#include <joint_model_group.h>

Collaboration diagram for moveit::core::JointModelGroup:

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Classes
struct	GroupMimicUpdate

struct	KinematicsSolver

Public Types
using	KinematicsSolverMap = std::map< const JointModelGroup *, KinematicsSolver >
	Map from group instances to allocator functions & bijections.

Public Member Functions
	JointModelGroup (const std::string &name, const srdf::Model::Group &config, const std::vector< const JointModel * > &joint_vector, const RobotModel *parent_model)

	~JointModelGroup ()

const RobotModel &	getParentModel () const
	Get the kinematic model this group is part of.

const std::string &	getName () const
	Get the name of the joint group.

const srdf::Model::Group &	getConfig () const
	get the SRDF configuration this group is based on

bool	hasJointModel (const std::string &joint) const
	Check if a joint is part of this group.

bool	hasLinkModel (const std::string &link) const
	Check if a link is part of this group.

const JointModel *	getJointModel (const std::string &joint) const
	Get a joint by its name. Throw an exception if the joint is not part of this group.

const LinkModel *	getLinkModel (const std::string &link) const
	Get a link by its name. Throw an exception if the link is not part of this group.

const std::vector< const JointModel * > &	getJointModels () const
	Get all the joints in this group (including fixed and mimic joints).

const std::vector< std::string > &	getJointModelNames () const
	Get the names of the joints in this group. These are the names of the joints returned by getJointModels().

const std::vector< const JointModel * > &	getActiveJointModels () const
	Get the active joints in this group (that have controllable DOF). This does not include mimic joints.

const std::vector< std::string > &	getActiveJointModelNames () const
	Get the names of the active joints in this group. These are the names of the joints returned by getJointModels().

const std::vector< const JointModel * > &	getFixedJointModels () const
	Get the fixed joints that are part of this group.

const std::vector< const JointModel * > &	getMimicJointModels () const
	Get the mimic joints that are part of this group.

const std::vector< const JointModel * > &	getContinuousJointModels () const
	Get the array of continuous joints used in this group (may include mimic joints).

const std::vector< std::string > &	getVariableNames () const
	Get the names of the variables that make up the joints included in this group. The number of returned elements is always equal to getVariableCount(). This includes mimic joints.

const std::vector< const JointModel * > &	getJointRoots () const
	Unlike a complete kinematic model, a group may contain disconnected parts of the kinematic tree – a set of smaller trees. This function gives the roots of those smaller trees. Furthermore, it is ensured that the roots are on different branches in the kinematic tree. This means that in following any root in the given list, none of the other returned roots will be encountered.

const JointModel *	getCommonRoot () const
	Get the common root of all joint roots; not necessarily part of this group.

const std::vector< const LinkModel * > &	getLinkModels () const
	Get the links that are part of this joint group.

const std::vector< std::string > &	getLinkModelNames () const
	Get the names of the links that are part of this joint group.

const std::vector< std::string > &	getLinkModelNamesWithCollisionGeometry () const
	Get the names of the links that are part of this joint group and also have geometry associated with them.

const std::vector< const LinkModel * > &	getUpdatedLinkModels () const
	Get the names of the links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated. The order is the correct order for updating the corresponding states.

const std::set< const LinkModel * > &	getUpdatedLinkModelsSet () const
	Return the same data as getUpdatedLinkModels() but as a set.

const std::vector< std::string > &	getUpdatedLinkModelNames () const
	Get the names of the links returned by getUpdatedLinkModels()

const std::vector< const LinkModel * > &	getUpdatedLinkModelsWithGeometry () const
	Get the names of the links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated.

const std::set< const LinkModel * > &	getUpdatedLinkModelsWithGeometrySet () const
	Return the same data as getUpdatedLinkModelsWithGeometry() but as a set.

const std::vector< std::string > &	getUpdatedLinkModelsWithGeometryNames () const
	Get the names of the links returned by getUpdatedLinkModels()

const std::set< std::string > &	getUpdatedLinkModelsWithGeometryNamesSet () const
	Get the names of the links returned by getUpdatedLinkModels()

bool	isLinkUpdated (const std::string &name) const
	True if this name is in the set of links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated.

const std::vector< int > &	getVariableIndexList () const
	Get the index locations in the complete robot state for all the variables in this group.

int	getVariableGroupIndex (const std::string &variable) const
	Get the index of a variable within the group. Return -1 on error.

const std::vector< std::string > &	getDefaultStateNames () const
	Get the names of the known default states (as specified in the SRDF)

void	addDefaultState (const std::string &name, const std::map< std::string, double > &default_state)

bool	getVariableDefaultPositions (const std::string &name, std::map< std::string, double > &values) const
	Get the values that correspond to a named state as read from the URDF. Return false on failure.

void	getVariableDefaultPositions (std::map< std::string, double > &values) const
	Compute the default values for the joint group.

void	getVariableDefaultPositions (std::vector< double > &values) const
	Compute the default values for the joint group.

void	getVariableDefaultPositions (double *values) const
	Compute the default values for the joint group.

void	getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values) const
	Compute random values for the state of the joint group.

void	getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values) const
	Compute random values for the state of the joint group.

void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double values, const double near, const double distance) const
	Compute random values for the state of the joint group.

void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const std::vector< double > &near, double distance) const
	Compute random values for the state of the joint group.

void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const std::vector< double > &near, const std::map< JointModel::JointType, double > &distance_map) const
	Compute random values for the state of the joint group.

void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double values, const double near, const std::vector< double > &distances) const
	Compute random values for the state of the joint group.

void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const std::vector< double > &near, const std::vector< double > &distances) const
	Compute random values for the state of the joint group.

void	getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values, const JointBoundsVector &active_joint_bounds) const

void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double values, const JointBoundsVector &active_joint_bounds, const double near, const double distance) const
	Compute random values for the state of the joint group.

void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double values, const JointBoundsVector &active_joint_bounds, const double near, const std::map< JointModel::JointType, double > &distance_map) const
	Compute random values for the state of the joint group.

void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double values, const JointBoundsVector &active_joint_bounds, const double near, const std::vector< double > &distances) const
	Compute random values for the state of the joint group.

bool	enforcePositionBounds (double *state) const

bool	enforcePositionBounds (double *state, const JointBoundsVector &active_joint_bounds) const

bool	satisfiesPositionBounds (const double *state, double margin=0.0) const

bool	satisfiesPositionBounds (const double *state, const JointBoundsVector &active_joint_bounds, double margin=0.0) const

double	getMaximumExtent () const

double	getMaximumExtent (const JointBoundsVector &active_joint_bounds) const

double	distance (const double state1, const double state2) const

void	interpolate (const double from, const double to, double t, double *state) const

unsigned int	getVariableCount () const
	Get the number of variables that describe this joint group. This includes variables necessary for mimic joints, so will always be >= getActiveVariableCount()

unsigned int	getActiveVariableCount () const
	Get the number of variables that describe the active joints in this joint group. This excludes variables necessary for mimic joints.

