GeometryInfoPtr
 
typedef boost::shared_ptr
< GeometryInfo const > 
GeometryInfoConstPtr
 
typedef boost::shared_ptr
< LinkInfo
LinkInfoPtr
 
typedef boost::shared_ptr
< LinkInfo const > 
LinkInfoConstPtr
 
typedef boost::shared_ptr
< KinBody::Link
LinkPtr
 
typedef boost::shared_ptr
< KinBody::Link const > 
LinkConstPtr
 
typedef boost::weak_ptr
< KinBody::Link
LinkWeakPtr
 
typedef boost::shared_ptr
< MimicInfo
MimicInfoPtr
 
typedef boost::shared_ptr
< MimicInfo const > 
MimicInfoConstPtr
 
typedef boost::shared_ptr< MimicMimicPtr
 
typedef boost::shared_ptr
< Mimic const > 
MimicConstPtr
 
typedef boost::shared_ptr
< JointInfo
JointInfoPtr
 
typedef boost::shared_ptr
< JointInfo const > 
JointInfoConstPtr
 
typedef boost::shared_ptr
< KinBody::Joint
JointPtr
 
typedef boost::shared_ptr
< KinBody::Joint const > 
JointConstPtr
 
typedef boost::weak_ptr
< KinBody::Joint
JointWeakPtr
 
typedef boost::shared_ptr
< KinBody::BodyState
BodyStatePtr
 
typedef boost::shared_ptr
< KinBody::BodyState const > 
BodyStateConstPtr
 
typedef boost::shared_ptr
< KinBody::ManageData
ManageDataPtr
 
typedef boost::shared_ptr
< KinBody::ManageData const > 
ManageDataConstPtr
 
typedef boost::shared_ptr
< KinBodyStateSaver
KinBodyStateSaverPtr
 
typedef std::map< int,
std::pair< Vector, Vector > > 
ForceTorqueMap
 link index and the linear forces and torques. Value.first is linear force acting on the link's COM and Value.second is torque
 
- Public Types inherited from OpenRAVE::InterfaceBase
typedef std::map< std::string,
XMLReadablePtr,
CaseInsensitiveCompare
READERSMAP
 

Public Member Functions

virtual ~RobotBase ()
 
virtual void Destroy ()
 
virtual bool Init (const std::vector< LinkInfoConstPtr > &linkinfos, const std::vector< JointInfoConstPtr > &jointinfos, const std::vector< ManipulatorInfoConstPtr > &manipinfos, const std::vector< AttachedSensorInfoConstPtr > &attachedsensorinfos)
 initializes a robot with links, joints, manipulators, and sensors
 
virtual std::vector
< ManipulatorPtr > & 
GetManipulators ()
 Returns the manipulators of the robot.
 
virtual std::vector
< AttachedSensorPtr > & 
GetAttachedSensors ()
 
virtual void SetName (const std::string &name)
 Set the name of the body, notifies the environment and checks for uniqueness.
 
virtual void SetDOFValues (const std::vector< dReal > &vJointValues, uint32_t checklimits=1, const std::vector< int > &dofindices=std::vector< int >())
 Sets the joint values of the robot.
 
virtual void SetDOFValues (const std::vector< dReal > &vJointValues, const Transform &transbase, uint32_t checklimits=1)
 Sets the joint values and transformation of the body.
 
virtual void SetLinkTransformations (const std::vector< Transform > &transforms)
 sets the transformations of all the links at once
 
virtual void SetLinkTransformations (const std::vector< Transform > &transforms, const std::vector< int > &dofbranches)
 sets the transformations of all the links and dof branches at once.
 
virtual bool SetVelocity (const Vector &linearvel, const Vector &angularvel)
 Set the velocity of the base link, rest of links are set to a consistent velocity so entire robot moves correctly.
 
virtual void SetDOFVelocities (const std::vector< dReal > &dofvelocities, const Vector &linearvel, const Vector &angularvel, uint32_t checklimits=1)
 Sets the velocity of the base link and each of the joints.
 
virtual void SetDOFVelocities (const std::vector< dReal > &dofvelocities, uint32_t checklimits=1, const std::vector< int > &dofindices=std::vector< int >())
 Sets the velocity of the joints.
 
virtual void SetTransform (const Transform &trans)
 
virtual void SimulationStep (dReal fElapsedTime)
 Simulate the robot and update the grabbed bodies and attached sensors.
 
virtual bool CheckSelfCollision (CollisionReportPtr report=CollisionReportPtr()) const
 Check if body is self colliding. Links that are joined together are ignored.
 
virtual bool CheckLinkCollision (int ilinkindex, const Transform &tlinktrans, CollisionReportPtr report=CollisionReportPtr())
 checks collision of a robot link with the surrounding environment. Attached/Grabbed bodies to this link are also checked for collision.
 
virtual bool CheckLinkSelfCollision (int ilinkindex, const Transform &tlinktrans, CollisionReportPtr report=CollisionReportPtr())
 checks self-collision of a robot link with the other robot links. Attached/Grabbed bodies to this link are also checked for self-collision.
 
virtual void Clone (InterfaceBaseConstPtr preference, int cloningoptions)
 does not clone the grabbed bodies since it requires pointers from other bodies (that might not be initialized yet)
 
virtual bool IsRobot () const
 
virtual void serialize (std::ostream &o, int options) const
 only used for hashes...
 
virtual const std::string & GetRobotStructureHash () const
 
virtual ControllerBasePtr GetController () const
 gets the robot controller
 
virtual bool SetController (ControllerBasePtr controller, const std::vector< int > &dofindices, int nControlTransformation)
 set a controller for a robot
 
void GetFullTrajectoryFromActive (TrajectoryBasePtr pfulltraj, TrajectoryBaseConstPtr pActiveTraj, bool bOverwriteTransforms=true) RAVE_DEPRECATED
 
Grabbing Bodies

A grabbed body becomes part of the robot and its relative pose with respect to a robot's link will be fixed. KinBody::_AttachBody is called for every grabbed body in order to make the grabbed body a part of the robot. Once grabbed, the inter-collisions between the robot and the body are regarded as self-collisions; any outside collisions of the body and the environment are regarded as environment collisions with the robot.

virtual bool Grab (KinBodyPtr body, LinkPtr pRobotLinkToGrabWith, const std::set< int > &setRobotLinksToIgnore)
 Grab the body with the specified link.
 
virtual bool Grab (KinBodyPtr body, LinkPtr pRobotLinkToGrabWith)
 Grab a body with the specified link.
 
virtual bool Grab (KinBodyPtr body, const std::set< int > &setRobotLinksToIgnore)
 Grabs the body with the active manipulator's end effector.
 
virtual bool Grab (KinBodyPtr body)
 Grabs the body with the active manipulator's end effector.
 
virtual void Release (KinBodyPtr body)
 Release the body if grabbed.
 
virtual void ReleaseAllGrabbed ()
 Release all grabbed bodies.
 
virtual void RegrabAll ()
 Releases and grabs all bodies, has the effect of recalculating all the initial collision with the bodies.
 
virtual LinkPtr IsGrabbing (KinBodyConstPtr body) const
 return the robot link that is currently grabbing the body. If the body is not grabbed, will return an empty pointer.
 
virtual void GetGrabbed (std::vector< KinBodyPtr > &vbodies) const
 gets all grabbed bodies of the robot
 
virtual void GetGrabbedInfo (std::vector< GrabbedInfoPtr > &vgrabbedinfo) const
 gets all grabbed bodies of the robot
 
virtual void ResetGrabbed (const std::vector< GrabbedInfoConstPtr > &vgrabbedinfo)
 resets the grabbed bodies of the robot
 
virtual void GetIgnoredLinksOfGrabbed (KinBodyConstPtr body, std::list< KinBody::LinkConstPtr > &ignorelinks) const
 returns all the links of the robot whose links are being ignored by the grabbed body.
 
