DesignerTrajectoryManager Class Reference

The DesignerTrajectoryManager class enables easy interaction with the model. More...

#include <RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Manager/DesignerTrajectoryManager.h>

Public Member Functions

void addWaypoint (const PoseBasePtr pose)
 Adds a UserWaypoint to the end of this manager's DesignerTrajectory. More...
 
void deleteWaypoint (unsigned int index)
 Deletes a UserWaypoint from this manager's DesignerTrajectory. More...
 
 DesignerTrajectoryManager (std::string rnsName, EnvironmentPtr environment_)
 Constructor(s) More...
 
void editWaypointIKSelection (unsigned int index, VirtualRobot::IKSolver::CartesianSelection ikSelection)
 Edits the IKSelection of a UserWaypoint. More...
 
void editWaypointPoseBase (unsigned int index, const PoseBasePtr pose)
 Edits the pose of a UserWaypoint. More...
 
DesignerTrajectoryPtr getDesignerTrajectory () const
 Returns a deep copy of this manager's DesignerTrajectory. More...
 
bool getIsInitialized ()
 True if the DesignerTrajectory is initialized. More...
 
bool import (DesignerTrajectoryPtr newDesignerTrajectory)
 Overrides the current DesignerTrajectory with the given DesignerTrajectory. More...
 
void initializeDesignerTrajectory (std::vector< double > &jointAngles)
 Public functions. More...
 
void insertWaypoint (unsigned int index, const PoseBasePtr pose)
 Inserts a UserWaypoint at the given position to this manager's DesignerTrajectory. More...
 
bool redo ()
 redo More...
 
bool redoPossible ()
 
void setTransitionInterpolation (unsigned int index, InterpolationType it)
 Sets the InterpolationType of a Transition from this manager's DesignerTrajectory. More...
 
void setTransitionUserDuration (unsigned int index, double duration)
 Sets the desired duration of a Transition. More...
 
void setWaypointAsBreakpoint (unsigned int index, bool b)
 Sets a UserWaypoint as (not-) breakpoint. More...
 
bool undo ()
 undo More...
 
bool undoPossible ()
 setCollisionModels Sets the collision models on the collision detection attribute More...
 

Detailed Description

The DesignerTrajectoryManager class enables easy interaction with the model.

Using this class, the model is always self-consistent.

See also
DesignerTrajectory

Definition at line 54 of file DesignerTrajectoryManager.h.

Constructor & Destructor Documentation

◆ DesignerTrajectoryManager()

DesignerTrajectoryManager ( std::string  rnsName,
EnvironmentPtr  environment_ 
)

Constructor(s)

Constructor of this class.

Parameters
rnsRobotNodeSet

Definition at line 798 of file DesignerTrajectoryManager.cpp.

Member Function Documentation

◆ addWaypoint()

void addWaypoint ( const PoseBasePtr  pose)

Adds a UserWaypoint to the end of this manager's DesignerTrajectory.

To create this UserWaypoint the following parameters are needed:

Parameters
posepose of the UserWaypoint

Definition at line 840 of file DesignerTrajectoryManager.cpp.

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◆ deleteWaypoint()

void deleteWaypoint ( unsigned int  index)

Deletes a UserWaypoint from this manager's DesignerTrajectory.

Parameters
indexindex of the UserWaypoint to delete

Definition at line 960 of file DesignerTrajectoryManager.cpp.

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◆ editWaypointIKSelection()

void editWaypointIKSelection ( unsigned int  index,
VirtualRobot::IKSolver::CartesianSelection  ikSelection 
)

Edits the IKSelection of a UserWaypoint.

Parameters
indexindex of the UserWaypoint to edit
ikSelectionnew IKSelection

Definition at line 944 of file DesignerTrajectoryManager.cpp.

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◆ editWaypointPoseBase()

void editWaypointPoseBase ( unsigned int  index,
const PoseBasePtr  pose 
)

Edits the pose of a UserWaypoint.

Parameters
indexindex of the UserWaypoint to edit
posenew pose

Definition at line 891 of file DesignerTrajectoryManager.cpp.

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◆ getDesignerTrajectory()

DesignerTrajectoryPtr getDesignerTrajectory ( ) const

Returns a deep copy of this manager's DesignerTrajectory.

Returns
a deep copy of this manager's DesignerTrajectory

Definition at line 1063 of file DesignerTrajectoryManager.cpp.

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◆ getIsInitialized()

bool getIsInitialized ( )

True if the DesignerTrajectory is initialized.

Returns
isInitialized member

Definition at line 560 of file DesignerTrajectoryManager.cpp.

◆ import()

bool import ( DesignerTrajectoryPtr  newDesignerTrajectory)

Overrides the current DesignerTrajectory with the given DesignerTrajectory.

Parameters
designerTrajectorynew DesignerTrajectory

Definition at line 1078 of file DesignerTrajectoryManager.cpp.

◆ initializeDesignerTrajectory()

void initializeDesignerTrajectory ( std::vector< double > &  jointAngles)

Public functions.

Public Functions.

Initializes the DesignerTrajectory object of this manager instance.

Parameters
jointAnglesstart jointangle-configuration of the trajectory

Definition at line 812 of file DesignerTrajectoryManager.cpp.

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◆ insertWaypoint()

void insertWaypoint ( unsigned int  index,
const PoseBasePtr  pose 
)

Inserts a UserWaypoint at the given position to this manager's DesignerTrajectory.

To create this UserWaypoint the following parameters are needed:

Parameters
indexposition to insert the UserWaypoint into
pbpose of the UserWaypoint

Definition at line 857 of file DesignerTrajectoryManager.cpp.

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◆ redo()

bool redo ( )

redo

Returns

Definition at line 537 of file DesignerTrajectoryManager.cpp.

◆ redoPossible()

bool redoPossible ( )

Definition at line 1138 of file DesignerTrajectoryManager.cpp.

◆ setTransitionInterpolation()

void setTransitionInterpolation ( unsigned int  index,
InterpolationType  it 
)

Sets the InterpolationType of a Transition from this manager's DesignerTrajectory.

Parameters
indexindex of the Transition to edit
itnew InterpolationType

Definition at line 1008 of file DesignerTrajectoryManager.cpp.

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◆ setTransitionUserDuration()

void setTransitionUserDuration ( unsigned int  index,
double  duration 
)

Sets the desired duration of a Transition.

Parameters
indexindex of the Transition to edit
durationdesired duration

Definition at line 1040 of file DesignerTrajectoryManager.cpp.

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◆ setWaypointAsBreakpoint()

void setWaypointAsBreakpoint ( unsigned int  index,
bool  b 
)

Sets a UserWaypoint as (not-) breakpoint.

Parameters
indexindex of the UserWaypoint to edit
btrue when the selected UserWaypoint should be a breakpoint false when the selected UserWaypoint should not be a breakpoint

Definition at line 1024 of file DesignerTrajectoryManager.cpp.

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◆ undo()

bool undo ( )

undo

Returns

Definition at line 514 of file DesignerTrajectoryManager.cpp.

◆ undoPossible()

bool undoPossible ( )

setCollisionModels Sets the collision models on the collision detection attribute

Parameters
activeCollisionModelThe collision model of the RobotNodeSet which gets manipulated
bodyCollisionModelsThe collision models to check against

Definition at line 1133 of file DesignerTrajectoryManager.cpp.


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