void	setSubgroupNames (const std::vector< std::string > &subgroups)
	Set the names of the subgroups for this group.

const std::vector< std::string > &	getSubgroupNames () const
	Get the names of the groups that are subsets of this one (in terms of joints set)

void	getSubgroups (std::vector< const JointModelGroup * > &sub_groups) const
	Get the groups that are subsets of this one (in terms of joints set)

bool	isSubgroup (const std::string &group) const
	Check if the joints of group group are a subset of the joints in this group.

bool	isChain () const
	Check if this group is a linear chain.

bool	isSingleDOFJoints () const
	Return true if the group consists only of joints that are single DOF.

bool	isEndEffector () const
	Check if this group was designated as an end-effector in the SRDF.

bool	isContiguousWithinState () const

const std::string &	getEndEffectorName () const
	Return the name of the end effector, if this group is an end-effector.

void	setEndEffectorName (const std::string &name)
	Set the name of the end-effector, and remember this group is indeed an end-effector.

void	setEndEffectorParent (const std::string &group, const std::string &link)
	If this group is an end-effector, specify the parent group (e.g., the arm holding the eef) and the link the end effector connects to.

void	attachEndEffector (const std::string &eef_name)
	Notify this group that there is an end-effector attached to it.

const std::pair< std::string, std::string > &	getEndEffectorParentGroup () const
	Get the name of the group this end-effector attaches to (first) and the name of the link in that group (second)

const std::vector< std::string > &	getAttachedEndEffectorNames () const
	Get the names of the end effectors attached to this group.

bool	getEndEffectorTips (std::vector< const LinkModel * > &tips) const
	Get the unique set of end effector tips included in a particular joint model group as defined by the SRDF end effector elements e.g. for a humanoid robot this would return 4 tips for the hands and feet.

bool	getEndEffectorTips (std::vector< std::string > &tips) const
	Get the unique set of end effector tips included in a particular joint model group as defined by the SRDF end effector elements e.g. for a humanoid robot this would return 4 tips for the hands and feet.

const moveit::core::LinkModel *	getOnlyOneEndEffectorTip () const
	Get one end effector tip, throwing an error if there ends up being more in the joint model group This is a useful helper function because most planning groups (almost all) only have one tip.

const JointBoundsVector &	getActiveJointModelsBounds () const
	Get the bounds for all the active joints.

const std::pair< KinematicsSolver, KinematicsSolverMap > &	getGroupKinematics () const

void	setSolverAllocators (const SolverAllocatorFn &solver, const SolverAllocatorMapFn &solver_map=SolverAllocatorMapFn())

void	setSolverAllocators (const std::pair< SolverAllocatorFn, SolverAllocatorMapFn > &solvers)

const kinematics::KinematicsBaseConstPtr	getSolverInstance () const

const kinematics::KinematicsBasePtr &	getSolverInstance ()

bool	canSetStateFromIK (const std::string &tip) const

bool	setRedundantJoints (const std::vector< std::string > &joints)

double	getDefaultIKTimeout () const
	Get the default IK timeout.

void	setDefaultIKTimeout (double ik_timeout)
	Set the default IK timeout.

const std::vector< size_t > &	getKinematicsSolverJointBijection () const
	Return the mapping between the order of the joints in this group and the order of the joints in the kinematics solver. An element bijection[i] at index i in this array, maps the variable at index bijection[i] in this group to the variable at index i in the kinematic solver.

void	printGroupInfo (std::ostream &out=std::cout) const
	Print information about the constructed model.

bool	isValidVelocityMove (const std::vector< double > &from_joint_pose, const std::vector< double > &to_joint_pose, double dt) const
	Check that the time to move between two waypoints is sufficient given velocity limits.

bool	isValidVelocityMove (const double from_joint_pose, const double to_joint_pose, std::size_t array_size, double dt) const
	Check that the time to move between two waypoints is sufficient given velocity limits.

bool	computeJointVariableIndices (const std::vector< std::string > &joint_names, std::vector< size_t > &joint_bijection) const
	Computes the indices of joint variables given a vector of joint names to look up.

std::pair< Eigen::VectorXd, Eigen::VectorXd >	getLowerAndUpperLimits () const
	Get the lower and upper position limits of all active variables in the group.

std::pair< Eigen::VectorXd, Eigen::VectorXd >	getMaxVelocitiesAndAccelerationBounds () const
	Gets the pair of maximum joint velocities/accelerations for a given group. Asserts that the group contains only single-variable joints,.

Protected Member Functions
void	updateMimicJoints (double *values) const
	Update the variable values for the state of a group with respect to the mimic joints. This only updates mimic joints that have the parent in this group. If there is a joint mimicking one that is outside the group, there are no values to be read (values is only the group state)

Protected Attributes
const RobotModel *	parent_model_
	Owner model.

std::string	name_
	Name of group.

std::vector< const JointModel * >	joint_model_vector_
	Joint instances in the order they appear in the group state.

std::vector< std::string >	joint_model_name_vector_
	Names of joints in the order they appear in the group state.

std::vector< const JointModel * >	active_joint_model_vector_
	Active joint instances in the order they appear in the group state.

std::vector< std::string >	active_joint_model_name_vector_
	Names of active joints in the order they appear in the group state.

std::vector< const JointModel * >	fixed_joints_
	The joints that have no DOF (fixed)

std::vector< const JointModel * >	mimic_joints_
	Joints that mimic other joints.

std::vector< const JointModel * >	continuous_joint_model_vector_
	The set of continuous joints this group contains.

std::vector< std::string >	variable_names_
	The names of the DOF that make up this group (this is just a sequence of joint variable names; not necessarily joint names!)

std::set< std::string >	variable_names_set_
	The names of the DOF that make up this group (this is just a sequence of joint variable names; not necessarily joint names!)

JointModelMapConst	joint_model_map_
	A map from joint names to their instances. This includes all joints in the group.

std::vector< const JointModel * >	joint_roots_
	The list of active joint models that are roots in this group.

const JointModel *	common_root_
	The joint that is a common root for all joints in this group (not necessarily part of this group)

VariableIndexMap	joint_variables_index_map_
	The group includes all the joint variables that make up the joints the group consists of. This map gives the position in the state vector of the group for each of these variables. Additionally, it includes the names of the joints and the index for the first variable of that joint.

JointBoundsVector	active_joint_models_bounds_
	The bounds for all the active joint models.

std::vector< int >	variable_index_list_
	The list of index values this group includes, with respect to a full robot state; this includes mimic joints.

std::vector< int >	active_joint_model_start_index_
	For each active joint model in this group, hold the index at which the corresponding joint state starts in the group state.

std::vector< const LinkModel * >	link_model_vector_
	The links that are on the direct lineage between joints and joint_roots_, as well as the children of the joint leafs. May not be in any particular order.