- Public Member Functions inherited from OpenRAVE::KinBody
virtual ~KinBody ()
 
virtual bool InitFromBoxes (const std::vector< AABB > &boxes, bool visible)
 Create a kinbody with one link composed of an array of aligned bounding boxes.
 
virtual bool InitFromBoxes (const std::vector< OBB > &boxes, bool visible)
 Create a kinbody with one link composed of an array of oriented bounding boxes.
 
virtual bool InitFromSpheres (const std::vector< Vector > &spheres, bool visible)
 Create a kinbody with one link composed of an array of spheres.
 
virtual bool InitFromTrimesh (const TriMesh &trimesh, bool visible)
 Create a kinbody with one link composed of a triangle mesh surface.
 
virtual bool InitFromGeometries (const std::vector< KinBody::GeometryInfoConstPtr > &geometries)
 Create a kinbody with one link composed of a list of geometries.
 
virtual bool InitFromGeometries (const std::list< KinBody::GeometryInfo > &geometries)
 
virtual bool Init (const std::vector< LinkInfoConstPtr > &linkinfos, const std::vector< JointInfoConstPtr > &jointinfos)
 initializes an complex kinematics body with links and joints
 
virtual const std::string & GetName () const
 Unique name of the robot.
 
virtual void SubtractDOFValues (std::vector< dReal > &values1, const std::vector< dReal > &values2, const std::vector< int > &dofindices=std::vector< int >()) const
 Computes the configuration difference values1-values2 and stores it in values1.
 
virtual void SetDOFTorques (const std::vector< dReal > &torques, bool add)
 Adds a torque to every joint.
 
virtual const std::vector
< LinkPtr > & 
GetLinks () const
 Returns all the rigid links of the body.
 
virtual LinkPtr GetLink (const std::string &name) const
 return a pointer to the link with the given name
 
virtual void GetLinkTransformations (std::vector< Transform > &transforms) const
 get the transformations of all the links at once
 
virtual void GetLinkTransformations (std::vector< Transform > &transforms, std::vector< int > &dofbranches) const
 get the transformations of all the links and the dof branches at once.
 
virtual void GetBodyTransformations (std::vector< Transform > &transforms) const RAVE_DEPRECATED
 
virtual Transform GetTransform () const
 queries the transfromation of the first link of the body
 
virtual void GetLinkVelocities (std::vector< std::pair< Vector, Vector > > &velocities) const
 Returns the linear and angular velocities for each link.
 
virtual void GetLinkAccelerations (const std::vector< dReal > &dofaccelerations, std::vector< std::pair< Vector, Vector > > &linkaccelerations) const
 Returns the linear and angular accelerations for each link given the dof accelerations.
 
virtual AABB ComputeAABB () const
 Return an axis-aligned bounding box of the entire object in the world coordinate system.
 
virtual Vector GetCenterOfMass () const
 Return the center of mass of entire robot in the world coordinate system.
 
virtual void Enable (bool enable)
 Enables or disables all the links.
 
virtual bool IsEnabled () const
 
virtual bool SetVisible (bool visible)
 Sets all the links as visible or not visible.
 
virtual bool IsVisible () const
 
virtual void SetJointValues (const std::vector< dReal > &values, bool checklimits=true)
 
virtual void SetJointValues (const std::vector< dReal > &values, const Transform &transform, bool checklimits=true)
 
virtual void SetBodyTransformations (const std::vector< Transform > &transforms) RAVE_DEPRECATED
 
virtual void SetLinkVelocities (const std::vector< std::pair< Vector, Vector > > &velocities)
 sets the link velocities
 
virtual void ComputeJacobianTranslation (int linkindex, const Vector &position, std::vector< dReal > &jacobian, const std::vector< int > &dofindices=std::vector< int >()) const
 Computes the translation jacobian with respect to a world position.
 
virtual void CalculateJacobian (int linkindex, const Vector &position, std::vector< dReal > &jacobian) const
 calls std::vector version of ComputeJacobian internally
 
virtual void CalculateJacobian (int linkindex, const Vector &position, boost::multi_array< dReal, 2 > &jacobian) const
 calls std::vector version of ComputeJacobian internally, a little inefficient since it copies memory
 
virtual void CalculateRotationJacobian (int linkindex, const Vector &quat, std::vector< dReal > &jacobian) const
 Computes the rotational jacobian as a quaternion with respect to an initial rotation.
 
virtual void CalculateRotationJacobian (int linkindex, const Vector &quat, boost::multi_array< dReal, 2 > &jacobian) const
 calls std::vector version of CalculateRotationJacobian internally, a little inefficient since it copies memory
 
virtual void ComputeJacobianAxisAngle (int linkindex, std::vector< dReal > &jacobian, const std::vector< int > &dofindices=std::vector< int >()) const
 Computes the angular velocity jacobian of a specified link about the axes of world coordinates.
 
virtual void CalculateAngularVelocityJacobian (int linkindex, std::vector< dReal > &jacobian) const
 Computes the angular velocity jacobian of a specified link about the axes of world coordinates.
 
virtual void CalculateAngularVelocityJacobian (int linkindex, boost::multi_array< dReal, 2 > &jacobian) const
 calls std::vector version of CalculateAngularVelocityJacobian internally, a little inefficient since it copies memory
 
virtual void ComputeHessianTranslation (int linkindex, const Vector &position, std::vector< dReal > &hessian, const std::vector< int > &dofindices=std::vector< int >()) const
 Computes the DOFx3xDOF hessian of the linear translation.
 
virtual void ComputeHessianAxisAngle (int linkindex, std::vector< dReal > &hessian, const std::vector< int > &dofindices=std::vector< int >()) const
 Computes the DOFx3xDOF hessian of the rotation represented as angle-axis.
 
virtual void ComputeInverseDynamics (std::vector< dReal > &doftorques, const std::vector< dReal > &dofaccelerations, const ForceTorqueMap &externalforcetorque=ForceTorqueMap()) const
 Computes the inverse dynamics (torques) from the current robot position, velocity, and acceleration.
 
virtual void ComputeInverseDynamics (boost::array< std::vector< dReal >, 3 > &doftorquecomponents, const std::vector< dReal > &dofaccelerations, const ForceTorqueMap &externalforcetorque=ForceTorqueMap()) const
 Computes the separated inverse dynamics torque terms from the current robot position, velocity, and acceleration.
 
virtual bool IsAttached (KinBodyConstPtr body) const
 
virtual void GetAttached (std::set< KinBodyPtr > &setAttached) const
 Recursively get all attached bodies of this body, including this body.
 
virtual int GetEnvironmentId () const
 return a unique id of the body used in the environment.
 
virtual int8_t DoesAffect (int jointindex, int linkindex) const
 Returns a nonzero value if the joint effects the link transformation.
 
virtual UserDataPtr GetViewerData () const RAVE_DEPRECATED
 
virtual const std::set< int > & GetAdjacentLinks () const
 return all possible link pairs whose collisions are ignored.
 
virtual UserDataPtr GetPhysicsData () const RAVE_DEPRECATED
 
virtual UserDataPtr GetCollisionData () const RAVE_DEPRECATED
 
virtual ManageDataPtr GetManageData () const
 
virtual int GetUpdateStamp () const
 Return a unique id for every transformation state change of any link. Used to check if robot state has changed.
 
virtual UserDataPtr RegisterChangeCallback (int properties, const boost::function< void()> &callback) const
 Register a callback with the interface.
 
void Serialize (BaseXMLWriterPtr writer, int options=0) const
 serializes the interface
 
virtual const std::string & GetKinematicsGeometryHash () const
 A md5 hash unique to the particular kinematic and geometric structure of a KinBody.
 
virtual void SetZeroConfiguration ()
 Sets the joint offsets so that the current configuration becomes the new zero state of the robot.
 
virtual void SetNonCollidingConfiguration ()
 Treats the current pose as a pose not in collision, which sets the adjacent pairs of links.
 
virtual int GetDOF () const
 Number controllable degrees of freedom of the body.
 
virtual void GetDOFValues (std::vector< dReal > &v, const std::vector< int > &dofindices=std::vector< int >()) const
 Returns all the joint values as organized by the DOF indices.
 
virtual void GetDOFVelocities (std::vector< dReal > &v, const std::vector< int > &dofindices=std::vector< int >()) const
 Returns all the joint velocities as organized by the DOF indices.
 
virtual void GetDOFLimits (std::vector< dReal > &lowerlimit, std::vector< dReal > &upperlimit, const std::vector< int > &dofindices=std::vector< int >()) const
 Returns all the joint limits as organized by the DOF indices.
 
virtual void GetDOFVelocityLimits (std::vector< dReal > &lowerlimit, std::vector< dReal > &upperlimit, const std::vector< int > &dofindices=std::vector< int >()) const
 Returns all the joint velocity limits as organized by the DOF indices.
 
virtual void GetDOFVelocityLimits (std::vector< dReal > &maxvelocities, const std::vector< int > &dofindices=std::vector< int >()) const
 Returns the max velocity for each DOF.
 
virtual void GetDOFAccelerationLimits (std::vector< dReal > &maxaccelerations, const std::vector< int > &dofindices=std::vector< int >()) const
 Returns the max acceleration for each DOF.
 
virtual void GetDOFTorqueLimits (std::vector< dReal > &maxaccelerations) const
 Returns the max torque for each DOF.
 
virtual void GetDOFMaxVel (std::vector< dReal > &v) const RAVE_DEPRECATED
 
virtual void GetDOFMaxAccel (std::vector< dReal > &v) const RAVE_DEPRECATED
 
virtual void GetDOFMaxTorque (std::vector< dReal > &v) const
 
virtual void GetDOFResolutions (std::vector< dReal > &v, const std::vector< int > &dofindices=std::vector< int >()) const
 get the dof resolutions
 
virtual void GetDOFWeights (std::vector< dReal > &v, const std::vector< int > &dofindices=std::vector< int >()) const
 get dof weights
 
virtual void SetDOFVelocityLimits (const std::vector< dReal > &maxlimits)
 
virtual void SetDOFAccelerationLimits (const std::vector< dReal > &maxlimits)
 
virtual void SetDOFTorqueLimits (const std::vector< dReal > &maxlimits)
 
virtual void SetDOFWeights (const std::vector< dReal > &weights, const std::vector< int > &dofindices=std::vector< int >())
 sets dof weights
 
virtual void SetDOFLimits (const std::vector< dReal > &lower, const std::vector< dReal > &upper)
 
const std::vector< JointPtr > & GetJoints () const
 Returns the joints making up the controllable degrees of freedom of the body.
 
