fawkes::OpenRaveEnvironment Class Reference

OpenRaveEnvironment class. More...

#include <>>

List of all members.

Public Member Functions
	OpenRaveEnvironment (fawkes::Logger *logger=0)
	Constructor.
	~OpenRaveEnvironment ()
	Destructor.
virtual void	create ()
	Create and lock the environment.
virtual void	destroy ()
	Destroy the environment.
virtual void	lock ()
	Lock the environment to prevent changes.
virtual void	enable_debug (OpenRAVE::DebugLevel level=OpenRAVE::Level_Debug)
	Enable debugging messages of OpenRAVE.
virtual void	disable_debug ()
	Disable debugging messages of OpenRAVE.
virtual void	start_viewer ()
	Starts the qt viewer in a separate thread.
virtual void	load_IK_solver (OpenRaveRobot *robot, OpenRAVE::IkParameterizationType iktype=OpenRAVE::IKP_Transform6D)
	Autogenerate IKfast IK solver for robot.
virtual void	run_planner (OpenRaveRobot *robot, float sampling=0.01f)
	Plan collision-free path for current and target manipulator configuration of a OpenRaveRobot robot.
virtual void	run_graspplanning (const std::string &target_name, OpenRaveRobot *robot, float sampling=0.01f)
	Run graspplanning script for a given target.
virtual void	add_robot (const std::string &filename)
	Add a robot into the scene.
virtual void	add_robot (OpenRAVE::RobotBasePtr robot)
	Add a robot into the scene.
virtual void	add_robot (OpenRaveRobot *robot)
	Add a robot into the scene.
virtual bool	add_object (const std::string &name, const std::string &filename)
	Add an object to the environment.
virtual bool	delete_object (const std::string &name)
	Remove object from environment.
virtual bool	rename_object (const std::string &name, const std::string &new_name)
	Rename object.
virtual bool	move_object (const std::string &name, float trans_x, float trans_y, float trans_z, OpenRaveRobot *robot=NULL)
	Move object in the environment.
virtual bool	rotate_object (const std::string &name, float quat_x, float quat_y, float quat_z, float quat_w)
	Rotate object by a quaternion.
virtual bool	rotate_object (const std::string &name, float rot_x, float rot_y, float rot_z)
	Rotate object along its axis.
virtual OpenRAVE::EnvironmentBasePtr	get_env_ptr () const
	Get EnvironmentBasePtr.

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Detailed Description

OpenRaveEnvironment class.

Class handling interaction with the OpenRAVE::EnvironmentBase class.

This class loads a scene and handles robots/objects etc in it. All calculations in OpenRAVE (IK, planning, etc) are done based on the current scene.

Author:

Bahram Maleki-Fard

Definition at line 45 of file environment.h.

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Constructor & Destructor Documentation

fawkes::OpenRaveEnvironment::OpenRaveEnvironment

(

fawkes::Logger *

logger = 0

)

Constructor.

Parameters:

logger

pointer to fawkes logger

Definition at line 75 of file environment.cpp.

fawkes::OpenRaveEnvironment::~OpenRaveEnvironment

(

)

Destructor.

Definition at line 82 of file environment.cpp.

References destroy().

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Member Function Documentation

bool fawkes::OpenRaveEnvironment::add_object ( const std::string &  name, const std::string &  filename  )

virtual

Add an object to the environment.

Parameters:

name	name that should be given to that object
filename	path to xml file of that object (KinBody)

Returns:

true if successful

Definition at line 538 of file environment.cpp.

References lock(), and fawkes::Logger::log_warn().

Referenced by OpenRaveThread::add_object().

void fawkes::OpenRaveEnvironment::add_robot ( const std::string &  filename )

virtual

Add a robot into the scene.

Parameters:

filename

path to robot's xml file

Returns:

1 if succeeded, 0 if not able to load file

Definition at line 167 of file environment.cpp.

References fawkes::Logger::log_debug().

Referenced by OpenRaveThread::add_robot(), and add_robot().

void fawkes::OpenRaveEnvironment::add_robot ( OpenRAVE::RobotBasePtr  robot )

virtual

Add a robot into the scene.