LinkModelMapConst	link_model_map_
	A map from link names to their instances.

std::vector< std::string >	link_model_name_vector_
	The names of the links in this group.

std::vector< const LinkModel * >	link_model_with_geometry_vector_

std::vector< std::string >	link_model_with_geometry_name_vector_
	The names of the links in this group that also have geometry.

std::vector< const LinkModel * >	updated_link_model_vector_
	The list of downstream link models in the order they should be updated (may include links that are not in this group)

std::set< const LinkModel * >	updated_link_model_set_
	The list of downstream link models in the order they should be updated (may include links that are not in this group)

std::vector< std::string >	updated_link_model_name_vector_
	The list of downstream link names in the order they should be updated (may include links that are not in this group)

std::set< std::string >	updated_link_model_name_set_
	The list of downstream link names in the order they should be updated (may include links that are not in this group)

std::vector< const LinkModel * >	updated_link_model_with_geometry_vector_
	The list of downstream link models in the order they should be updated (may include links that are not in this group)

std::set< const LinkModel * >	updated_link_model_with_geometry_set_
	The list of downstream link models in the order they should be updated (may include links that are not in this group)

std::vector< std::string >	updated_link_model_with_geometry_name_vector_
	The list of downstream link names in the order they should be updated (may include links that are not in this group)

std::set< std::string >	updated_link_model_with_geometry_name_set_
	The list of downstream link names in the order they should be updated (may include links that are not in this group)

unsigned int	variable_count_
	The number of variables necessary to describe this group of joints.

unsigned int	active_variable_count_
	The number of variables necessary to describe the active joints in this group of joints.

bool	is_contiguous_index_list_
	True if the state of this group is contiguous within the full robot state; this also means that the index values in variable_index_list_ are consecutive integers.

std::vector< std::string >	subgroup_names_
	The set of labelled subgroups that are included in this group.

std::set< std::string >	subgroup_names_set_
	The set of labelled subgroups that are included in this group.

std::vector< std::string >	attached_end_effector_names_
	If an end-effector is attached to this group, the name of that end-effector is stored in this variable.

std::pair< std::string, std::string >	end_effector_parent_
	First: name of the group that is parent to this end-effector group; Second: the link this in the parent group that this group attaches to.

std::string	end_effector_name_
	The name of the end effector, if this group is an end-effector.

bool	is_chain_

bool	is_single_dof_

std::vector< GroupMimicUpdate >	group_mimic_update_

std::pair< KinematicsSolver, KinematicsSolverMap >	group_kinematics_

srdf::Model::Group	config_

std::map< std::string, std::map< std::string, double > >	default_states_
	The set of default states specified for this group in the SRDF.

std::vector< std::string >	default_states_names_
	The names of the default states specified for this group in the SRDF.

Detailed Description

Definition at line 69 of file joint_model_group.h.

Member Typedef Documentation

◆ KinematicsSolverMap

using moveit::core::JointModelGroup::KinematicsSolverMap = std::map<const JointModelGroup*, KinematicsSolver>

Map from group instances to allocator functions & bijections.

Definition at line 106 of file joint_model_group.h.

Constructor & Destructor Documentation

◆ JointModelGroup()

moveit::core::JointModelGroup::JointModelGroup	(	const std::string &	name,
		const srdf::Model::Group &	config,
		const std::vector< const JointModel * > &	joint_vector,
		const RobotModel *	parent_model
	)

Definition at line 115 of file joint_model_group.cpp.

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◆ ~JointModelGroup()

moveit::core::JointModelGroup::~JointModelGroup ( )

default

Member Function Documentation

◆ addDefaultState()

void moveit::core::JointModelGroup::addDefaultState	(	const std::string &	name,
		const std::map< std::string, double > &	default_state
	)

Definition at line 495 of file joint_model_group.cpp.

◆ attachEndEffector()

void moveit::core::JointModelGroup::attachEndEffector ( const std::string & eef_name )

Notify this group that there is an end-effector attached to it.

Definition at line 536 of file joint_model_group.cpp.

◆ canSetStateFromIK()

bool moveit::core::JointModelGroup::canSetStateFromIK ( const std::string & tip ) const

Definition at line 681 of file joint_model_group.cpp.

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◆ computeJointVariableIndices()

bool moveit::core::JointModelGroup::computeJointVariableIndices	(	const std::vector< std::string > &	joint_names,
		std::vector< size_t > &	joint_bijection
	)		const

Computes the indices of joint variables given a vector of joint names to look up.

Definition at line 621 of file joint_model_group.cpp.

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◆ distance()

double moveit::core::JointModelGroup::distance	(	const double *	state1,
		const double *	state2
	)		const

Definition at line 462 of file joint_model_group.cpp.

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◆ enforcePositionBounds() [1/2]

bool moveit::core::JointModelGroup::enforcePositionBounds ( double * state ) const

inline

Definition at line 386 of file joint_model_group.h.

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◆ enforcePositionBounds() [2/2]

bool moveit::core::JointModelGroup::enforcePositionBounds	(	double *	state,
		const JointBoundsVector &	active_joint_bounds
	)		const

Definition at line 436 of file joint_model_group.cpp.

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◆ getActiveJointModelNames()

const std::vector< std::string > & moveit::core::JointModelGroup::getActiveJointModelNames ( ) const

inline

Get the names of the active joints in this group. These are the names of the joints returned by getJointModels().

Definition at line 164 of file joint_model_group.h.

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◆ getActiveJointModels()

const std::vector< const JointModel * > & moveit::core::JointModelGroup::getActiveJointModels ( ) const

inline

Get the active joints in this group (that have controllable DOF). This does not include mimic joints.

Definition at line 157 of file joint_model_group.h.

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◆ getActiveJointModelsBounds()

const JointBoundsVector & moveit::core::JointModelGroup::getActiveJointModelsBounds ( ) const

inline

Get the bounds for all the active joints.

Definition at line 519 of file joint_model_group.h.

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◆ getActiveVariableCount()

unsigned int moveit::core::JointModelGroup::getActiveVariableCount ( ) const

inline

Get the number of variables that describe the active joints in this joint group. This excludes variables necessary for mimic joints.

Definition at line 417 of file joint_model_group.h.

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◆ getAttachedEndEffectorNames()

const std::vector< std::string > & moveit::core::JointModelGroup::getAttachedEndEffectorNames ( ) const

inline

Get the names of the end effectors attached to this group.

Definition at line 488 of file joint_model_group.h.

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◆ getCommonRoot()

const JointModel * moveit::core::JointModelGroup::getCommonRoot ( ) const

inline

Get the common root of all joint roots; not necessarily part of this group.

Definition at line 207 of file joint_model_group.h.

◆ getConfig()

const srdf::Model::Group & moveit::core::JointModelGroup::getConfig ( ) const

inline

get the SRDF configuration this group is based on

Definition at line 126 of file joint_model_group.h.

◆ getContinuousJointModels()

const std::vector< const JointModel * > & moveit::core::JointModelGroup::getContinuousJointModels ( ) const

inline

Get the array of continuous joints used in this group (may include mimic joints).

Definition at line 182 of file joint_model_group.h.

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◆ getDefaultIKTimeout()

double moveit::core::JointModelGroup::getDefaultIKTimeout ( ) const

inline

Get the default IK timeout.

Definition at line 557 of file joint_model_group.h.

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◆ getDefaultStateNames()

const std::vector< std::string > & moveit::core::JointModelGroup::getDefaultStateNames ( ) const

inline

Get the names of the known default states (as specified in the SRDF)

Definition at line 295 of file joint_model_group.h.

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◆ getEndEffectorName()

const std::string & moveit::core::JointModelGroup::getEndEffectorName ( ) const

inline

Return the name of the end effector, if this group is an end-effector.

Definition at line 464 of file joint_model_group.h.

◆ getEndEffectorParentGroup()

const std::pair< std::string, std::string > & moveit::core::JointModelGroup::getEndEffectorParentGroup ( ) const

inline

Get the name of the group this end-effector attaches to (first) and the name of the link in that group (second)

Definition at line 482 of file joint_model_group.h.

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◆ getEndEffectorTips() [1/2]

bool moveit::core::JointModelGroup::getEndEffectorTips ( std::vector< const LinkModel * > & tips ) const

Get the unique set of end effector tips included in a particular joint model group as defined by the SRDF end effector elements e.g. for a humanoid robot this would return 4 tips for the hands and feet.

Parameters

tips	- the output vector of link models of the tips

Returns: true on success

Definition at line 555 of file joint_model_group.cpp.

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◆ getEndEffectorTips() [2/2]

bool moveit::core::JointModelGroup::getEndEffectorTips ( std::vector< std::string > & tips ) const

Get the unique set of end effector tips included in a particular joint model group as defined by the SRDF end effector elements e.g. for a humanoid robot this would return 4 tips for the hands and feet.

Parameters

tips	- the output vector of link names of the tips

Returns: true on success

Definition at line 541 of file joint_model_group.cpp.

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◆ getFixedJointModels()

const std::vector< const JointModel * > & moveit::core::JointModelGroup::getFixedJointModels ( ) const

inline

Get the fixed joints that are part of this group.

Definition at line 170 of file joint_model_group.h.

◆ getGroupKinematics()

const std::pair< KinematicsSolver, KinematicsSolverMap > & moveit::core::JointModelGroup::getGroupKinematics ( ) const

inline

Definition at line 524 of file joint_model_group.h.

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◆ getJointModel()

const JointModel * moveit::core::JointModelGroup::getJointModel ( const std::string & joint ) const

Get a joint by its name. Throw an exception if the joint is not part of this group.

Definition at line 337 of file joint_model_group.cpp.

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◆ getJointModelNames()

const std::vector< std::string > & moveit::core::JointModelGroup::getJointModelNames ( ) const

inline

Get the names of the joints in this group. These are the names of the joints returned by getJointModels().

Definition at line 151 of file joint_model_group.h.

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◆ getJointModels()

const std::vector< const JointModel * > & moveit::core::JointModelGroup::getJointModels ( ) const

inline

Get all the joints in this group (including fixed and mimic joints).

Definition at line 144 of file joint_model_group.h.

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◆ getJointRoots()

const std::vector< const JointModel * > & moveit::core::JointModelGroup::getJointRoots ( ) const

inline

Unlike a complete kinematic model, a group may contain disconnected parts of the kinematic tree – a set of smaller trees. This function gives the roots of those smaller trees. Furthermore, it is ensured that the roots are on different branches in the kinematic tree. This means that in following any root in the given list, none of the other returned roots will be encountered.

Definition at line 201 of file joint_model_group.h.

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◆ getKinematicsSolverJointBijection()

const std::vector< size_t > & moveit::core::JointModelGroup::getKinematicsSolverJointBijection ( ) const

inline

Return the mapping between the order of the joints in this group and the order of the joints in the kinematics solver. An element bijection[i] at index i in this array, maps the variable at index bijection[i] in this group to the variable at index i in the kinematic solver.

Definition at line 569 of file joint_model_group.h.

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◆ getLinkModel()

const LinkModel * moveit::core::JointModelGroup::getLinkModel ( const std::string & link ) const

Get a link by its name. Throw an exception if the link is not part of this group.

Definition at line 326 of file joint_model_group.cpp.

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◆ getLinkModelNames()

const std::vector< std::string > & moveit::core::JointModelGroup::getLinkModelNames ( ) const

inline

Get the names of the links that are part of this joint group.

Definition at line 219 of file joint_model_group.h.

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◆ getLinkModelNamesWithCollisionGeometry()

const std::vector< std::string > & moveit::core::JointModelGroup::getLinkModelNamesWithCollisionGeometry ( ) const

inline

Get the names of the links that are part of this joint group and also have geometry associated with them.

Definition at line 225 of file joint_model_group.h.

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◆ getLinkModels()

const std::vector< const LinkModel * > & moveit::core::JointModelGroup::getLinkModels ( ) const

inline

Get the links that are part of this joint group.

Definition at line 213 of file joint_model_group.h.

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◆ getLowerAndUpperLimits()

std::pair< Eigen::VectorXd, Eigen::VectorXd > moveit::core::JointModelGroup::getLowerAndUpperLimits ( ) const

Get the lower and upper position limits of all active variables in the group.

Returns: std::pair<Eigen::VectorXd, Eigen::VectorXd> Containing the lower and upper joint limits for all active variables.

Definition at line 835 of file joint_model_group.cpp.

◆ getMaximumExtent() [1/2]

double moveit::core::JointModelGroup::getMaximumExtent ( ) const

inline

Definition at line 399 of file joint_model_group.h.

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◆ getMaximumExtent() [2/2]

double moveit::core::JointModelGroup::getMaximumExtent ( const JointBoundsVector & active_joint_bounds ) const

Definition at line 451 of file joint_model_group.cpp.

◆ getMaxVelocitiesAndAccelerationBounds()

std::pair< Eigen::VectorXd, Eigen::VectorXd > moveit::core::JointModelGroup::getMaxVelocitiesAndAccelerationBounds ( ) const

Gets the pair of maximum joint velocities/accelerations for a given group. Asserts that the group contains only single-variable joints,.

In case of asymmetric velocity or acceleration limits, this function will return the most limiting component.

Returns: std::pair<Eigen::VectorXd, Eigen::VectorXd> Containing the velocity and acceleration limits

Definition at line 853 of file joint_model_group.cpp.

◆ getMimicJointModels()

const std::vector< const JointModel * > & moveit::core::JointModelGroup::getMimicJointModels ( ) const

inline

Get the mimic joints that are part of this group.

Definition at line 176 of file joint_model_group.h.

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◆ getName()

const std::string & moveit::core::JointModelGroup::getName ( ) const

inline

Get the name of the joint group.

Definition at line 120 of file joint_model_group.h.

