OpenRaveEnvironment class. More...

#include <>>

Public Member Functions
	OpenRaveEnvironment (fawkes::Logger *logger=0)
	Constructor. More...

	OpenRaveEnvironment (const OpenRaveEnvironment &src)
	Copy constructor. More...

virtual	~OpenRaveEnvironment ()
	Destructor. More...

virtual void	create ()
	Create and lock the environment. More...

virtual void	destroy ()
	Destroy the environment. More...

virtual void	set_name (const char *name)
	Set name of environment. More...

virtual void	enable_debug (OpenRAVE::DebugLevel level=OpenRAVE::Level_Debug)
	Enable debugging messages of OpenRAVE. More...

virtual void	disable_debug ()
	Disable debugging messages of OpenRAVE. More...

virtual void	start_viewer ()
	Starts the qt viewer in a separate thread. More...

virtual void	load_IK_solver (OpenRaveRobotPtr &robot, OpenRAVE::IkParameterizationType iktype=OpenRAVE::IKP_Transform6D)
	Autogenerate IKfast IK solver for robot. More...

virtual void	run_planner (OpenRaveRobotPtr &robot, float sampling=0.01f)
	Plan collision-free path for current and target manipulator configuration of a OpenRaveRobot robot. More...

virtual void	run_graspplanning (const std::string &target_name, OpenRaveRobotPtr &robot, float sampling=0.01f)
	Run graspplanning script for a given target. More...

virtual void	add_robot (const std::string &filename)
	Add a robot into the scene. More...

virtual void	add_robot (OpenRAVE::RobotBasePtr robot)
	Add a robot into the scene. More...

virtual void	add_robot (OpenRaveRobotPtr &robot)
	Add a robot into the scene. More...

virtual bool	add_object (const std::string &name, const std::string &filename)
	Add an object to the environment. More...

virtual bool	delete_object (const std::string &name)
	Remove object from environment. More...

virtual bool	delete_all_objects ()
	Remove all objects from environment. More...

virtual bool	rename_object (const std::string &name, const std::string &new_name)
	Rename object. More...

virtual bool	move_object (const std::string &name, float trans_x, float trans_y, float trans_z)
	Move object in the environment. More...

virtual bool	move_object (const std::string &name, float trans_x, float trans_y, float trans_z, OpenRaveRobotPtr &robot)
	Move object in the environment. More...

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. More...

virtual bool	rotate_object (const std::string &name, float rot_x, float rot_y, float rot_z)
	Rotate object along its axis. More...

virtual void	clone_objects (OpenRaveEnvironmentPtr &env)
	Clone all non-robot objects from a referenced OpenRaveEnvironment to this one. More...

virtual OpenRAVE::EnvironmentBasePtr	get_env_ptr () const
	Get EnvironmentBasePtr. More...

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 43 of file environment.h.

Constructor & Destructor Documentation

◆ OpenRaveEnvironment() [1/2]

fawkes::OpenRaveEnvironment::OpenRaveEnvironment ( fawkes::Logger * logger = 0 )

Constructor.

Parameters

logger pointer to fawkes logger

Definition at line 71 of file environment.cpp.

References set_name().

◆ OpenRaveEnvironment() [2/2]

fawkes::OpenRaveEnvironment::OpenRaveEnvironment ( const OpenRaveEnvironment & src )

Copy constructor.

This also clones the environment in OpenRAVE, including all bodies! BiRRT planner and IKFast module are also created.

Parameters

src	The OpenRaveEnvironment to clone

Definition at line 82 of file environment.cpp.

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

◆ ~OpenRaveEnvironment()

fawkes::OpenRaveEnvironment::~OpenRaveEnvironment ( )

virtual

Destructor.

Definition at line 104 of file environment.cpp.

References destroy().

Member Function Documentation

◆ add_object()

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 635 of file environment.cpp.

References fawkes::Logger::log_warn().

◆ add_robot() [1/3]

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

virtual

Add a robot into the scene.

Parameters

filename path to robot's xml file

Definition at line 224 of file environment.cpp.

References fawkes::Logger::log_debug().

Referenced by add_robot().

◆ add_robot() [2/3]

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

virtual

Add a robot into the scene.

Parameters

robot RobotBasePtr of robot to add

Definition at line 204 of file environment.cpp.

References fawkes::Logger::log_debug().

◆ add_robot() [3/3]

void fawkes::OpenRaveEnvironment::add_robot ( OpenRaveRobotPtr & robot )

virtual

Add a robot into the scene.

Parameters

robot pointer to OpenRaveRobot object of robot to add

Definition at line 248 of file environment.cpp.

References add_robot().

