This class holds a the robot represented by a kinematic chain. More...

#include <robot.hpp>

Public Member Functions
	Robot (rob *R, bool copy=false)
	Constructeur de la classe. More...

virtual	~Robot ()
	Destructeur de la classe.

rob *	copyRobotStruct (rob *robotPt)

rob *	getRobotStruct ()
	obtient la structure p3d_rob de la classe More...

std::string	getName ()
	obtient le nom du Robot More...

HRI_AGENT *	getHriAgent ()
	return hri_agent related to the robot if possible

void	setHriAgent (HRI_AGENT *ag)
	set hri_agent related to the robot if possible

ObjectRob *	getObjectRob ()
	return objectRob related to the robot if possible

void	setObjectRob (ObjectRob *ore)
	set hri_agent related to the robot if possible

void	setActiveScene (Scene *sc)
	Associate an active scene to the robot.

Scene *	getActiveScene ()
	Returns the active scene involving the robot.

traj *	getTrajStruct ()
	Gets traj associated with Robot. More...

API::Trajectory	getCurrentTraj ()
	Gets the current trajectory.

unsigned int	getNumberOfJoints ()
	Get the number of Joints. More...

Joint *	getJoint (unsigned int i)
	Gets the ith joint structure. More...

Joint *	getJoint (std::string name)
	Gets joint by name. More...

const std::vector< Joint * > &	getAllJoints ()
	Returns an vector of all robot joints.

std::vector< Eigen::Vector3d >	getObjectBox ()
	Returns the Object Box.

void	initObjectBox ()
	Initializes the box in which the FF Will be sampled.

std::tr1::shared_ptr < Configuration >	shootQuadConf ()
	Sampling method for quadrotor configurations. More...

std::tr1::shared_ptr < Configuration >	shoot (bool samplePassive=false)
	tire une Configuration aléatoire pour le Robot More...

std::tr1::shared_ptr < Configuration >	shootDirections (std::tr1::shared_ptr< Configuration > from, int nactive, int scale=1)

std::tr1::shared_ptr < Configuration >	shootDir (bool samplePassive=false)
	obtient une Configuration-Direction aléatoire pour le Robot More...

std::tr1::shared_ptr < Configuration >	shootFreeFlyer (double *box)
	shoots the active free flyer inside a box

int	setAndUpdateFreeFlyer (const Eigen::Vector3d &pos)
	set and update the active free flyer

int	setAndUpdate (Configuration &q, bool withoutFreeFlyers=false)
	place le Robot dans une Configuration More...

bool	setAndUpdateMultiSol (Configuration &q)
	place le Robot dans une Configuration More...

void	setAndUpdateWithoutConstraints (Configuration &q)
	place le Robot dans une Configuration, without checking the cinematic constraints. More...

bool	setAndUpdateHumanArms (Configuration &q)
	set and update Human Arms

std::tr1::shared_ptr < Configuration >	getInitialPosition ()
	obtient la Configuration current du Robot More...

bool	isInCollision ()
	Returns true if the robot is in colision with obstacles, other robots and self.

bool	isInCollisionWithOthersAndEnv ()
	Returns true if the robot is in colision with obstacles or other robots.

void	setInitialPosition (Configuration &conf)
	Sets the Initial Position of the Robot.

std::tr1::shared_ptr < Configuration >	getGoTo ()
	obtient la Configuration GoTo du Robot More...

void	setGoTo (Configuration &conf)
	Sets the Goto Position of the Robot.

std::tr1::shared_ptr < Configuration >	getCurrentPos ()
	Returns the Robot current Configuration.

std::tr1::shared_ptr < Configuration >	getNewConfig ()
	Returns a new configuration.

Eigen::Matrix4d	getJointAbsPos (int id)
	Get the Robot joint AbsPos.

Eigen::Vector3d	getJointPos (int id)
	Get the Robot joint Position. More...

unsigned int	getNumberOfActiveDoF ()
	Get Number of active DoFs. More...