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◆ getOnlyOneEndEffectorTip()

const LinkModel * moveit::core::JointModelGroup::getOnlyOneEndEffectorTip ( ) const

Get one end effector tip, throwing an error if there ends up being more in the joint model group This is a useful helper function because most planning groups (almost all) only have one tip.

Returns: pointer to LinkModel, or nullptr on failure

Definition at line 582 of file joint_model_group.cpp.

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◆ getParentModel()

const RobotModel & moveit::core::JointModelGroup::getParentModel ( ) const

inline

Get the kinematic model this group is part of.

Definition at line 114 of file joint_model_group.h.

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◆ getSolverInstance() [1/2]

const kinematics::KinematicsBasePtr & moveit::core::JointModelGroup::getSolverInstance ( )

inline

Definition at line 542 of file joint_model_group.h.

◆ getSolverInstance() [2/2]

const kinematics::KinematicsBaseConstPtr moveit::core::JointModelGroup::getSolverInstance ( ) const

inline

Definition at line 537 of file joint_model_group.h.

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◆ getSubgroupNames()

const std::vector< std::string > & moveit::core::JointModelGroup::getSubgroupNames ( ) const

inline

Get the names of the groups that are subsets of this one (in terms of joints set)

Definition at line 426 of file joint_model_group.h.

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◆ getSubgroups()

void moveit::core::JointModelGroup::getSubgroups ( std::vector< const JointModelGroup * > & sub_groups ) const

Get the groups that are subsets of this one (in terms of joints set)

Definition at line 309 of file joint_model_group.cpp.

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◆ getUpdatedLinkModelNames()

const std::vector< std::string > & moveit::core::JointModelGroup::getUpdatedLinkModelNames ( ) const

inline

Get the names of the links returned by getUpdatedLinkModels()

Definition at line 246 of file joint_model_group.h.

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◆ getUpdatedLinkModels()

const std::vector< const LinkModel * > & moveit::core::JointModelGroup::getUpdatedLinkModels ( ) const

inline

Get the names of the links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated. The order is the correct order for updating the corresponding states.

Definition at line 234 of file joint_model_group.h.

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◆ getUpdatedLinkModelsSet()

const std::set< const LinkModel * > & moveit::core::JointModelGroup::getUpdatedLinkModelsSet ( ) const

inline

Return the same data as getUpdatedLinkModels() but as a set.

Definition at line 240 of file joint_model_group.h.

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◆ getUpdatedLinkModelsWithGeometry()

const std::vector< const LinkModel * > & moveit::core::JointModelGroup::getUpdatedLinkModelsWithGeometry ( ) const

inline

Get the names of the links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated.

Definition at line 254 of file joint_model_group.h.

◆ getUpdatedLinkModelsWithGeometryNames()

const std::vector< std::string > & moveit::core::JointModelGroup::getUpdatedLinkModelsWithGeometryNames ( ) const

inline

Get the names of the links returned by getUpdatedLinkModels()

Definition at line 266 of file joint_model_group.h.

◆ getUpdatedLinkModelsWithGeometryNamesSet()

const std::set< std::string > & moveit::core::JointModelGroup::getUpdatedLinkModelsWithGeometryNamesSet ( ) const

inline

Get the names of the links returned by getUpdatedLinkModels()

Definition at line 272 of file joint_model_group.h.

◆ getUpdatedLinkModelsWithGeometrySet()

const std::set< const LinkModel * > & moveit::core::JointModelGroup::getUpdatedLinkModelsWithGeometrySet ( ) const

inline

Return the same data as getUpdatedLinkModelsWithGeometry() but as a set.

Definition at line 260 of file joint_model_group.h.

◆ getVariableCount()

unsigned int moveit::core::JointModelGroup::getVariableCount ( ) const

inline

Get the number of variables that describe this joint group. This includes variables necessary for mimic joints, so will always be >= getActiveVariableCount()

Definition at line 410 of file joint_model_group.h.

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◆ getVariableDefaultPositions() [1/4]

bool moveit::core::JointModelGroup::getVariableDefaultPositions	(	const std::string &	name,
		std::map< std::string, double > &	values
	)		const

Get the values that correspond to a named state as read from the URDF. Return false on failure.

Definition at line 501 of file joint_model_group.cpp.

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◆ getVariableDefaultPositions() [2/4]

void moveit::core::JointModelGroup::getVariableDefaultPositions ( double * values ) const

Compute the default values for the joint group.

Definition at line 510 of file joint_model_group.cpp.

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◆ getVariableDefaultPositions() [3/4]

void moveit::core::JointModelGroup::getVariableDefaultPositions ( std::map< std::string, double > & values ) const

Compute the default values for the joint group.

Definition at line 517 of file joint_model_group.cpp.

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◆ getVariableDefaultPositions() [4/4]

void moveit::core::JointModelGroup::getVariableDefaultPositions ( std::vector< double > & values ) const

inline

Compute the default values for the joint group.

Definition at line 309 of file joint_model_group.h.

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◆ getVariableGroupIndex()

int moveit::core::JointModelGroup::getVariableGroupIndex ( const std::string & variable ) const

Get the index of a variable within the group. Return -1 on error.

Definition at line 601 of file joint_model_group.cpp.

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◆ getVariableIndexList()

const std::vector< int > & moveit::core::JointModelGroup::getVariableIndexList ( ) const

inline

Get the index locations in the complete robot state for all the variables in this group.

Definition at line 286 of file joint_model_group.h.

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◆ getVariableNames()

const std::vector< std::string > & moveit::core::JointModelGroup::getVariableNames ( ) const

inline

Get the names of the variables that make up the joints included in this group. The number of returned elements is always equal to getVariableCount(). This includes mimic joints.

Definition at line 189 of file joint_model_group.h.

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◆ getVariableRandomPositions() [1/3]

void moveit::core::JointModelGroup::getVariableRandomPositions	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values
	)		const

inline

Compute random values for the state of the joint group.

Definition at line 319 of file joint_model_group.h.

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◆ getVariableRandomPositions() [2/3]

void moveit::core::JointModelGroup::getVariableRandomPositions	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values,
		const JointBoundsVector &	active_joint_bounds
	)		const

Definition at line 348 of file joint_model_group.cpp.

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◆ getVariableRandomPositions() [3/3]

void moveit::core::JointModelGroup::getVariableRandomPositions	(	random_numbers::RandomNumberGenerator &	rng,
		std::vector< double > &	values
	)		const

inline

Compute random values for the state of the joint group.

Definition at line 325 of file joint_model_group.h.

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◆ getVariableRandomPositionsNearBy() [1/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values,
		const double *	near,
		const double	distance
	)		const

inline

Compute random values for the state of the joint group.

Definition at line 332 of file joint_model_group.h.

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◆ getVariableRandomPositionsNearBy() [2/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values,
		const double *	near,
		const std::vector< double > &	distances
	)		const

inline

Compute random values for the state of the joint group.

Definition at line 355 of file joint_model_group.h.