const std::vector< JointPtr > & GetPassiveJoints () const
 Returns the passive joints, order does not matter.
 
virtual const std::vector
< JointPtr > & 
GetDependencyOrderedJoints () const
 Returns the joints in hierarchical order starting at the base link.
 
virtual const std::vector
< std::vector< std::pair
< LinkPtr, JointPtr > > > & 
GetClosedLoops () const
 Return the set of unique closed loops of the kinematics hierarchy.
 
virtual bool GetChain (int linkindex1, int linkindex2, std::vector< JointPtr > &vjoints) const
 Computes the minimal chain of joints that are between two links in the order of linkindex1 to linkindex2.
 
virtual bool GetChain (int linkindex1, int linkindex2, std::vector< LinkPtr > &vlinks) const
 similar to GetChain(int,int,std::vector<JointPtr>&) except returns the links along the path.
 
virtual bool IsDOFInChain (int linkindex1, int linkindex2, int dofindex) const
 Returns true if the dof index affects the relative transformation between the two links.
 
virtual int GetJointIndex (const std::string &name) const
 Return the index of the joint with the given name, else -1.
 
virtual JointPtr GetJoint (const std::string &name) const
 Return a pointer to the joint with the given name. Search in the regular and passive joints.
 
virtual JointPtr GetJointFromDOFIndex (int dofindex) const
 Returns the joint that covers the degree of freedom index.
 
virtual ConfigurationSpecification GetConfigurationSpecification (const std::string &interpolation="") const
 return the configuration specification of the joint values and transform
 
virtual ConfigurationSpecification GetConfigurationSpecificationIndices (const std::vector< int > &indices, const std::string &interpolation="") const
 return the configuration specification of the specified joint indices.
 
virtual void SetConfigurationValues (std::vector< dReal >::const_iterator itvalues, uint32_t checklimits=CLA_CheckLimits)
 sets joint values and transform of the body using configuration values as specified by GetConfigurationSpecification()
 
virtual void GetConfigurationValues (std::vector< dReal > &v) const
 returns the configuration values as specified by GetConfigurationSpecification()
 
- Public Member Functions inherited from OpenRAVE::InterfaceBase
 InterfaceBase (InterfaceType type, EnvironmentBasePtr penv)
 
virtual ~InterfaceBase ()
 
InterfaceType GetInterfaceType () const
 
const std::string & GetXMLId () const
 
const std::string & GetPluginName () const
 
EnvironmentBasePtr GetEnv () const
 
const READERSMAPGetReadableInterfaces () const
 Returns the raw map reference, this is not multithread safe and the GetInterfaceMutex should be locked before using.
 
virtual XMLReadablePtr GetReadableInterface (const std::string &xmltag) const
 Returns the readable interface. [multi-thread safe]
 
virtual XMLReadablePtr SetReadableInterface (const std::string &xmltag, XMLReadablePtr readable)
 Set a new readable interface and return the previously set interface if it exists. [multi-thread safe]
 
virtual const std::string & GetDescription () const
 Documentation of the interface in reStructuredText format. See Documenting Interfaces. [multi-thread safe]
 
virtual void SetDescription (const std::string &description)
 sets a description [multi-thread safe]
 
virtual void SetUserData (const std::string &key, UserDataPtr data) const
 set user data for a specific key. [multi-thread safe]
 
virtual UserDataPtr GetUserData (const std::string &key=std::string()) const
 return the user custom data [multi-thread safe]
 
virtual bool RemoveUserData (const std::string &key) const
 removes a user data pointer. if user data pointer does not exist, then return 0, otherwise 1. [multi-thread safe]
 
virtual void SetUserData (UserDataPtr data) RAVE_DEPRECATED
 
virtual const std::string & GetURI () const
 the URI used to load the interface (sometimes this is not possible if the definition lies inside an environment file). [multi-thread safe]
 
virtual const std::string & GetXMLFilename () const
 
virtual bool SendCommand (std::ostream &os, std::istream &is)
 Used to send special commands to the interface and receive output.
 

Static Public Member Functions

static InterfaceType GetInterfaceTypeStatic ()
 Return the static interface type this class points to (used for safe casting).
 
- Static Public Member Functions inherited from OpenRAVE::KinBody
static InterfaceType GetInterfaceTypeStatic ()
 return the static interface type this class points to (used for safe casting)
 

Protected Member Functions

 RobotBase (EnvironmentBasePtr penv)
 
RobotBasePtr shared_robot ()
 
RobotBaseConstPtr shared_robot_const () const
 
virtual void _Regrab (UserDataPtr pgrabbed)
 internal use only Releases and grabs the body inside the grabbed structure from _vGrabbedBodies.
 
virtual void _ComputeInternalInformation ()
 Proprocess the manipulators and sensors and build the specific robot hashes.
 
virtual void _ParametersChanged (int parameters)
 Called to notify the body that certain groups of parameters have been changed.
 
virtual void _UpdateGrabbedBodies ()
 
virtual void _UpdateAttachedSensors ()
 
- Protected Member Functions inherited from OpenRAVE::KinBody
 KinBody (InterfaceType type, EnvironmentBasePtr penv)
 constructors declared protected so that user always goes through environment to create bodies
 
KinBodyPtr shared_kinbody ()
 
KinBodyConstPtr shared_kinbody_const () const
 
virtual void SetPhysicsData (UserDataPtr pdata) RAVE_DEPRECATED
 
virtual void SetCollisionData (UserDataPtr pdata) RAVE_DEPRECATED
 
virtual void SetViewerData (UserDataPtr pdata) RAVE_DEPRECATED
 
virtual void SetManageData (ManageDataPtr pdata)
 
virtual void _ComputeDOFLinkVelocities (std::vector< dReal > &dofvelocities, std::vector< std::pair< Vector, Vector > > &linkvelocities, bool usebaselinkvelocity=true) const
 returns the dof velocities and link velocities
 
virtual void _ComputeLinkAccelerations (const std::vector< dReal > &dofvelocities, const std::vector< dReal > &dofaccelerations, const std::vector< std::pair< Vector, Vector > > &linkvelocities, std::vector< std::pair< Vector, Vector > > &linkaccelerations, const Vector &gravity) const
 Computes accelerations of the links given all the necessary data of the robot.
 
virtual bool _IsAttached (KinBodyConstPtr body, std::set< KinBodyConstPtr > &setChecked) const
 Return true if two bodies should be considered as one during collision (ie one is grabbing the other)
 
virtual void _AttachBody (KinBodyPtr body)
 adds an attached body
 
virtual bool _RemoveAttachedBody (KinBodyPtr body)
 removes an attached body
 
virtual void _ResetInternalCollisionCache ()
 resets cached information dependent on the collision checker (usually called when the collision checker is switched or some big mode is set.
 
- Protected Member Functions inherited from OpenRAVE::InterfaceBase
virtual void RegisterCommand (const std::string &cmdname, InterfaceCommandFn fncmd, const std::string &strhelp)
 Registers a command and its help string. [multi-thread safe]
 
virtual void UnregisterCommand (const std::string &cmdname)
 Unregisters the command. [multi-thread safe]
 
virtual boost::shared_mutex & GetInterfaceMutex () const
 

Protected Attributes

std::vector< UserDataPtr_vGrabbedBodies
 vector of grabbed bodies
 
std::vector< ManipulatorPtr_vecManipulators
 
ManipulatorPtr _pManipActive
 
std::vector< AttachedSensorPtr_vecSensors
 
std::vector< int > _vActiveDOFIndices
 
std::vector< int > _vAllDOFIndices
 
Vector vActvAffineRotationAxis
 
int _nActiveDOF
 Active degrees of freedom; if -1, use robot dofs.
 
int _nAffineDOFs
 dofs describe what affine transformations are allowed
 
Vector _vTranslationLowerLimits
 
Vector _vTranslationUpperLimits
 
Vector _vTranslationMaxVels
 
Vector _vTranslationResolutions
 
Vector _vTranslationWeights
 
Vector _vRotationAxisLowerLimits
 the xyz components are used if the rotation axis is solely about X,Y,or Z; otherwise the W component is used.
 
Vector _vRotationAxisUpperLimits
 
Vector _vRotationAxisMaxVels
 
Vector _vRotationAxisResolutions
 
Vector _vRotationAxisWeights
 
Vector _vRotation3DLowerLimits
 
Vector _vRotation3DUpperLimits
 
Vector _vRotation3DMaxVels
 
Vector _vRotation3DResolutions
 
Vector _vRotation3DWeights
 
Vector _vRotationQuatLimitStart
 
dReal _fQuatLimitMaxAngle
 
dReal _fQuatMaxAngleVelocity
 
dReal _fQuatAngleResolution
 
dReal _fQuatAngleWeight
 
ConfigurationSpecification _activespec
 
- Protected Attributes inherited from OpenRAVE::KinBody
std::string _name
 name of body
 
std::vector< JointPtr_vecjoints
 
std::vector< JointPtr_vTopologicallySortedJoints
 
std::vector< JointPtr_vTopologicallySortedJointsAll
 Similar to _vDependencyOrderedJoints except includes _vecjoints and _vPassiveJoints.
 
std::vector< int > _vTopologicallySortedJointIndicesAll
 the joint indices of the joints in _vTopologicallySortedJointsAll. Passive joint indices have _vecjoints.size() added to them.
 
std::vector< JointPtr_vDOFOrderedJoints
 all joints of the body ordered on how they are arranged within the degrees of freedom
 
std::vector< LinkPtr_veclinks
 
std::vector< int > _vDOFIndices
 cached start joint indices, indexed by dof indices
 
std::vector< std::pair
< int16_t, int16_t > > 
_vAllPairsShortestPaths
 all-pairs shortest paths through the link hierarchy. The first value describes the parent link index, and the second value is an index into _vecjoints or _vPassiveJoints. If the second value is greater or equal to _vecjoints.size() then it indexes into _vPassiveJoints.
 
std::vector< int8_t > _vJointsAffectingLinks
 joint x link: (jointindex*_veclinks.size()+linkindex). entry is non-zero if the joint affects the link in the forward kinematics. If negative, the partial derivative of ds/dtheta should be negated.
 
std::vector< std::vector
< std::pair< LinkPtr, JointPtr > > > 
_vClosedLoops
 
std::vector< std::vector
< std::pair< int16_t, int16_t > > > 
_vClosedLoopIndices
 
std::vector< JointPtr_vPassiveJoints
 
std::set< int > _setAdjacentLinks
 
std::vector< std::pair
< std::string, std::string > > 
_vForcedAdjacentLinks
 internally stores forced adjacent links
 
std::list< KinBodyWeakPtr_listAttachedBodies
 list of bodies that are directly attached to this body (can have duplicates)
 
std::list< UserDataWeakPtr_listRegisteredCallbacks
 callbacks to call when particular properties of the body change. the registration/deregistration of the list can happen at any point and does not modify the kinbody state exposed to the user, hence it is mutable
 
boost::array< std::set< int >, 4 > _setNonAdjacentLinks
 contains cached versions of the non-adjacent links depending on values in AdjacentOptions. Declared as mutable since data is cached.
 
int _nNonAdjacentLinkCache
 specifies what information is currently valid in the AdjacentOptions. Declared as mutable since data is cached. If 0x80000000 (ie < 0), then everything needs to be recomputed including _setNonAdjacentLinks[0].
 
std::vector< Transform_vInitialLinkTransformations
 the initial transformations of each link specifying at least one pose where the robot is collision free
 
ConfigurationSpecification _spec
 
int _environmentid
 
int _nUpdateStampId
 
int _nParametersChanged
 set of parameters that changed and need callbacks
 
ManageDataPtr _pManageData
 
uint32_t _nHierarchyComputed
 true if the joint heirarchy and other cached information is computed
 
bool _bMakeJoinedLinksAdjacent
 
- Protected Attributes inherited from OpenRAVE::InterfaceBase
std::string __description
 

Affine DOFs

Methods using the active degrees of freedoms of the robot. Active DOFs are a way for the user to specify degrees of freedom of interest for a current execution block. All planners by default use the robot's active DOF and active manipultor. For every Get* method, there is a corresponding GetActive* method rather than the methods when setting joints. The active DOFs also include affine transfomrations of the robot's base. Affine transformation DOFs can be found after the joint DOFs in this order: X, Y, Z, Rotation where rotation can be around a specified axis a full 3D rotation. Usually the affine transforamtion is with respect to the first link in the body

static const DOFAffine
DOF_NoTransform 
RAVE_DEPRECATED = OpenRAVE::DOF_NoTransform
 
static const DOFAffine DOF_X RAVE_DEPRECATED = OpenRAVE::DOF_X
 
static const DOFAffine DOF_Y RAVE_DEPRECATED = OpenRAVE::DOF_Y
 
static const DOFAffine DOF_Z RAVE_DEPRECATED = OpenRAVE::DOF_Z
 
static const DOFAffine
DOF_RotationAxis 
RAVE_DEPRECATED = OpenRAVE::DOF_RotationAxis
 
static const DOFAffine
DOF_Rotation3D 
RAVE_DEPRECATED = OpenRAVE::DOF_Rotation3D
 
static const DOFAffine
DOF_RotationQuat 
RAVE_DEPRECATED = OpenRAVE::DOF_RotationQuat
 
virtual void SetActiveDOFs (const std::vector< int > &dofindices, int affine=OpenRAVE::DOF_NoTransform)
 Set the joint indices and affine transformation dofs that the planner should use. If DOF_RotationAxis is specified, the previously set axis is used.
 
virtual void SetActiveDOFs (const std::vector< int > &dofindices, int affine, const Vector &rotationaxis)
 Set the joint indices and affine transformation dofs that the planner should use. If DOF_RotationAxis is specified, then rotationaxis is set as the new axis.
 
virtual int GetActiveDOF () const
 
virtual int GetAffineDOF () const
 
virtual int GetAffineDOFIndex (DOFAffine dof) const
 
virtual ConfigurationSpecification GetActiveConfigurationSpecification (const std::string &interpolation="") const
 return a copy of the configuration specification of the active dofs
 
virtual const std::vector< int > & GetActiveDOFIndices () const
 Return the set of active dof indices of the joints.
 
virtual Vector GetAffineRotationAxis () const
 
virtual void SetAffineTranslationLimits (const Vector &lower, const Vector &upper)
 
virtual void SetAffineRotationAxisLimits (const Vector &lower, const Vector &upper)
 
virtual void SetAffineRotation3DLimits (const Vector &lower, const Vector &upper)
 
virtual void SetAffineRotationQuatLimits (const Vector &quatangle)
 sets the quaternion limits using a starting rotation and the max angle deviation from it.
 
virtual void SetAffineTranslationMaxVels (const Vector &vels)
 
virtual void SetAffineRotationAxisMaxVels (const Vector &vels)
 
virtual void SetAffineRotation3DMaxVels (const Vector &vels)
 
virtual void SetAffineRotationQuatMaxVels (dReal vels)
 
virtual void SetAffineTranslationResolution (const Vector &resolution)
 
virtual void SetAffineRotationAxisResolution (const Vector &resolution)
 
virtual void SetAffineRotation3DResolution (const Vector &resolution)
 
virtual void SetAffineRotationQuatResolution (dReal resolution)
 
virtual void SetAffineTranslationWeights (const Vector &weights)
 
virtual void SetAffineRotationAxisWeights (const Vector &weights)
 
virtual void SetAffineRotation3DWeights (const Vector &weights)
 
virtual void SetAffineRotationQuatWeights (dReal weights)
 
virtual void GetAffineTranslationLimits (Vector &lower, Vector &upper) const
 
virtual void GetAffineRotationAxisLimits (Vector &lower, Vector &upper) const
 
virtual void GetAffineRotation3DLimits (Vector &lower, Vector &upper) const
 
virtual Vector GetAffineRotationQuatLimits () const
 gets the quaternion limits
 
virtual Vector GetAffineTranslationMaxVels () const
 
virtual Vector GetAffineRotationAxisMaxVels () const
 
virtual Vector GetAffineRotation3DMaxVels () const
 
virtual dReal GetAffineRotationQuatMaxVels () const
 
virtual Vector GetAffineTranslationResolution () const
 
virtual Vector GetAffineRotationAxisResolution () const
 
virtual Vector GetAffineRotation3DResolution () const
 
virtual dReal GetAffineRotationQuatResolution () const
 
virtual Vector GetAffineTranslationWeights () const
 
virtual Vector GetAffineRotationAxisWeights () const
 
virtual Vector GetAffineRotation3DWeights () const
 
virtual dReal GetAffineRotationQuatWeights () const
 
virtual void SetActiveDOFValues (const std::vector< dReal > &values, uint32_t checklimits=1)
 
virtual void GetActiveDOFValues (std::vector< dReal > &v) const
 
virtual void SetActiveDOFVelocities (const std::vector< dReal > &velocities, uint32_t checklimits=1)
 
virtual void GetActiveDOFVelocities (std::vector< dReal > &velocities) const
 
virtual void GetActiveDOFLimits (std::vector< dReal > &lower, std::vector< dReal > &upper) const
 
virtual void GetActiveDOFResolutions (std::vector< dReal > &v) const
 
virtual void GetActiveDOFWeights (std::vector< dReal > &v) const
 
virtual void GetActiveDOFVelocityLimits (std::vector< dReal > &v) const
 
virtual void GetActiveDOFAccelerationLimits (std::vector< dReal > &v) const
 
virtual void GetActiveDOFMaxVel (std::vector< dReal > &v) const
 
virtual void GetActiveDOFMaxAccel (std::vector< dReal > &v) const
 
virtual void SubtractActiveDOFValues (std::vector< dReal > &q1, const std::vector< dReal > &q2) const
 computes the configuration difference q1-q2 and stores it in q1. Takes into account joint limits and circular joints
 
virtual void SetActiveManipulator (int index) RAVE_DEPRECATED
 
virtual ManipulatorPtr SetActiveManipulator (const std::string &manipname)
 sets the active manipulator of the robot
 
virtual void SetActiveManipulator (ManipulatorConstPtr pmanip)
 
virtual ManipulatorPtr GetActiveManipulator ()
 
virtual ManipulatorConstPtr GetActiveManipulator () const
 
virtual ManipulatorPtr AddManipulator (const ManipulatorInfo &manipinfo)
 adds a manipulator the list
 
virtual void RemoveManipulator (ManipulatorPtr manip)
 removes a manipulator from the robot list.
 