Parameters:

robot

RobotBasePtr of robot to add

Returns:

1 if succeeded, 0 if not able to add robot

Definition at line 150 of file environment.cpp.

References fawkes::Logger::log_debug().

void fawkes::OpenRaveEnvironment::add_robot ( OpenRaveRobot *  robot )

virtual

Add a robot into the scene.

Parameters:

robot

pointer to OpenRaveRobot object of robot to add

Returns:

1 if succeeded, 0 if not able to add robot

Definition at line 187 of file environment.cpp.

References add_robot(), and fawkes::OpenRaveRobot::get_robot_ptr().

void fawkes::OpenRaveEnvironment::create ( )

virtual

Create and lock the environment.

Definition at line 89 of file environment.cpp.

References fawkes::Logger::log_debug().

Referenced by OpenRaveThread::init().

bool fawkes::OpenRaveEnvironment::delete_object ( const std::string &  name )

virtual

Remove object from environment.

Parameters:

name	name of the object

Returns:

true if successful

Definition at line 559 of file environment.cpp.

References lock(), and fawkes::Logger::log_warn().

Referenced by OpenRaveThread::delete_object().

void fawkes::OpenRaveEnvironment::destroy ( )

virtual

Destroy the environment.

Definition at line 110 of file environment.cpp.

References fawkes::Logger::log_debug(), and fawkes::Logger::log_warn().

Referenced by OpenRaveThread::finalize(), and ~OpenRaveEnvironment().

void fawkes::OpenRaveEnvironment::disable_debug ( )

virtual

Disable debugging messages of OpenRAVE.

Definition at line 140 of file environment.cpp.

void fawkes::OpenRaveEnvironment::enable_debug ( OpenRAVE::DebugLevel  level = OpenRAVE::Level_Debug )

virtual

Enable debugging messages of OpenRAVE.

Parameters:

level

debug level to set for OpenRAVE

Definition at line 133 of file environment.cpp.

Referenced by OpenRaveThread::init().

OpenRAVE::EnvironmentBasePtr fawkes::OpenRaveEnvironment::get_env_ptr ( ) const

virtual

Get EnvironmentBasePtr.

Returns:

EnvironmentBasePtr in use

Definition at line 197 of file environment.cpp.

Referenced by fawkes::OpenRaveRobot::attach_object(), fawkes::OpenRaveRobot::load(), fawkes::OpenRaveRobot::release_object(), and OpenRaveThread::set_target_object().

void fawkes::OpenRaveEnvironment::load_IK_solver ( OpenRaveRobot *  robot, OpenRAVE::IkParameterizationType  iktype = OpenRAVE::IKP_Transform6D  )

virtual

Autogenerate IKfast IK solver for robot.

Parameters:

robot	pointer to OpenRaveRobot object
iktype	IK type of solver (default: Transform6D; use TranslationDirection5D for 5DOF arms)

Definition at line 225 of file environment.cpp.

References fawkes::OpenRaveRobot::get_robot_ptr().

Referenced by OpenRaveThread::add_robot().

void fawkes::OpenRaveEnvironment::lock ( )

virtual

Lock the environment to prevent changes.

Definition at line 124 of file environment.cpp.

Referenced by add_object(), delete_object(), OpenRaveThread::init(), move_object(), rename_object(), rotate_object(), and run_planner().

bool fawkes::OpenRaveEnvironment::move_object ( const std::string &  name, float  trans_x, float  trans_y, float  trans_z, OpenRaveRobot *  robot = NULL  )

virtual

Move object in the environment.

Distances are given in meters

Parameters:

name	name of the object
trans_x	transition along x-axis
trans_y	transition along y-axis
trans_z	transition along z-axis
robot	if given, move relatively to robot (in most simple cases robot is at position (0,0,0) anyway, so this has no effect)

Returns:

true if successful

Definition at line 605 of file environment.cpp.

References fawkes::OpenRaveRobot::get_robot_ptr(), lock(), and fawkes::Logger::log_warn().

Referenced by OpenRaveThread::move_object().

bool fawkes::OpenRaveEnvironment::rename_object ( const std::string &  name, const std::string &  new_name  )

virtual

Rename object.