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◆ getVariableRandomPositionsNearBy() [3/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values,
		const JointBoundsVector &	active_joint_bounds,
		const double *	near,
		const double	distance
	)		const

Compute random values for the state of the joint group.

Definition at line 361 of file joint_model_group.cpp.

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◆ getVariableRandomPositionsNearBy() [4/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values,
		const JointBoundsVector &	active_joint_bounds,
		const double *	near,
		const std::map< JointModel::JointType, double > &	distance_map
	)		const

Compute random values for the state of the joint group.

Definition at line 376 of file joint_model_group.cpp.

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◆ getVariableRandomPositionsNearBy() [5/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values,
		const JointBoundsVector &	active_joint_bounds,
		const double *	near,
		const std::vector< double > &	distances
	)		const

Compute random values for the state of the joint group.

Definition at line 402 of file joint_model_group.cpp.

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◆ getVariableRandomPositionsNearBy() [6/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy	(	random_numbers::RandomNumberGenerator &	rng,
		std::vector< double > &	values,
		const std::vector< double > &	near,
		const std::map< JointModel::JointType, double > &	distance_map
	)		const

inline

Compute random values for the state of the joint group.

Definition at line 346 of file joint_model_group.h.

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◆ getVariableRandomPositionsNearBy() [7/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy	(	random_numbers::RandomNumberGenerator &	rng,
		std::vector< double > &	values,
		const std::vector< double > &	near,
		const std::vector< double > &	distances
	)		const

inline

Compute random values for the state of the joint group.

Definition at line 361 of file joint_model_group.h.

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◆ getVariableRandomPositionsNearBy() [8/8]

void moveit::core::JointModelGroup::getVariableRandomPositionsNearBy	(	random_numbers::RandomNumberGenerator &	rng,
		std::vector< double > &	values,
		const std::vector< double > &	near,
		double	distance
	)		const

inline

Compute random values for the state of the joint group.

Definition at line 338 of file joint_model_group.h.

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◆ hasJointModel()

bool moveit::core::JointModelGroup::hasJointModel ( const std::string & joint ) const

Check if a joint is part of this group.

Definition at line 316 of file joint_model_group.cpp.

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◆ hasLinkModel()

bool moveit::core::JointModelGroup::hasLinkModel ( const std::string & link ) const

Check if a link is part of this group.

Definition at line 321 of file joint_model_group.cpp.

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◆ interpolate()

void moveit::core::JointModelGroup::interpolate	(	const double *	from,
		const double *	to,
		double	t,
		double *	state
	)		const

Definition at line 474 of file joint_model_group.cpp.

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◆ isChain()

bool moveit::core::JointModelGroup::isChain ( ) const

inline

Check if this group is a linear chain.

Definition at line 441 of file joint_model_group.h.

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◆ isContiguousWithinState()

bool moveit::core::JointModelGroup::isContiguousWithinState ( ) const

inline

Definition at line 458 of file joint_model_group.h.

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◆ isEndEffector()

bool moveit::core::JointModelGroup::isEndEffector ( ) const

inline

Check if this group was designated as an end-effector in the SRDF.

Definition at line 453 of file joint_model_group.h.

◆ isLinkUpdated()

bool moveit::core::JointModelGroup::isLinkUpdated ( const std::string & name ) const

inline

True if this name is in the set of links that are to be updated when the state of this group changes. This includes links that are in the kinematic model but outside this group, if those links are descendants of joints in this group that have their values updated.

Definition at line 280 of file joint_model_group.h.

◆ isSingleDOFJoints()

bool moveit::core::JointModelGroup::isSingleDOFJoints ( ) const

inline

Return true if the group consists only of joints that are single DOF.

Definition at line 447 of file joint_model_group.h.

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◆ isSubgroup()

bool moveit::core::JointModelGroup::isSubgroup ( const std::string & group ) const

inline

Check if the joints of group group are a subset of the joints in this group.

Definition at line 435 of file joint_model_group.h.

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◆ isValidVelocityMove() [1/2]

bool moveit::core::JointModelGroup::isValidVelocityMove	(	const double *	from_joint_pose,
		const double *	to_joint_pose,
		std::size_t	array_size,
		double	dt
	)		const

Check that the time to move between two waypoints is sufficient given velocity limits.

Definition at line 804 of file joint_model_group.cpp.

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◆ isValidVelocityMove() [2/2]

bool moveit::core::JointModelGroup::isValidVelocityMove	(	const std::vector< double > &	from_joint_pose,
		const std::vector< double > &	to_joint_pose,
		double	dt
	)		const

Check that the time to move between two waypoints is sufficient given velocity limits.

Definition at line 791 of file joint_model_group.cpp.

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◆ printGroupInfo()

void moveit::core::JointModelGroup::printGroupInfo ( std::ostream & out = std::cout ) const

Print information about the constructed model.

Definition at line 728 of file joint_model_group.cpp.

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◆ satisfiesPositionBounds() [1/2]

bool moveit::core::JointModelGroup::satisfiesPositionBounds	(	const double *	state,
		const JointBoundsVector &	active_joint_bounds,
		double	margin = `0.0`
	)		const

Definition at line 423 of file joint_model_group.cpp.

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◆ satisfiesPositionBounds() [2/2]

bool moveit::core::JointModelGroup::satisfiesPositionBounds	(	const double *	state,
		double	margin = `0.0`
	)		const

inline

Definition at line 392 of file joint_model_group.h.

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◆ setDefaultIKTimeout()

void moveit::core::JointModelGroup::setDefaultIKTimeout ( double ik_timeout )

Set the default IK timeout.

Definition at line 612 of file joint_model_group.cpp.

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◆ setEndEffectorName()

void moveit::core::JointModelGroup::setEndEffectorName ( const std::string & name )

Set the name of the end-effector, and remember this group is indeed an end-effector.

Definition at line 525 of file joint_model_group.cpp.

◆ setEndEffectorParent()

void moveit::core::JointModelGroup::setEndEffectorParent	(	const std::string &	group,
		const std::string &	link
	)

If this group is an end-effector, specify the parent group (e.g., the arm holding the eef) and the link the end effector connects to.

Definition at line 530 of file joint_model_group.cpp.

◆ setRedundantJoints()

bool moveit::core::JointModelGroup::setRedundantJoints ( const std::vector< std::string > & joints )

inline

Definition at line 549 of file joint_model_group.h.

◆ setSolverAllocators() [1/2]

void moveit::core::JointModelGroup::setSolverAllocators	(	const SolverAllocatorFn &	solver,
		const SolverAllocatorMapFn &	solver_map = `SolverAllocatorMapFn()`
	)

inline

Definition at line 529 of file joint_model_group.h.

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◆ setSolverAllocators() [2/2]

void moveit::core::JointModelGroup::setSolverAllocators ( const std::pair< SolverAllocatorFn, SolverAllocatorMapFn > & solvers )

Definition at line 646 of file joint_model_group.cpp.