virtual int GetActiveManipulatorIndex () const RAVE_DEPRECATED
 
virtual bool SetMotion (TrajectoryBaseConstPtr ptraj) RAVE_DEPRECATED
 
virtual bool SetActiveMotion (TrajectoryBaseConstPtr ptraj) RAVE_DEPRECATED
 
virtual bool SetActiveMotion (TrajectoryBaseConstPtr ptraj, dReal fSpeed) RAVE_DEPRECATED
 
virtual void CalculateActiveJacobian (int index, const Vector &offset, std::vector< dReal > &jacobian) const
 Calculates the translation jacobian with respect to a link.
 
virtual void CalculateActiveJacobian (int index, const Vector &offset, boost::multi_array< dReal, 2 > &jacobian) const
 
virtual void CalculateActiveRotationJacobian (int index, const Vector &qInitialRot, std::vector< dReal > &jacobian) const
 
virtual void CalculateActiveRotationJacobian (int index, const Vector &qInitialRot, boost::multi_array< dReal, 2 > &jacobian) const
 
virtual void CalculateActiveAngularVelocityJacobian (int index, std::vector< dReal > &jacobian) const
 
virtual void CalculateActiveAngularVelocityJacobian (int index, boost::multi_array< dReal, 2 > &jacobian) const
 
virtual const std::set< int > & GetNonAdjacentLinks (int adjacentoptions=0) const
 return all possible link pairs that could get in collision.
 

Additional Inherited Members

- Protected Types inherited from OpenRAVE::InterfaceBase
typedef boost::function< bool(std::ostream
&, std::istream &)> 
InterfaceCommandFn
 The function to be executed for every command.
 

Detailed Description

[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.

Definition at line 30 of file robot.h.

Member Typedef Documentation

Definition at line 436 of file robot.h.

Definition at line 375 of file robot.h.

Definition at line 374 of file robot.h.

Definition at line 435 of file robot.h.

typedef boost::shared_ptr<GrabbedInfo const> OpenRAVE::RobotBase::GrabbedInfoConstPtr

Definition at line 450 of file robot.h.

Definition at line 449 of file robot.h.

Definition at line 354 of file robot.h.

Definition at line 53 of file robot.h.

Definition at line 52 of file robot.h.

Definition at line 353 of file robot.h.

Definition at line 355 of file robot.h.

Definition at line 481 of file robot.h.

Constructor & Destructor Documentation

OpenRAVE::RobotBase::~RobotBase ( )
virtual

Definition at line 242 of file robot.cpp.

OpenRAVE::RobotBase::RobotBase ( EnvironmentBasePtr  penv)
protected

Definition at line 208 of file robot.cpp.

Member Function Documentation

void OpenRAVE::RobotBase::_ComputeInternalInformation ( )
protectedvirtual

Proprocess the manipulators and sensors and build the specific robot hashes.

Reimplemented from OpenRAVE::KinBody.

Definition at line 1825 of file robot.cpp.

void OpenRAVE::RobotBase::_ParametersChanged ( int  parameters)
protectedvirtual

Called to notify the body that certain groups of parameters have been changed.

This function in calls every registers calledback that is tracking the changes.

Reimplemented from OpenRAVE::KinBody.

Definition at line 1922 of file robot.cpp.

void OpenRAVE::RobotBase::_Regrab ( UserDataPtr  pgrabbed)
protectedvirtual

internal use only Releases and grabs the body inside the grabbed structure from _vGrabbedBodies.

Definition at line 1454 of file robot.cpp.

void OpenRAVE::RobotBase::_UpdateAttachedSensors ( )
protectedvirtual

Definition at line 374 of file robot.cpp.

void OpenRAVE::RobotBase::_UpdateGrabbedBodies ( )
protectedvirtual

Definition at line 352 of file robot.cpp.

RobotBase::ManipulatorPtr OpenRAVE::RobotBase::AddManipulator ( const ManipulatorInfo manipinfo)
virtual

adds a manipulator the list

Will copy the information of this manipulator object into a new manipulator and initialize it with the robot. Will change the robot structure hash..

Returns
the new manipulator attached to the robot
Exceptions
openrave_exceptionIf there exists a manipulator with the same name, will throw an exception

Definition at line 1612 of file robot.cpp.

void OpenRAVE::RobotBase::CalculateActiveAngularVelocityJacobian ( int  index,
std::vector< dReal > &  jacobian 
) const
virtual

Calculates the angular velocity jacobian of a specified link about the axes of world coordinates.

Parameters
indexof the link that the rotation is attached to
mjacobian3x(num ACTIVE DOF) matrix

Definition at line 1194 of file robot.cpp.

void OpenRAVE::RobotBase::CalculateActiveAngularVelocityJacobian ( int  index,
boost::multi_array< dReal, 2 > &  jacobian 
) const
virtual

Definition at line 1271 of file robot.cpp.

virtual void OpenRAVE::RobotBase::CalculateActiveJacobian ( int  index,
const Vector offset,
std::vector< dReal > &  jacobian 
) const
virtual

Calculates the translation jacobian with respect to a link.

Calculates the partial differentials for the active degrees of freedom that in the path from the root node to _veclinks[index] (doesn't touch the rest of the values).

Parameters
mjacobiana 3 x ActiveDOF matrix
void OpenRAVE::RobotBase::CalculateActiveJacobian ( int  index,
const Vector offset,
boost::multi_array< dReal, 2 > &  jacobian 
) const
virtual

Definition at line 1097 of file robot.cpp.

void OpenRAVE::RobotBase::CalculateActiveRotationJacobian ( int  index,
const Vector qInitialRot,
std::vector< dReal > &  jacobian 
) const
virtual

Definition at line 1114 of file robot.cpp.

void OpenRAVE::RobotBase::CalculateActiveRotationJacobian ( int  index,
const Vector qInitialRot,
boost::multi_array< dReal, 2 > &  jacobian 
) const
virtual

Definition at line 1177 of file robot.cpp.

bool OpenRAVE::RobotBase::CheckLinkCollision ( int  ilinkindex,
const Transform tlinktrans,
CollisionReportPtr  report = CollisionReportPtr() 
)
virtual

checks collision of a robot link with the surrounding environment. Attached/Grabbed bodies to this link are also checked for collision.

Parameters
[in]ilinkindexthe index of the link to check
[in]tlinktransThe transform of the link to check
[out]report[optional] collision report

Definition at line 1736 of file robot.cpp.

bool OpenRAVE::RobotBase::CheckLinkSelfCollision ( int  ilinkindex,
const Transform tlinktrans,
CollisionReportPtr  report = CollisionReportPtr() 
)
virtual

checks self-collision of a robot link with the other robot links. Attached/Grabbed bodies to this link are also checked for self-collision.

Parameters
[in]ilinkindexthe index of the link to check
[in]tlinktransThe transform of the link to check
[out]report[optional] collision report

Definition at line 1779 of file robot.cpp.

bool OpenRAVE::RobotBase::CheckSelfCollision ( CollisionReportPtr  report = CollisionReportPtr()) const
virtual

Check if body is self colliding. Links that are joined together are ignored.

Parameters
report[optional] collision report

Reimplemented from OpenRAVE::KinBody.

Definition at line 1642 of file robot.cpp.

void OpenRAVE::RobotBase::Clone ( InterfaceBaseConstPtr  preference,
int  cloningoptions 
)
virtual

does not clone the grabbed bodies since it requires pointers from other bodies (that might not be initialized yet)

Reimplemented from OpenRAVE::KinBody.

Definition at line 1992 of file robot.cpp.

void OpenRAVE::RobotBase::Destroy ( )
virtual

Reimplemented from OpenRAVE::KinBody.

Definition at line 247 of file robot.cpp.

ConfigurationSpecification OpenRAVE::RobotBase::GetActiveConfigurationSpecification ( const std::string &  interpolation = "") const
virtual

return a copy of the configuration specification of the active dofs

Note that the return type is by-value, so should not be used in iteration

Definition at line 966 of file robot.cpp.

virtual int OpenRAVE::RobotBase::GetActiveDOF ( ) const
inlinevirtual

Definition at line 560 of file robot.h.

void OpenRAVE::RobotBase::GetActiveDOFAccelerationLimits ( std::vector< dReal > &  v) const
virtual

Definition at line 882 of file robot.cpp.

const std::vector< int > & OpenRAVE::RobotBase::GetActiveDOFIndices ( ) const
virtual

Return the set of active dof indices of the joints.