Parameters:

name	current name of the object
new_name	new name of the object

Returns:

true if successful

Definition at line 580 of file environment.cpp.

References lock(), and fawkes::Logger::log_warn().

Referenced by OpenRaveThread::rename_object().

bool fawkes::OpenRaveEnvironment::rotate_object ( const std::string &  name, float  quat_x, float  quat_y, float  quat_z, float  quat_w  )

virtual

Rotate object by a quaternion.

Parameters:

name	name of the object
quat_x	x value of quaternion
quat_y	y value of quaternion
quat_z	z value of quaternion
quat_w	w value of quaternion

Returns:

true if successful

Definition at line 638 of file environment.cpp.

References lock(), and fawkes::Logger::log_warn().

Referenced by rotate_object(), and OpenRaveThread::rotate_object().

bool fawkes::OpenRaveEnvironment::rotate_object ( const std::string &  name, float  rot_x, float  rot_y, float  rot_z  )

virtual

Rotate object along its axis.

Rotation angles should be given in radians.

Parameters:

name	name of the object
rot_x	1st rotation, along x-axis
rot_y	2nd rotation, along y-axis
rot_z	3rd rotation, along z-axis

Returns:

true if successful

Definition at line 668 of file environment.cpp.

References rotate_object(), fawkes::Vector::x(), fawkes::Vector::y(), and fawkes::Vector::z().

void fawkes::OpenRaveEnvironment::run_graspplanning ( const std::string &  target_name, OpenRaveRobot *  robot, float  sampling = 0.01f  )

virtual

Run graspplanning script for a given target.

Script loads grasping databse, checks if target is graspable for various grasps and on success returns a string containing trajectory data. Currently the grasping databse can only be accessed via python, so we use a short python script (shortened and modified from officiel OpenRAVE graspplanning.py) to do the work.

Parameters:

target_name	name of targeted object (KinBody)
robot	pointer to OpenRaveRobot object of robot to use
sampling	sampling time between each trajectory point (in seconds)

Definition at line 390 of file environment.cpp.

References fawkes::OpenRaveRobot::display_planned_movements(), fawkes::OpenRaveRobot::get_robot_ptr(), fawkes::OpenRaveRobot::get_trajectory(), and fawkes::Logger::log_debug().

Referenced by OpenRaveThread::run_graspplanning().

void fawkes::OpenRaveEnvironment::run_planner ( OpenRaveRobot *  robot, float  sampling = 0.01f  )

virtual

Plan collision-free path for current and target manipulator configuration of a OpenRaveRobot robot.

Parameters:

robot	pointer to OpenRaveRobot object of robot to use
sampling	sampling time between each trajectory point (in seconds)

Definition at line 243 of file environment.cpp.

References fawkes::OpenRaveRobot::display_planned_movements(), fawkes::OpenRaveManipulator::get_angles(), fawkes::OpenRaveRobot::get_basemanip(), fawkes::OpenRaveRobot::get_planner_params(), fawkes::OpenRaveRobot::get_robot_ptr(), fawkes::OpenRaveRobot::get_target(), fawkes::OpenRaveRobot::get_trajectory(), fawkes::target_t::ikparam, lock(), fawkes::Logger::log_debug(), fawkes::target_t::manip, fawkes::target_t::plannerparams, fawkes::target_t::qw, fawkes::target_t::qx, fawkes::target_t::qy, fawkes::target_t::qz, fawkes::TARGET_IKPARAM, fawkes::TARGET_JOINTS, fawkes::TARGET_RELATIVE, fawkes::TARGET_RELATIVE_EXT, fawkes::TARGET_TRANSFORM, fawkes::target_t::type, fawkes::target_t::x, fawkes::target_t::y, and fawkes::target_t::z.

Referenced by OpenRaveThread::run_planner().

void fawkes::OpenRaveEnvironment::start_viewer ( )

virtual

Starts the qt viewer in a separate thread.

Use this mainly for debugging purposes, as it uses a lot of CPU/GPU resources.

Definition at line 207 of file environment.cpp.

References fawkes::Logger::log_error(), and fawkes::SetViewer().

Referenced by OpenRaveThread::start_viewer().

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

• src/plugins/openrave/environment.h
• src/plugins/openrave/environment.cpp