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◆ setSubgroupNames()

void moveit::core::JointModelGroup::setSubgroupNames ( const std::vector< std::string > & subgroups )

Set the names of the subgroups for this group.

Definition at line 301 of file joint_model_group.cpp.

◆ updateMimicJoints()

void moveit::core::JointModelGroup::updateMimicJoints ( double * values ) const

protected

Update the variable values for the state of a group with respect to the mimic joints. This only updates mimic joints that have the parent in this group. If there is a joint mimicking one that is outside the group, there are no values to be read (values is only the group state)

Definition at line 488 of file joint_model_group.cpp.

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Member Data Documentation

◆ active_joint_model_name_vector_

std::vector<std::string> moveit::core::JointModelGroup::active_joint_model_name_vector_

protected

Names of active joints in the order they appear in the group state.

Definition at line 626 of file joint_model_group.h.

◆ active_joint_model_start_index_

std::vector<int> moveit::core::JointModelGroup::active_joint_model_start_index_

protected

For each active joint model in this group, hold the index at which the corresponding joint state starts in the group state.

Definition at line 668 of file joint_model_group.h.

◆ active_joint_model_vector_

std::vector<const JointModel*> moveit::core::JointModelGroup::active_joint_model_vector_

protected

Active joint instances in the order they appear in the group state.

Definition at line 623 of file joint_model_group.h.

◆ active_joint_models_bounds_

JointBoundsVector moveit::core::JointModelGroup::active_joint_models_bounds_

protected

The bounds for all the active joint models.

Definition at line 660 of file joint_model_group.h.

◆ active_variable_count_

unsigned int moveit::core::JointModelGroup::active_variable_count_

protected

The number of variables necessary to describe the active joints in this group of joints.

Definition at line 722 of file joint_model_group.h.

◆ attached_end_effector_names_

std::vector<std::string> moveit::core::JointModelGroup::attached_end_effector_names_

protected

If an end-effector is attached to this group, the name of that end-effector is stored in this variable.

Definition at line 735 of file joint_model_group.h.

◆ common_root_

const JointModel* moveit::core::JointModelGroup::common_root_

protected

The joint that is a common root for all joints in this group (not necessarily part of this group)

Definition at line 652 of file joint_model_group.h.

◆ config_

srdf::Model::Group moveit::core::JointModelGroup::config_

protected

Definition at line 764 of file joint_model_group.h.

◆ continuous_joint_model_vector_

std::vector<const JointModel*> moveit::core::JointModelGroup::continuous_joint_model_vector_

protected

The set of continuous joints this group contains.

Definition at line 635 of file joint_model_group.h.

◆ default_states_

std::map<std::string, std::map<std::string, double> > moveit::core::JointModelGroup::default_states_

protected

The set of default states specified for this group in the SRDF.

Definition at line 767 of file joint_model_group.h.

◆ default_states_names_

std::vector<std::string> moveit::core::JointModelGroup::default_states_names_

protected

The names of the default states specified for this group in the SRDF.

Definition at line 770 of file joint_model_group.h.

◆ end_effector_name_

std::string moveit::core::JointModelGroup::end_effector_name_

protected

The name of the end effector, if this group is an end-effector.

Definition at line 743 of file joint_model_group.h.

◆ end_effector_parent_

std::pair<std::string, std::string> moveit::core::JointModelGroup::end_effector_parent_

protected

First: name of the group that is parent to this end-effector group; Second: the link this in the parent group that this group attaches to.

Definition at line 740 of file joint_model_group.h.

◆ fixed_joints_

std::vector<const JointModel*> moveit::core::JointModelGroup::fixed_joints_

protected

The joints that have no DOF (fixed)

Definition at line 629 of file joint_model_group.h.

◆ group_kinematics_

std::pair<KinematicsSolver, KinematicsSolverMap> moveit::core::JointModelGroup::group_kinematics_

protected

Definition at line 762 of file joint_model_group.h.

◆ group_mimic_update_

std::vector<GroupMimicUpdate> moveit::core::JointModelGroup::group_mimic_update_

protected

Definition at line 760 of file joint_model_group.h.

◆ is_chain_

bool moveit::core::JointModelGroup::is_chain_

protected

Definition at line 745 of file joint_model_group.h.

◆ is_contiguous_index_list_

bool moveit::core::JointModelGroup::is_contiguous_index_list_

protected

True if the state of this group is contiguous within the full robot state; this also means that the index values in variable_index_list_ are consecutive integers.

Definition at line 726 of file joint_model_group.h.

◆ is_single_dof_

bool moveit::core::JointModelGroup::is_single_dof_

protected

Definition at line 747 of file joint_model_group.h.

◆ joint_model_map_

JointModelMapConst moveit::core::JointModelGroup::joint_model_map_

protected

A map from joint names to their instances. This includes all joints in the group.

Definition at line 646 of file joint_model_group.h.

◆ joint_model_name_vector_

std::vector<std::string> moveit::core::JointModelGroup::joint_model_name_vector_

protected

Names of joints in the order they appear in the group state.

Definition at line 620 of file joint_model_group.h.

◆ joint_model_vector_

std::vector<const JointModel*> moveit::core::JointModelGroup::joint_model_vector_

protected

Joint instances in the order they appear in the group state.

Definition at line 617 of file joint_model_group.h.

◆ joint_roots_

std::vector<const JointModel*> moveit::core::JointModelGroup::joint_roots_

protected

The list of active joint models that are roots in this group.

Definition at line 649 of file joint_model_group.h.

◆ joint_variables_index_map_

VariableIndexMap moveit::core::JointModelGroup::joint_variables_index_map_

protected

The group includes all the joint variables that make up the joints the group consists of. This map gives the position in the state vector of the group for each of these variables. Additionally, it includes the names of the joints and the index for the first variable of that joint.

Definition at line 657 of file joint_model_group.h.

◆ link_model_map_

LinkModelMapConst moveit::core::JointModelGroup::link_model_map_

protected

A map from link names to their instances.

Definition at line 676 of file joint_model_group.h.

◆ link_model_name_vector_

std::vector<std::string> moveit::core::JointModelGroup::link_model_name_vector_

protected

The names of the links in this group.

Definition at line 679 of file joint_model_group.h.

◆ link_model_vector_

std::vector<const LinkModel*> moveit::core::JointModelGroup::link_model_vector_

protected

The links that are on the direct lineage between joints and joint_roots_, as well as the children of the joint leafs. May not be in any particular order.

Definition at line 673 of file joint_model_group.h.

◆ link_model_with_geometry_name_vector_

std::vector<std::string> moveit::core::JointModelGroup::link_model_with_geometry_name_vector_

protected

The names of the links in this group that also have geometry.

Definition at line 684 of file joint_model_group.h.

◆ link_model_with_geometry_vector_

std::vector<const LinkModel*> moveit::core::JointModelGroup::link_model_with_geometry_vector_

protected

Definition at line 681 of file joint_model_group.h.

◆ mimic_joints_

std::vector<const JointModel*> moveit::core::JointModelGroup::mimic_joints_

protected

Joints that mimic other joints.