Definition at line 961 of file robot.cpp.

void OpenRAVE::RobotBase::GetActiveDOFLimits ( std::vector< dReal > &  lower,
std::vector< dReal > &  upper 
) const
virtual

Definition at line 696 of file robot.cpp.

virtual void OpenRAVE::RobotBase::GetActiveDOFMaxAccel ( std::vector< dReal > &  v) const
inlinevirtual

Definition at line 664 of file robot.h.

virtual void OpenRAVE::RobotBase::GetActiveDOFMaxVel ( std::vector< dReal > &  v) const
inlinevirtual

Definition at line 661 of file robot.h.

void OpenRAVE::RobotBase::GetActiveDOFResolutions ( std::vector< dReal > &  v) const
virtual

Definition at line 769 of file robot.cpp.

void OpenRAVE::RobotBase::GetActiveDOFValues ( std::vector< dReal > &  v) const
virtual

Definition at line 577 of file robot.cpp.

void OpenRAVE::RobotBase::GetActiveDOFVelocities ( std::vector< dReal > &  velocities) const
virtual

Definition at line 655 of file robot.cpp.

void OpenRAVE::RobotBase::GetActiveDOFVelocityLimits ( std::vector< dReal > &  v) const
virtual

Definition at line 847 of file robot.cpp.

void OpenRAVE::RobotBase::GetActiveDOFWeights ( std::vector< dReal > &  v) const
virtual

Definition at line 811 of file robot.cpp.

RobotBase::ManipulatorPtr OpenRAVE::RobotBase::GetActiveManipulator ( )
virtual

Definition at line 1592 of file robot.cpp.

RobotBase::ManipulatorConstPtr OpenRAVE::RobotBase::GetActiveManipulator ( ) const
virtual

Definition at line 1597 of file robot.cpp.

int OpenRAVE::RobotBase::GetActiveManipulatorIndex ( ) const
virtual
Deprecated:
(12/07/23)

Definition at line 1602 of file robot.cpp.

virtual int OpenRAVE::RobotBase::GetAffineDOF ( ) const
inlinevirtual

Definition at line 563 of file robot.h.

virtual int OpenRAVE::RobotBase::GetAffineDOFIndex ( DOFAffine  dof) const
inlinevirtual
Deprecated:
(11/10/07)

Definition at line 568 of file robot.h.

void OpenRAVE::RobotBase::GetAffineRotation3DLimits ( Vector lower,
Vector upper 
) const
virtual

Definition at line 483 of file robot.cpp.

virtual Vector OpenRAVE::RobotBase::GetAffineRotation3DMaxVels ( ) const
inlinevirtual

Definition at line 621 of file robot.h.

virtual Vector OpenRAVE::RobotBase::GetAffineRotation3DResolution ( ) const
inlinevirtual

Definition at line 633 of file robot.h.

virtual Vector OpenRAVE::RobotBase::GetAffineRotation3DWeights ( ) const
inlinevirtual

Definition at line 645 of file robot.h.

virtual Vector OpenRAVE::RobotBase::GetAffineRotationAxis ( ) const
inlinevirtual

Definition at line 580 of file robot.h.

void OpenRAVE::RobotBase::GetAffineRotationAxisLimits ( Vector lower,
Vector upper 
) const
virtual

Definition at line 477 of file robot.cpp.

virtual Vector OpenRAVE::RobotBase::GetAffineRotationAxisMaxVels ( ) const
inlinevirtual

Definition at line 618 of file robot.h.

virtual Vector OpenRAVE::RobotBase::GetAffineRotationAxisResolution ( ) const
inlinevirtual

Definition at line 630 of file robot.h.

virtual Vector OpenRAVE::RobotBase::GetAffineRotationAxisWeights ( ) const
inlinevirtual

Definition at line 642 of file robot.h.

virtual Vector OpenRAVE::RobotBase::GetAffineRotationQuatLimits ( ) const
inlinevirtual

gets the quaternion limits

Parameters
quatanglequaternion_start * max_angle. acos(q dot quaternion_start) <= max_angle

Definition at line 612 of file robot.h.

virtual dReal OpenRAVE::RobotBase::GetAffineRotationQuatMaxVels ( ) const
inlinevirtual

Definition at line 624 of file robot.h.

virtual dReal OpenRAVE::RobotBase::GetAffineRotationQuatResolution ( ) const
inlinevirtual

Definition at line 636 of file robot.h.

virtual dReal OpenRAVE::RobotBase::GetAffineRotationQuatWeights ( ) const
inlinevirtual

Definition at line 648 of file robot.h.

void OpenRAVE::RobotBase::GetAffineTranslationLimits ( Vector lower,
Vector upper 
) const
virtual

Definition at line 471 of file robot.cpp.

virtual Vector OpenRAVE::RobotBase::GetAffineTranslationMaxVels ( ) const
inlinevirtual

Definition at line 615 of file robot.h.

virtual Vector OpenRAVE::RobotBase::GetAffineTranslationResolution ( ) const
inlinevirtual

Definition at line 627 of file robot.h.

virtual Vector OpenRAVE::RobotBase::GetAffineTranslationWeights ( ) const
inlinevirtual

Definition at line 639 of file robot.h.

virtual std::vector<AttachedSensorPtr>& OpenRAVE::RobotBase::GetAttachedSensors ( )
inlinevirtual

Definition at line 505 of file robot.h.

virtual ControllerBasePtr OpenRAVE::RobotBase::GetController ( ) const
inlinevirtual

gets the robot controller

Definition at line 870 of file robot.h.

void OpenRAVE::RobotBase::GetFullTrajectoryFromActive ( TrajectoryBasePtr  pfulltraj,
TrajectoryBaseConstPtr  pActiveTraj,
bool  bOverwriteTransforms = true 
)
Deprecated:
(11/10/04)

Definition at line 2127 of file robot.cpp.

void OpenRAVE::RobotBase::GetGrabbed ( std::vector< KinBodyPtr > &  vbodies) const
virtual

gets all grabbed bodies of the robot

Parameters
[out]vbodiesfilled with the grabbed bodies

Definition at line 1478 of file robot.cpp.

void OpenRAVE::RobotBase::GetGrabbedInfo ( std::vector< GrabbedInfoPtr > &  vgrabbedinfo) const
virtual

gets all grabbed bodies of the robot

Parameters
[out]vgrabbedinfofilled with the grabbed info for every body

Definition at line 1490 of file robot.cpp.

void OpenRAVE::RobotBase::GetIgnoredLinksOfGrabbed ( KinBodyConstPtr  body,
std::list< KinBody::LinkConstPtr > &  ignorelinks 
) const
virtual

returns all the links of the robot whose links are being ignored by the grabbed body.

Parameters
[in]bodythe grabbed body
[out]listof the ignored links

Definition at line 1538 of file robot.cpp.

static InterfaceType OpenRAVE::RobotBase::GetInterfaceTypeStatic ( )
inlinestatic

Return the static interface type this class points to (used for safe casting).

Definition at line 486 of file robot.h.

virtual std::vector<ManipulatorPtr>& OpenRAVE::RobotBase::GetManipulators ( )
inlinevirtual

Returns the manipulators of the robot.

Definition at line 501 of file robot.h.

const std::set< int > & OpenRAVE::RobotBase::GetNonAdjacentLinks ( int  adjacentoptions = 0) const
virtual

return all possible link pairs that could get in collision.

Parameters
adjacentoptionsa bitmask of AdjacentOptions values

Reimplemented from OpenRAVE::KinBody.

Definition at line 1288 of file robot.cpp.

const std::string & OpenRAVE::RobotBase::GetRobotStructureHash ( ) const
virtual

A md5 hash unique to the particular robot structure that involves manipulation and sensing components The serialization for the attached sensors will not involve any sensor specific properties (since they can change through calibration)

Definition at line 2091 of file robot.cpp.

bool OpenRAVE::RobotBase::Grab ( KinBodyPtr  body,
LinkPtr  pRobotLinkToGrabWith,
const std::set< int > &  setRobotLinksToIgnore 
)
virtual

Grab the body with the specified link.

Parameters
[in]bodythe body to be grabbed
[in]pRobotLinkToGrabWiththe link of this robot that will perform the grab
[in]setRobotLinksToIgnoreAdditional robot link indices that collision checker ignore when checking collisions between the grabbed body and the robot.
Returns
true if successful and body is grabbed.

Definition at line 1390 of file robot.cpp.

bool OpenRAVE::RobotBase::Grab ( KinBodyPtr  body,
LinkPtr  pRobotLinkToGrabWith 
)
virtual

Grab a body with the specified link.

Parameters
[in]bodythe body to be grabbed
[in]pRobotLinkToGrabWiththe link of this robot that will perform the grab
Returns
true if successful and body is grabbed/

Definition at line 1366 of file robot.cpp.

bool OpenRAVE::RobotBase::Grab ( KinBodyPtr  body,
const std::set< int > &  setRobotLinksToIgnore 
)
virtual

Grabs the body with the active manipulator's end effector.

