#include <RoboticsPlugin/Include/ImFusion/Robotics/Model/RobotModel.h>

Holds the description of a robot arm as a tree of links, kept together by joints (fixed or mobile). More...

Detailed Description

Holds the description of a robot arm as a tree of links, kept together by joints (fixed or mobile).

Multiple kinematic chains can be defined on the tree, selecting a contiguous set of segments (combination of a joint and a link). A single kinematic chain can be active at a time, and it will be used for the kinematic queries.

Classes
struct	NotableFrames
	Name of frames that identify the base, flange and end effector links within the URDF link tree. More...

Public Types
enum class	ValidStateType { Minimum , Average , Maximum }
	Point of the joint range to be used to generate a joint state satisfying the limits.

Public Member Functions
	RobotModel (RobotModel &&)

RobotModel &	operator= (RobotModel &&)

std::shared_ptr< const RobotTree >	robotTree () const

const RobotTree *	robotTreeRef () const

std::unique_ptr< RobotSolver >	generateSolver () const

std::unique_ptr< RobotSolverAsync >	generateSolverAsync () const

std::optional< RobotArmCartesianState >	forwardKinematics (const JointPosition &jointPosition) const

InverseKinematicsSolution	inverseKinematics (const isom3 &base_T_effector_goal, JointPosition init={}) const

InverseKinematicsVelSolution	inverseKinematicsVel (const mat4 &goalVelocity, const JointPosition &jointPosition) const

InverseKinematicsVelSolution	inverseKinematicsVel (const vec3 &goalTranslVelocity, const vec3 &goalRotVelocity, const JointPosition &jointPosition) const

JacobianSolution	computeJacobian (const JointPosition &jointPosition) const

GravitySolution	computeGravity (const JointPosition &jointPosition) const

CoriolisSolution	computeCoriolis (const JointPosition &jointPosition, const JointVelocity &jointVelocity) const

std::shared_ptr< const RobotGroup >	mainGroup () const

RobotGroupPtr	group () const

const RobotGroupMap *	groups () const

std::optional< RobotGroupPtr >	group (const std::string &name) const

JointState	validJointState (ValidStateType type=ValidStateType::Minimum) const

JointState	validJointState (double initVal) const

std::shared_ptr< const RobotDescription >	robotDescription () const

std::shared_ptr< const RobotGUIProperties >	guiProperties () const

std::shared_ptr< const std::vector< std::string > >	linkNames () const

std::string	baseName () const

std::optional< std::string >	flangeName () const

std::string	endEffectorName () const

std::vector< std::string >	planningGroupNames () const

virtual size_t	numberOfJoints () const

std::vector< std::string >	jointNames (bool onlyActive=true) const

const isom3 &	base_T_controllerBase () const

isom3	flange_T_effector_original () const

std::map< std::string, SavedGroupState >	groupStates () const

std::shared_ptr< const RobotDescription >	description () const

Static Public Member Functions
static RobotModel	loadFromFiles (const Filesystem::Path &resourcePrefix, const Filesystem::Path &urdfPath, const Filesystem::Path &srdfPath, const std::string &group, const NotableFrames &baseFlangeEffectorLinks={"", "", ""})
	Constructs a RobotModel from a ROS URDF and an SRDF.

static RobotModel	loadFromBuffers (const Filesystem::Path &resourcePrefix, const std::string &urdf, const std::string &srdf, const std::string &group, const NotableFrames &baseFlangeEffectorLinks={"", "", ""})

Member Function Documentation

◆ loadFromFiles()

static RobotModel loadFromFiles	(	const Filesystem::Path &	resourcePrefix,
		const Filesystem::Path &	urdfPath,
		const Filesystem::Path &	srdfPath,
		const std::string &	group,
		const NotableFrames &	baseFlangeEffectorLinks = {"", "", ""} )

static

Constructs a RobotModel from a ROS URDF and an SRDF.

Note: supports only one end effector.

Parameters

resourcePrefix	If any path to or in the URDF or the SRDF are relative, this prefix will be prepended
urdfPath	Path to the URDF
srdfPath	Path to the SRDF, used to determine the default kinematic chain, named joint positions and the joint limits
baseFlangeEffectorLinks	Can be used to override the default kinematic chain

◆ groupStates()

std::map< std::string, SavedGroupState > groupStates ( ) const

Deprecated: "Use group(name)->states() instead"

◆ description()

std::shared_ptr< const RobotDescription > description ( ) const

inline

Deprecated: "Use robotDescription() instead"

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

RoboticsPlugin/Include/ImFusion/Robotics/Model/RobotModel.h

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Member Function Documentation

◆ loadFromFiles()

◆ groupStates()

◆ description()