Extracts all robots (nodes of type mpkRobot) from an Inventor scene graph and builds PQP collision models for them.

Public Fields

vector<mpkBaseRobot*>	rob Pointers to the robots in the collection.
vector<double>	param_weights weights for parameters (useful for animation discretization etc.).

Public Methods

	mpkRobotCollection (SoGroup* scenegraph)
mpkBaseRobot*	operator[] (int i)
int	num_robots () const
int	num_params () const
int	first_param_idx (int robidx) const
void	set_config (const vector<double>& conf)
void	get_config (vector<double>& conf) const
void	compute_forward_kinematics (int rob_idx=-1)
void	update_iv_transf (int rob_idx=-1)

Documentation

Extracts all robots (nodes of type mpkRobot) from an Inventor scene graph and builds PQP collision models for them.

mpkRobotCollection(SoGroup* scenegraph)

scenegraph is the inventor scene graph which will be parsed for mpkRobot nodes.

mpkBaseRobot* operator[](int i)

int num_robots() const

Returns the number of robots in the collection.

int num_params() const

Returns the total number of parameters (DOFs) of all robots together (the dimension of the cross-product c-space of all robots).

int first_param_idx(int robidx) const

Returns for robot with index robidx where its parameters start in the joint configuration of all robots in the collection. For robidx this value is always 0 and for subsequent robots it equals the sum of the numbers of parameters of all robots with smaller indices.

void set_config(const vector<double>& conf)

Sets the joint configuration of the robots to conf. Note: subsequent explicit calls to compute_forward_kinematics and update_iv_transf necessary to update the collision model and Inventor scene graph transforms of the robots.

void get_config(vector<double>& conf) const

Copies the joint configuration of the robots to conf.

void compute_forward_kinematics(int rob_idx=-1)

Computes the forward kinematics for robot with index rob_idx or all robots (if rob_idx==-1).

void update_iv_transf(int rob_idx=-1)

Updates the Inventor scene graph transfors for robot with index rob_idx or all robots (if rob_idx==-1). Note: compute_forward_kinematics must have been called before to update the kinematics of the robot.

This class has no child classes.

See Also:

mpkObstacle

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