Parameters
[in]bodythe body to be grabbed
[in]setRobotLinksToIgnoreAdditional robot link indices that collision checker ignore when checking collisions between the grabbed body and the robot.
Returns
true if successful and body is grabbed

Definition at line 1357 of file robot.cpp.

bool OpenRAVE::RobotBase::Grab ( KinBodyPtr  body)
virtual

Grabs the body with the active manipulator's end effector.

Parameters
[in]bodythe body to be grabbed
Returns
true if successful and body is grabbed

Definition at line 1348 of file robot.cpp.

bool OpenRAVE::RobotBase::Init ( const std::vector< LinkInfoConstPtr > &  linkinfos,
const std::vector< JointInfoConstPtr > &  jointinfos,
const std::vector< ManipulatorInfoConstPtr > &  manipinfos,
const std::vector< AttachedSensorInfoConstPtr > &  attachedsensorinfos 
)
virtual

initializes a robot with links, joints, manipulators, and sensors

Calls KinBody::Init(linkinfos, jointinfos) and then adds the robot-specific information afterwards

Parameters
linkinfosinformation for all the links. Links will be created in this order
jointinfosinformation for all the joints. Joints might be rearranged depending on their mimic properties

Definition at line 257 of file robot.cpp.

RobotBase::LinkPtr OpenRAVE::RobotBase::IsGrabbing ( KinBodyConstPtr  body) const
virtual

return the robot link that is currently grabbing the body. If the body is not grabbed, will return an empty pointer.

Parameters
[in]bodythe body to check

Definition at line 1467 of file robot.cpp.

virtual bool OpenRAVE::RobotBase::IsRobot ( ) const
inlinevirtual
Returns
true if this body is derived from RobotBase

Reimplemented from OpenRAVE::KinBody.

Definition at line 859 of file robot.h.

void OpenRAVE::RobotBase::RegrabAll ( )
virtual

Releases and grabs all bodies, has the effect of recalculating all the initial collision with the bodies.

This has the effect of resetting the current collisions any grabbed body makes with the robot into an ignore list.

Definition at line 1439 of file robot.cpp.

void OpenRAVE::RobotBase::Release ( KinBodyPtr  body)
virtual

Release the body if grabbed.

Parameters
bodybody to release

Definition at line 1413 of file robot.cpp.

void OpenRAVE::RobotBase::ReleaseAllGrabbed ( )
virtual

Release all grabbed bodies.

release all bodies

Definition at line 1427 of file robot.cpp.

void OpenRAVE::RobotBase::RemoveManipulator ( ManipulatorPtr  manip)
virtual

removes a manipulator from the robot list.

Will change the robot structure hash.. if the active manipulator is set to this manipulator, it will be set to None afterwards

Definition at line 1627 of file robot.cpp.

void OpenRAVE::RobotBase::ResetGrabbed ( const std::vector< GrabbedInfoConstPtr > &  vgrabbedinfo)
virtual

resets the grabbed bodies of the robot

Any currently grabbed bodies will be first released.

Parameters
[out]vgrabbedinfofilled with the grabbed info for every body

Definition at line 1508 of file robot.cpp.

void OpenRAVE::RobotBase::serialize ( std::ostream &  o,
int  options 
) const
virtual

only used for hashes...

Reimplemented from OpenRAVE::KinBody.

Definition at line 2076 of file robot.cpp.

void OpenRAVE::RobotBase::SetActiveDOFs ( const std::vector< int > &  dofindices,
int  affine = OpenRAVE::DOF_NoTransform 
)
virtual

Set the joint indices and affine transformation dofs that the planner should use. If DOF_RotationAxis is specified, the previously set axis is used.

Parameters
dofindicesthe indices of the original degrees of freedom to use.
affineA bitmask of DOFAffine values

Definition at line 495 of file robot.cpp.

void OpenRAVE::RobotBase::SetActiveDOFs ( const std::vector< int > &  dofindices,
int  affine,
const Vector rotationaxis 
)
virtual

Set the joint indices and affine transformation dofs that the planner should use. If DOF_RotationAxis is specified, then rotationaxis is set as the new axis.

Parameters
dofindicesthe indices of the original degrees of freedom to use.
affineA bitmask of DOFAffine values
rotationaxisif DOF_RotationAxis is specified, pRotationAxis is used as the new axis

Definition at line 489 of file robot.cpp.

void OpenRAVE::RobotBase::SetActiveDOFValues ( const std::vector< dReal > &  values,
uint32_t  checklimits = 1 
)
virtual

Definition at line 543 of file robot.cpp.

void OpenRAVE::RobotBase::SetActiveDOFVelocities ( const std::vector< dReal > &  velocities,
uint32_t  checklimits = 1 
)
virtual

Definition at line 606 of file robot.cpp.

void OpenRAVE::RobotBase::SetActiveManipulator ( int  index)
virtual
Deprecated:
(12/07/23)

Definition at line 1556 of file robot.cpp.

RobotBase::ManipulatorPtr OpenRAVE::RobotBase::SetActiveManipulator ( const std::string &  manipname)
virtual

sets the active manipulator of the robot

Parameters
manipnamemanipulator name
Exceptions
openrave_exceptionif manipulator not present, will throw an exception

Definition at line 1577 of file robot.cpp.

void OpenRAVE::RobotBase::SetActiveManipulator ( ManipulatorConstPtr  pmanip)
virtual

Definition at line 1561 of file robot.cpp.

bool OpenRAVE::RobotBase::SetActiveMotion ( TrajectoryBaseConstPtr  ptraj)
virtual
Deprecated:
(11/10/04)

Definition at line 2111 of file robot.cpp.

bool OpenRAVE::RobotBase::SetActiveMotion ( TrajectoryBaseConstPtr  ptraj,
dReal  fSpeed 
)
virtual
Deprecated:
(11/10/04)

Definition at line 2119 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineRotation3DLimits ( const Vector lower,
const Vector upper 
)
virtual

Definition at line 394 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineRotation3DMaxVels ( const Vector vels)
virtual

Definition at line 421 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineRotation3DResolution ( const Vector resolution)
virtual

Definition at line 441 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineRotation3DWeights ( const Vector weights)
virtual

Definition at line 461 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineRotationAxisLimits ( const Vector lower,
const Vector upper 
)
virtual

Definition at line 388 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineRotationAxisMaxVels ( const Vector vels)
virtual

Definition at line 416 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineRotationAxisResolution ( const Vector resolution)
virtual

Definition at line 436 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineRotationAxisWeights ( const Vector weights)
virtual

Definition at line 456 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineRotationQuatLimits ( const Vector quatangle)
virtual

sets the quaternion limits using a starting rotation and the max angle deviation from it.

Parameters
quatanglequaternion_start * max_angle. acos(q dot quaternion_start) <= max_angle. If max_angle is 0, then will take the current transform of the robot

Definition at line 400 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineRotationQuatMaxVels ( dReal  vels)
virtual

Definition at line 426 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineRotationQuatResolution ( dReal  resolution)
virtual

Definition at line 446 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineRotationQuatWeights ( dReal  weights)
virtual

Definition at line 466 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineTranslationLimits ( const Vector lower,
const Vector upper 
)
virtual

Definition at line 382 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineTranslationMaxVels ( const Vector vels)
virtual

Definition at line 411 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineTranslationResolution ( const Vector resolution)
virtual

Definition at line 431 of file robot.cpp.

void OpenRAVE::RobotBase::SetAffineTranslationWeights ( const Vector weights)
virtual

Definition at line 451 of file robot.cpp.

bool OpenRAVE::RobotBase::SetController ( ControllerBasePtr  controller,
const std::vector< int > &  dofindices,
int  nControlTransformation 
)
virtual

set a controller for a robot

Parameters
pController- if NULL, sets the controller of this robot to NULL. otherwise attemps to set the controller to this robot.
args- the argument list to pass when initializing the controller

Definition at line 276 of file robot.cpp.

void OpenRAVE::RobotBase::SetDOFValues ( const std::vector< dReal > &  values,
uint32_t  checklimits = 1,
const std::vector< int > &  dofindices = std::vector<int>() 
)
virtual

Sets the joint values of the robot.

Parameters
valuesthe values to set the joint angles (ordered by the dof indices)
[in]checklimitsone of CheckLimitsAction and will excplicitly check the joint limits before setting the values and clamp them.
dofindicesthe dof indices to return the values for. If empty, will compute for all the dofs

Reimplemented from OpenRAVE::KinBody.

Definition at line 298 of file robot.cpp.

void OpenRAVE::RobotBase::SetDOFValues ( const std::vector< dReal > &  values,
const Transform transform,
uint32_t  checklimits = 1 
)
virtual

Sets the joint values and transformation of the body.

Parameters
valuesthe values to set the joint angles (ordered by the dof indices)
transformrepresents the transformation of the first body.
[in]checklimitsone of CheckLimitsAction and will excplicitly check the joint limits before setting the values and clamp them.

Reimplemented from OpenRAVE::KinBody.