Joint *	getIthActiveDoFJoint (unsigned int ithActiveDoF, unsigned int &ithDofOnJoint)
	Get Number of active DoFs.

void	getListOfPassiveJoints (std::list< Joint * > &passiveJoints)

unsigned	getNbConf () const

confPtr_t	getConf (unsigned i)

bool	isAgent ()

void	isAgent (bool isAg)

void	attachObj (Robot *obj, int jointId)

void	dettachObj (Robot *obj)

void	dettachObj (int jointId)

bool	isObjectAttached ()

bool	isObjectAttached (Robot *obj, int jointId)

Joint *	whereObjectAttached (Robot *obj)

p3d_rob *	whichObjectAttached (int jointId)

p3d_rob *	isAttached ()

Detailed Description

This class holds a the robot represented by a kinematic chain.

Constructor & Destructor Documentation

Robot::Robot	(	rob *	R,
		bool	copy = `false`
	)

Constructeur de la classe.

Parameters

R	le p3d_rob pour lequel l'objet Robot est créé

Warning: the indices of the joints in this class has an offset of 1: the first joint of p3d_rob is not copied here.

Member Function Documentation

shared_ptr< Configuration > Robot::getGoTo ( )

obtient la Configuration GoTo du Robot

Returns: la Configuration GoTo du Robot

shared_ptr< Configuration > Robot::getInitialPosition ( )

obtient la Configuration current du Robot

Returns: la Configuration current du Robot

Joint* Robot::getJoint ( unsigned int i )

Gets the ith joint structure.

Returns: ith joint structure

Joint * Robot::getJoint ( std::string name )

Gets joint by name.

Returns: pointer to the joint by name or NULL if not found

Vector3d Robot::getJointPos ( int id )

Get the Robot joint Position.

Warning: based on _Robot (p3d_rob) joints array, with different indices, has one more freeflyer joint in front, usually set all at 0.

string Robot::getName ( )

obtient le nom du Robot

Returns: le nom du Robot

unsigned int Robot::getNumberOfActiveDoF ( )

Get Number of active DoFs.

Returns the number of DoF active in the planning phase.

Returns: Number of Active DoFs

unsigned int Robot::getNumberOfJoints ( )

Get the number of Joints.

Returns: the Number of Joints

p3d_rob * Robot::getRobotStruct ( )

obtient la structure p3d_rob de la classe

Returns: la structure p3d_rob

p3d_traj * Robot::getTrajStruct ( )

Gets traj associated with Robot.

Gets traj.

Returns: pointer to structure p3d_traj

int Robot::setAndUpdate	(	Configuration &	q,
		bool	withoutFreeFlyers = `false`
	)

place le Robot dans une Configuration

Returns false if does not respect the constraints.

Parameters

q	la Configuration dans laquelle le Robot sera placé

Returns: la Configuration est atteignable cinématiquement

bool Robot::setAndUpdateMultiSol ( Configuration & q )

place le Robot dans une Configuration

Parameters

q	la Configuration dans laquelle le Robot sera placé

Returns: la Configuration est atteignable cinématiquement

void Robot::setAndUpdateWithoutConstraints ( Configuration & q )

place le Robot dans une Configuration, without checking the cinematic constraints.

Parameters

q	la Configuration dans laquelle le Robot sera placé

shared_ptr< Configuration > Robot::shoot ( bool samplePassive = false )

tire une Configuration aléatoire pour le Robot

Parameters

samplePassive (default = TRUE) indique si l'on tire les joints passif ou non (ie. FALSE dans le cas de ML-RRT)

Returns: la Configuration tirée

shared_ptr< Configuration > Robot::shootDir ( bool samplePassive = false )

obtient une Configuration-Direction aléatoire pour le Robot

Parameters

samplePassive (default = true) indique si l'on tire les joints passif ou non (ie. FALSE dans le cas de ML-RRT)

Returns: la Configuration tirée

shared_ptr< Configuration > Robot::shootQuadConf ( )

Sampling method for quadrotor configurations.

Returns: Sampled quadrotor configuration

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

src/API/Device/robot.hpp
src/API/Device/robot.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation