A link from the robot. Contains the constant transform applied to the link and its geometry. More...

#include <link_model.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	LinkModel (const std::string &name, size_t link_index)
	Construct a link model named name.

	~LinkModel ()

const std::string &	getName () const
	The name of this link.

size_t	getLinkIndex () const
	The index of this joint when traversing the kinematic tree in depth first fashion.

int	getFirstCollisionBodyTransformIndex () const

void	setFirstCollisionBodyTransformIndex (int index)

const JointModel *	getParentJointModel () const
	Get the joint model whose child this link is. There will always be a parent joint.

void	setParentJointModel (const JointModel *joint)

const LinkModel *	getParentLinkModel () const
	Get the link model whose child this link is (through some joint). There may not always be a parent link (nullptr is returned for the root link)

void	setParentLinkModel (const LinkModel *link)

const std::vector< const JointModel * > &	getChildJointModels () const
	A link may have 0 or more child joints. From those joints there will certainly be other descendant links.

void	addChildJointModel (const JointModel *joint)

const Eigen::Isometry3d &	getJointOriginTransform () const
	When transforms are computed for this link, they are usually applied to the link's origin. The joint origin transform acts as an offset – it is pre-applied before any other transform. The transform is guaranteed to be a valid isometry.

bool	jointOriginTransformIsIdentity () const

bool	parentJointIsFixed () const

void	setJointOriginTransform (const Eigen::Isometry3d &transform)

const EigenSTL::vector_Isometry3d &	getCollisionOriginTransforms () const
	In addition to the link transform, the geometry of a link that is used for collision checking may have a different offset itself, with respect to the origin. The transform is guaranteed to be a valid isometry.

const std::vector< int > &	areCollisionOriginTransformsIdentity () const
	Return flags for each transform specifying whether they are identity or not.

const std::vector< shapes::ShapeConstPtr > &	getShapes () const
	Get shape associated to the collision geometry for this link.

void	setGeometry (const std::vector< shapes::ShapeConstPtr > &shapes, const EigenSTL::vector_Isometry3d &origins)

const Eigen::Vector3d &	getShapeExtentsAtOrigin () const
	Get the extents of the link's geometry (dimensions of axis-aligned bounding box around all shapes that make up the link, when the link is positioned at origin – only collision origin transforms are considered)

const Eigen::Vector3d &	getCenteredBoundingBoxOffset () const
	Get the offset of the center of the bounding box of this link when the link is positioned at origin.

const LinkTransformMap &	getAssociatedFixedTransforms () const
	Get the set of links that are attached to this one via fixed transforms. The returned transforms are guaranteed to be valid isometries.

void	addAssociatedFixedTransform (const LinkModel *link_model, const Eigen::Isometry3d &transform)
	Remember that link_model is attached to this link using a fixed transform.

const std::string &	getVisualMeshFilename () const
	Get the filename of the mesh resource used for visual display of this link.

const Eigen::Vector3d &	getVisualMeshScale () const
	Get the scale of the mesh resource for this link.

const Eigen::Isometry3d &	getVisualMeshOrigin () const
	Get the transform for the visual mesh origin.

void	setVisualMesh (const std::string &visual_mesh, const Eigen::Isometry3d &origin, const Eigen::Vector3d &scale)

Detailed Description

A link from the robot. Contains the constant transform applied to the link and its geometry.

Definition at line 71 of file link_model.h.

Constructor & Destructor Documentation

◆ LinkModel()

moveit::core::LinkModel::LinkModel	(	const std::string &	name,
		size_t	link_index
	)

Construct a link model named name.

Parameters

[in]	name	The name of the link
[in]	link_index	The link index in the RobotModel

Definition at line 47 of file link_model.cpp.

◆ ~LinkModel()

moveit::core::LinkModel::~LinkModel ( )

default

Member Function Documentation

◆ addAssociatedFixedTransform()

void moveit::core::LinkModel::addAssociatedFixedTransform	(	const LinkModel *	link_model,
		const Eigen::Isometry3d &	transform
	)

inline

Remember that link_model is attached to this link using a fixed transform.

Definition at line 205 of file link_model.h.

◆ addChildJointModel()

void moveit::core::LinkModel::addChildJointModel ( const JointModel * joint )

inline

Definition at line 133 of file link_model.h.

◆ areCollisionOriginTransformsIdentity()

const std::vector< int > & moveit::core::LinkModel::areCollisionOriginTransformsIdentity ( ) const

inline

Return flags for each transform specifying whether they are identity or not.

Definition at line 170 of file link_model.h.

◆ getAssociatedFixedTransforms()

const LinkTransformMap & moveit::core::LinkModel::getAssociatedFixedTransforms ( ) const

inline

Get the set of links that are attached to this one via fixed transforms. The returned transforms are guaranteed to be valid isometries.

Definition at line 199 of file link_model.h.

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◆ getCenteredBoundingBoxOffset()

const Eigen::Vector3d & moveit::core::LinkModel::getCenteredBoundingBoxOffset ( ) const

inline

Get the offset of the center of the bounding box of this link when the link is positioned at origin.

Definition at line 192 of file link_model.h.

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◆ getChildJointModels()

const std::vector< const JointModel * > & moveit::core::LinkModel::getChildJointModels ( ) const

inline

A link may have 0 or more child joints. From those joints there will certainly be other descendant links.

Definition at line 128 of file link_model.h.

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◆ getCollisionOriginTransforms()

const EigenSTL::vector_Isometry3d & moveit::core::LinkModel::getCollisionOriginTransforms ( ) const

inline

In addition to the link transform, the geometry of a link that is used for collision checking may have a different offset itself, with respect to the origin. The transform is guaranteed to be a valid isometry.

Definition at line 164 of file link_model.h.

◆ getFirstCollisionBodyTransformIndex()

int moveit::core::LinkModel::getFirstCollisionBodyTransformIndex ( ) const

inline

Definition at line 97 of file link_model.h.

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◆ getJointOriginTransform()

const Eigen::Isometry3d & moveit::core::LinkModel::getJointOriginTransform ( ) const

inline

When transforms are computed for this link, they are usually applied to the link's origin. The joint origin transform acts as an offset – it is pre-applied before any other transform. The transform is guaranteed to be a valid isometry.

Definition at line 143 of file link_model.h.

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◆ getLinkIndex()

size_t moveit::core::LinkModel::getLinkIndex ( ) const

inline

The index of this joint when traversing the kinematic tree in depth first fashion.

Definition at line 92 of file link_model.h.

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◆ getName()

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

inline

The name of this link.

Definition at line 86 of file link_model.h.

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◆ getParentJointModel()

const JointModel * moveit::core::LinkModel::getParentJointModel ( ) const

inline

Get the joint model whose child this link is. There will always be a parent joint.

Definition at line 108 of file link_model.h.

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◆ getParentLinkModel()

const LinkModel * moveit::core::LinkModel::getParentLinkModel ( ) const

inline

Get the link model whose child this link is (through some joint). There may not always be a parent link (nullptr is returned for the root link)

Definition at line 117 of file link_model.h.

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◆ getShapeExtentsAtOrigin()

const Eigen::Vector3d & moveit::core::LinkModel::getShapeExtentsAtOrigin ( ) const

inline

Get the extents of the link's geometry (dimensions of axis-aligned bounding box around all shapes that make up the link, when the link is positioned at origin – only collision origin transforms are considered)

Definition at line 186 of file link_model.h.

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◆ getShapes()

const std::vector< shapes::ShapeConstPtr > & moveit::core::LinkModel::getShapes ( ) const

inline

Get shape associated to the collision geometry for this link.

Definition at line 176 of file link_model.h.

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◆ getVisualMeshFilename()

const std::string & moveit::core::LinkModel::getVisualMeshFilename ( ) const

inline

Get the filename of the mesh resource used for visual display of this link.

Definition at line 212 of file link_model.h.

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◆ getVisualMeshOrigin()

const Eigen::Isometry3d & moveit::core::LinkModel::getVisualMeshOrigin ( ) const

inline

Get the transform for the visual mesh origin.

Definition at line 224 of file link_model.h.

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◆ getVisualMeshScale()

const Eigen::Vector3d & moveit::core::LinkModel::getVisualMeshScale ( ) const

inline

Get the scale of the mesh resource for this link.

Definition at line 218 of file link_model.h.

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◆ jointOriginTransformIsIdentity()

bool moveit::core::LinkModel::jointOriginTransformIsIdentity ( ) const

inline

Definition at line 148 of file link_model.h.

◆ parentJointIsFixed()

bool moveit::core::LinkModel::parentJointIsFixed ( ) const

inline

Definition at line 153 of file link_model.h.

◆ setFirstCollisionBodyTransformIndex()

void moveit::core::LinkModel::setFirstCollisionBodyTransformIndex ( int index )

inline

Definition at line 102 of file link_model.h.

◆ setGeometry()

void moveit::core::LinkModel::setGeometry	(	const std::vector< shapes::ShapeConstPtr > &	shapes,
		const EigenSTL::vector_Isometry3d &	origins
	)

Definition at line 76 of file link_model.cpp.

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◆ setJointOriginTransform()

void moveit::core::LinkModel::setJointOriginTransform ( const Eigen::Isometry3d & transform )

Definition at line 61 of file link_model.cpp.

◆ setParentJointModel()

void moveit::core::LinkModel::setParentJointModel ( const JointModel * joint )

Definition at line 70 of file link_model.cpp.

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◆ setParentLinkModel()

void moveit::core::LinkModel::setParentLinkModel ( const LinkModel * link )

inline

Definition at line 122 of file link_model.h.

◆ setVisualMesh()

void moveit::core::LinkModel::setVisualMesh	(	const std::string &	visual_mesh,
		const Eigen::Isometry3d &	origin,
		const Eigen::Vector3d &	scale
	)

Definition at line 122 of file link_model.cpp.

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

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ LinkModel()

◆ ~LinkModel()

Member Function Documentation

◆ addAssociatedFixedTransform()

◆ addChildJointModel()

◆ areCollisionOriginTransformsIdentity()

◆ getAssociatedFixedTransforms()

◆ getCenteredBoundingBoxOffset()

◆ getChildJointModels()

◆ getCollisionOriginTransforms()

◆ getFirstCollisionBodyTransformIndex()

◆ getJointOriginTransform()

◆ getLinkIndex()

◆ getName()

◆ getParentJointModel()

◆ getParentLinkModel()

◆ getShapeExtentsAtOrigin()

◆ getShapes()

◆ getVisualMeshFilename()

◆ getVisualMeshOrigin()

◆ getVisualMeshScale()

◆ jointOriginTransformIsIdentity()

◆ parentJointIsFixed()

◆ setFirstCollisionBodyTransformIndex()

◆ setGeometry()

◆ setJointOriginTransform()

◆ setParentJointModel()

◆ setParentLinkModel()

◆ setVisualMesh()