◆ clone_objects()

void fawkes::OpenRaveEnvironment::clone_objects ( OpenRaveEnvironmentPtr & env )

virtual

Clone all non-robot objects from a referenced OpenRaveEnvironment to this one.

The environments should contain the same objects afterwards. Therefore objects in current environment that do not exist in the reference environment are deleted as well.

Parameters

env	The reference environment

Definition at line 843 of file environment.cpp.

◆ create()

void fawkes::OpenRaveEnvironment::create ( )

virtual

Create and lock the environment.

Definition at line 111 of file environment.cpp.

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

◆ delete_all_objects()

bool fawkes::OpenRaveEnvironment::delete_all_objects ( )

virtual

Remove all objects from environment.

Returns: true if successful

Definition at line 678 of file environment.cpp.

References fawkes::Logger::log_warn().

◆ delete_object()

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 656 of file environment.cpp.

References fawkes::Logger::log_warn().

◆ destroy()

void fawkes::OpenRaveEnvironment::destroy ( )

virtual

Destroy the environment.

Definition at line 138 of file environment.cpp.

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

Referenced by ~OpenRaveEnvironment().

◆ disable_debug()

void fawkes::OpenRaveEnvironment::disable_debug ( )

virtual

Disable debugging messages of OpenRAVE.

Definition at line 195 of file environment.cpp.

◆ enable_debug()

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 188 of file environment.cpp.

◆ get_env_ptr()

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

virtual

Get EnvironmentBasePtr.

Returns: EnvironmentBasePtr in use

Definition at line 257 of file environment.cpp.

◆ load_IK_solver()

void fawkes::OpenRaveEnvironment::load_IK_solver	(	OpenRaveRobotPtr &	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 297 of file environment.cpp.

◆ move_object() [1/2]

bool fawkes::OpenRaveEnvironment::move_object	(	const std::string &	name,
		float	trans_x,
		float	trans_y,
		float	trans_z
	)

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

Returns: true if successful

Definition at line 732 of file environment.cpp.

References fawkes::Logger::log_warn().

Referenced by move_object().

◆ move_object() [2/2]

bool fawkes::OpenRaveEnvironment::move_object	(	const std::string &	name,
		float	trans_x,
		float	trans_y,
		float	trans_z,
		OpenRaveRobotPtr &	robot
	)

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	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 764 of file environment.cpp.

References move_object().

◆ rename_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 704 of file environment.cpp.

References fawkes::Logger::log_warn().

◆ rotate_object() [1/2]

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 788 of file environment.cpp.

References fawkes::Logger::log_warn().

Referenced by rotate_object().

◆ rotate_object() [2/2]

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 825 of file environment.cpp.

References rotate_object().

◆ run_graspplanning()

void fawkes::OpenRaveEnvironment::run_graspplanning	(	const std::string &	target_name,
		OpenRaveRobotPtr &	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 472 of file environment.cpp.

References fawkes::RefPtr< T_CppObject >::clear(), and fawkes::Logger::log_debug().

◆ run_planner()

void fawkes::OpenRaveEnvironment::run_planner	(	OpenRaveRobotPtr &	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 318 of file environment.cpp.

References fawkes::RefPtr< T_CppObject >::clear(), fawkes::OpenRaveManipulator::get_angles(), fawkes::target_t::ikparam, 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_t::raw_cmd, fawkes::TARGET_IKPARAM, fawkes::TARGET_JOINTS, fawkes::TARGET_RAW, 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.

◆ set_name()

void fawkes::OpenRaveEnvironment::set_name ( const char * name )

virtual

Set name of environment.

Nothing important, but helpful for debugging etc.

Parameters

name	The name of the environment. Can be an empty string.

Definition at line 169 of file environment.cpp.

References fawkes::Logger::log_debug().

Referenced by create(), and OpenRaveEnvironment().

◆ start_viewer()

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 267 of file environment.cpp.

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

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

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ OpenRaveEnvironment() [1/2]

◆ OpenRaveEnvironment() [2/2]

◆ ~OpenRaveEnvironment()

Member Function Documentation

◆ add_object()

◆ add_robot() [1/3]

◆ add_robot() [2/3]

◆ add_robot() [3/3]

◆ clone_objects()

◆ create()

◆ delete_all_objects()

◆ delete_object()

◆ destroy()

◆ disable_debug()

◆ enable_debug()

◆ get_env_ptr()

◆ load_IK_solver()

◆ move_object() [1/2]

◆ move_object() [2/2]

◆ rename_object()

◆ rotate_object() [1/2]

◆ rotate_object() [2/2]

◆ run_graspplanning()

◆ run_planner()

◆ set_name()

◆ start_viewer()