Definition at line 632 of file joint_model_group.h.

◆ name_

std::string moveit::core::JointModelGroup::name_

protected

Name of group.

Definition at line 614 of file joint_model_group.h.

◆ parent_model_

const RobotModel* moveit::core::JointModelGroup::parent_model_

protected

Owner model.

Definition at line 611 of file joint_model_group.h.

◆ subgroup_names_

std::vector<std::string> moveit::core::JointModelGroup::subgroup_names_

protected

The set of labelled subgroups that are included in this group.

Definition at line 729 of file joint_model_group.h.

◆ subgroup_names_set_

std::set<std::string> moveit::core::JointModelGroup::subgroup_names_set_

protected

The set of labelled subgroups that are included in this group.

Definition at line 732 of file joint_model_group.h.

◆ updated_link_model_name_set_

std::set<std::string> moveit::core::JointModelGroup::updated_link_model_name_set_

protected

The list of downstream link names in the order they should be updated (may include links that are not in this group)

Definition at line 700 of file joint_model_group.h.

◆ updated_link_model_name_vector_

std::vector<std::string> moveit::core::JointModelGroup::updated_link_model_name_vector_

protected

The list of downstream link names in the order they should be updated (may include links that are not in this group)

Definition at line 696 of file joint_model_group.h.

◆ updated_link_model_set_

std::set<const LinkModel*> moveit::core::JointModelGroup::updated_link_model_set_

protected

The list of downstream link models in the order they should be updated (may include links that are not in this group)

Definition at line 692 of file joint_model_group.h.

◆ updated_link_model_vector_

std::vector<const LinkModel*> moveit::core::JointModelGroup::updated_link_model_vector_

protected

The list of downstream link models in the order they should be updated (may include links that are not in this group)

Definition at line 688 of file joint_model_group.h.

◆ updated_link_model_with_geometry_name_set_

std::set<std::string> moveit::core::JointModelGroup::updated_link_model_with_geometry_name_set_

protected

The list of downstream link names in the order they should be updated (may include links that are not in this group)

Definition at line 716 of file joint_model_group.h.

◆ updated_link_model_with_geometry_name_vector_

std::vector<std::string> moveit::core::JointModelGroup::updated_link_model_with_geometry_name_vector_

protected

The list of downstream link names in the order they should be updated (may include links that are not in this group)

Definition at line 712 of file joint_model_group.h.

◆ updated_link_model_with_geometry_set_

std::set<const LinkModel*> moveit::core::JointModelGroup::updated_link_model_with_geometry_set_

protected

The list of downstream link models in the order they should be updated (may include links that are not in this group)

Definition at line 708 of file joint_model_group.h.

◆ updated_link_model_with_geometry_vector_

std::vector<const LinkModel*> moveit::core::JointModelGroup::updated_link_model_with_geometry_vector_

protected

The list of downstream link models in the order they should be updated (may include links that are not in this group)

Definition at line 704 of file joint_model_group.h.

◆ variable_count_

unsigned int moveit::core::JointModelGroup::variable_count_

protected

The number of variables necessary to describe this group of joints.

Definition at line 719 of file joint_model_group.h.

◆ variable_index_list_

std::vector<int> moveit::core::JointModelGroup::variable_index_list_

protected

The list of index values this group includes, with respect to a full robot state; this includes mimic joints.

Definition at line 664 of file joint_model_group.h.

◆ variable_names_

std::vector<std::string> moveit::core::JointModelGroup::variable_names_

protected

The names of the DOF that make up this group (this is just a sequence of joint variable names; not necessarily joint names!)

Definition at line 639 of file joint_model_group.h.

◆ variable_names_set_

std::set<std::string> moveit::core::JointModelGroup::variable_names_set_

protected

The names of the DOF that make up this group (this is just a sequence of joint variable names; not necessarily joint names!)

Definition at line 643 of file joint_model_group.h.

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

moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
moveit_core/robot_model/src/joint_model_group.cpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ KinematicsSolverMap

Constructor & Destructor Documentation

◆ JointModelGroup()

◆ ~JointModelGroup()

Member Function Documentation

◆ addDefaultState()

◆ attachEndEffector()

◆ canSetStateFromIK()

◆ computeJointVariableIndices()

◆ distance()

◆ enforcePositionBounds() [1/2]

◆ enforcePositionBounds() [2/2]

◆ getActiveJointModelNames()

◆ getActiveJointModels()

◆ getActiveJointModelsBounds()

◆ getActiveVariableCount()

◆ getAttachedEndEffectorNames()

◆ getCommonRoot()

◆ getConfig()

◆ getContinuousJointModels()

◆ getDefaultIKTimeout()

◆ getDefaultStateNames()

◆ getEndEffectorName()

◆ getEndEffectorParentGroup()

◆ getEndEffectorTips() [1/2]

◆ getEndEffectorTips() [2/2]

◆ getFixedJointModels()

◆ getGroupKinematics()

◆ getJointModel()

◆ getJointModelNames()

◆ getJointModels()

◆ getJointRoots()

◆ getKinematicsSolverJointBijection()

◆ getLinkModel()

◆ getLinkModelNames()

◆ getLinkModelNamesWithCollisionGeometry()

◆ getLinkModels()

◆ getLowerAndUpperLimits()

◆ getMaximumExtent() [1/2]

◆ getMaximumExtent() [2/2]

◆ getMaxVelocitiesAndAccelerationBounds()

◆ getMimicJointModels()

◆ getName()

◆ getOnlyOneEndEffectorTip()

◆ getParentModel()

◆ getSolverInstance() [1/2]

◆ getSolverInstance() [2/2]

◆ getSubgroupNames()

◆ getSubgroups()

◆ getUpdatedLinkModelNames()

◆ getUpdatedLinkModels()

◆ getUpdatedLinkModelsSet()

◆ getUpdatedLinkModelsWithGeometry()

◆ getUpdatedLinkModelsWithGeometryNames()

◆ getUpdatedLinkModelsWithGeometryNamesSet()

◆ getUpdatedLinkModelsWithGeometrySet()

◆ getVariableCount()

◆ getVariableDefaultPositions() [1/4]

◆ getVariableDefaultPositions() [2/4]

◆ getVariableDefaultPositions() [3/4]

◆ getVariableDefaultPositions() [4/4]

◆ getVariableGroupIndex()

◆ getVariableIndexList()

◆ getVariableNames()

◆ getVariableRandomPositions() [1/3]

◆ getVariableRandomPositions() [2/3]

◆ getVariableRandomPositions() [3/3]

◆ getVariableRandomPositionsNearBy() [1/8]

◆ getVariableRandomPositionsNearBy() [2/8]

◆ getVariableRandomPositionsNearBy() [3/8]

◆ getVariableRandomPositionsNearBy() [4/8]

◆ getVariableRandomPositionsNearBy() [5/8]

◆ getVariableRandomPositionsNearBy() [6/8]