Definition at line 305 of file robot.cpp.

void OpenRAVE::RobotBase::SetDOFVelocities ( const std::vector< dReal > &  dofvelocities,
const Vector linearvel,
const Vector angularvel,
uint32_t  checklimits = 1 
)
virtual

Sets the velocity of the base link and each of the joints.

Computes internally what the correponding velocities of each of the links should be in order to achieve consistent results with the joint velocities. Sends the velocities to the physics engine. Velocities correspond to the link's coordinate system origin.

Parameters
[in]linearvellinear velocity of base link
[in]angularvelangular velocity rotation_axis*theta_dot
[in]dofvelocities- velocities of each of the degrees of freeom
[in]checklimitsone of CheckLimitsAction and will excplicitly check the joint velocity limits before setting the values and clamp them.

Reimplemented from OpenRAVE::KinBody.

Definition at line 340 of file robot.cpp.

void OpenRAVE::RobotBase::SetDOFVelocities ( const std::vector< dReal > &  dofvelocities,
uint32_t  checklimits = 1,
const std::vector< int > &  dofindices = std::vector<int>() 
)
virtual

Sets the velocity of the joints.

Copies the current velocity of the base link and calls SetDOFVelocities(linearvel,angularvel,vDOFVelocities)

Parameters
[in]dofvelocities- velocities of each of the degrees of freeom
[in]checklimitsif >0, will excplicitly check the joint velocity limits before setting the values and clamp them. If == 1, then will warn if the limits are overboard, if == 2, then will not warn (used for code that knows it's giving bad values)
dofindicesthe dof indices to return the values for. If empty, will compute for all the dofs

Reimplemented from OpenRAVE::KinBody.

Definition at line 347 of file robot.cpp.

void OpenRAVE::RobotBase::SetLinkTransformations ( const std::vector< Transform > &  transforms)
virtual

sets the transformations of all the links at once

Reimplemented from OpenRAVE::KinBody.

Definition at line 310 of file robot.cpp.

void OpenRAVE::RobotBase::SetLinkTransformations ( const std::vector< Transform > &  transforms,
const std::vector< int > &  dofbranches 
)
virtual

sets the transformations of all the links and dof branches at once.

Using dof branches allows the full joint state to be recovered

Reimplemented from OpenRAVE::KinBody.

Definition at line 317 of file robot.cpp.

bool OpenRAVE::RobotBase::SetMotion ( TrajectoryBaseConstPtr  ptraj)
virtual
Deprecated:
(11/10/04) send directly through controller

Definition at line 2103 of file robot.cpp.

void OpenRAVE::RobotBase::SetName ( const std::string &  name)
virtual

Set the name of the body, notifies the environment and checks for uniqueness.

Reimplemented from OpenRAVE::KinBody.

Definition at line 282 of file robot.cpp.

void OpenRAVE::RobotBase::SetTransform ( const Transform trans)
virtual
See Also
SetTransform Also transforms the robot and updates the attached sensors and grabbed bodies.

Reimplemented from OpenRAVE::KinBody.

Definition at line 324 of file robot.cpp.

bool OpenRAVE::RobotBase::SetVelocity ( const Vector linearvel,
const Vector angularvel 
)
virtual

Set the velocity of the base link, rest of links are set to a consistent velocity so entire robot moves correctly.

Parameters
linearvellinear velocity
angularvelis the rotation axis * angular speed

Reimplemented from OpenRAVE::KinBody.

Definition at line 331 of file robot.cpp.

RobotBasePtr OpenRAVE::RobotBase::shared_robot ( )
inlineprotected

Definition at line 885 of file robot.h.

RobotBaseConstPtr OpenRAVE::RobotBase::shared_robot_const ( ) const
inlineprotected

Definition at line 888 of file robot.h.

void OpenRAVE::RobotBase::SimulationStep ( dReal  fElapsedTime)
virtual

Simulate the robot and update the grabbed bodies and attached sensors.

Do not call SimulationStep for the attached sensors in this function.

Reimplemented from OpenRAVE::KinBody.

Definition at line 1818 of file robot.cpp.

void OpenRAVE::RobotBase::SubtractActiveDOFValues ( std::vector< dReal > &  q1,
const std::vector< dReal > &  q2 
) const
virtual

computes the configuration difference q1-q2 and stores it in q1. Takes into account joint limits and circular joints

Definition at line 916 of file robot.cpp.

Member Data Documentation

ConfigurationSpecification OpenRAVE::RobotBase::_activespec
protected

Definition at line 923 of file robot.h.

dReal OpenRAVE::RobotBase::_fQuatAngleResolution
protected

Definition at line 921 of file robot.h.

dReal OpenRAVE::RobotBase::_fQuatAngleWeight
protected

Definition at line 921 of file robot.h.

dReal OpenRAVE::RobotBase::_fQuatLimitMaxAngle
protected

Definition at line 921 of file robot.h.

dReal OpenRAVE::RobotBase::_fQuatMaxAngleVelocity
protected

Definition at line 921 of file robot.h.

int OpenRAVE::RobotBase::_nActiveDOF
protected

Active degrees of freedom; if -1, use robot dofs.

Definition at line 913 of file robot.h.

int OpenRAVE::RobotBase::_nAffineDOFs
protected

dofs describe what affine transformations are allowed

Definition at line 914 of file robot.h.

ManipulatorPtr OpenRAVE::RobotBase::_pManipActive
protected

Definition at line 907 of file robot.h.

std::vector<int> OpenRAVE::RobotBase::_vActiveDOFIndices
protected

Definition at line 911 of file robot.h.

std::vector<int> OpenRAVE::RobotBase::_vAllDOFIndices
protected

Definition at line 911 of file robot.h.

std::vector<ManipulatorPtr> OpenRAVE::RobotBase::_vecManipulators
protected
See Also
GetManipulators

Definition at line 906 of file robot.h.

std::vector<AttachedSensorPtr> OpenRAVE::RobotBase::_vecSensors
protected
See Also
GetAttachedSensors

Definition at line 909 of file robot.h.

std::vector<UserDataPtr> OpenRAVE::RobotBase::_vGrabbedBodies
protected

vector of grabbed bodies

Definition at line 903 of file robot.h.

Vector OpenRAVE::RobotBase::_vRotation3DLowerLimits
protected

Definition at line 919 of file robot.h.

Vector OpenRAVE::RobotBase::_vRotation3DMaxVels
protected

Definition at line 919 of file robot.h.

Vector OpenRAVE::RobotBase::_vRotation3DResolutions
protected

Definition at line 919 of file robot.h.

Vector OpenRAVE::RobotBase::_vRotation3DUpperLimits
protected

Definition at line 919 of file robot.h.

Vector OpenRAVE::RobotBase::_vRotation3DWeights
protected

Definition at line 919 of file robot.h.

Vector OpenRAVE::RobotBase::_vRotationAxisLowerLimits
protected

the xyz components are used if the rotation axis is solely about X,Y,or Z; otherwise the W component is used.

Definition at line 918 of file robot.h.

Vector OpenRAVE::RobotBase::_vRotationAxisMaxVels
protected

Definition at line 918 of file robot.h.

Vector OpenRAVE::RobotBase::_vRotationAxisResolutions
protected

Definition at line 918 of file robot.h.

Vector OpenRAVE::RobotBase::_vRotationAxisUpperLimits
protected

Definition at line 918 of file robot.h.

Vector OpenRAVE::RobotBase::_vRotationAxisWeights
protected

Definition at line 918 of file robot.h.

Vector OpenRAVE::RobotBase::_vRotationQuatLimitStart
protected

Definition at line 920 of file robot.h.

Vector OpenRAVE::RobotBase::_vTranslationLowerLimits
protected

Definition at line 916 of file robot.h.

Vector OpenRAVE::RobotBase::_vTranslationMaxVels
protected

Definition at line 916 of file robot.h.

Vector OpenRAVE::RobotBase::_vTranslationResolutions
protected

Definition at line 916 of file robot.h.

Vector OpenRAVE::RobotBase::_vTranslationUpperLimits
protected

Definition at line 916 of file robot.h.

Vector OpenRAVE::RobotBase::_vTranslationWeights
protected

Definition at line 916 of file robot.h.

const DOFAffine DOF_NoTransform OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_NoTransform
static
Deprecated:
(11/10/04), use OpenRAVE:: global variables

Definition at line 538 of file robot.h.

const DOFAffine DOF_X OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_X
static

Definition at line 539 of file robot.h.

const DOFAffine DOF_Y OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_Y
static

Definition at line 540 of file robot.h.

const DOFAffine DOF_Z OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_Z
static

Definition at line 541 of file robot.h.

const DOFAffine DOF_RotationAxis OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_RotationAxis
static

Definition at line 542 of file robot.h.

const DOFAffine DOF_Rotation3D OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_Rotation3D
static

Definition at line 543 of file robot.h.

const DOFAffine DOF_RotationQuat OpenRAVE::RobotBase::RAVE_DEPRECATED = OpenRAVE::DOF_RotationQuat
static

Definition at line 544 of file robot.h.

Vector OpenRAVE::RobotBase::vActvAffineRotationAxis
protected

Definition at line 912 of file robot.h.


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