DesignerTrajectoryHolder Class Reference

The DesignerTrajectoryHolder class enables creating, deleting and getting DesignerTrajectorManagers, which are unambiguously assigned to a RobotNodeSet. More...

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

Public Member Functions
bool	createDesignerTrajectoryManager (std::string rnsName)
	Public functions.
bool	deleteDesignerTrajectoryManager (std::string rnsName)
	Deletes the DesignerTrajectoryManager assigned to the given RobotNodeSet.
	DesignerTrajectoryHolder (EnvironmentPtr environment)
	Constructor(s)
DesignerTrajectoryManagerPtr	getTrajectoryManager (std::string rnsName)
	Returns the DesignerTrajectoryManager assigned to the given RobotNodeSet.
bool	import (DesignerTrajectoryPtr designerTrajectory, bool force)
	Imports the given DesignerTrajectory.
bool	isInCollision (std::string activeColModelName, std::vector< std::string > bodyColModelsNames, unsigned int fps)
	isInCollision Checks if the given collision models (active and body) collide for the jointangle configurations given in the trajectory
bool	rnsExists (std::string rnsName)
	Checks if there is already a DesignerTrajectoryManager assigned to the given RobotNodeSet.
bool	rnsIsPartOfExistingRns (std::string rnsName)
	Checks if the given RobotNodeSet is part of a RobotNodeSet to which a DesignerTrajectoryManager is assigned to.

Detailed Description

The DesignerTrajectoryHolder class enables creating, deleting and getting DesignerTrajectorManagers, which are unambiguously assigned to a RobotNodeSet.

See also

DesignerTrajectoryManager

Constructor & Destructor Documentation

DesignerTrajectoryHolder()

DesignerTrajectoryHolder

(

EnvironmentPtr

environment

)

Constructor(s)

Constructor(s) /////////////////////////////////////////////////////////////////////////////////////////////////.

Member Function Documentation

createDesignerTrajectoryManager()

bool createDesignerTrajectoryManager

(

std::string

rnsName

)

Public functions.

Public functions /////////////////////////////////////////////////////////////////////////////////////////////////.

If the given RobotNodeSet is not already assigned to a DesignerTrajectoryManager a DesignerTrajectoryManager is created and assigned to this RobotNodeSet, else nothing happens.

Parameters

rns	RobotNodeSet

Returns

true, if the given RobotNodeSet was not already assigned to a DesignerTrajectoryManager; false, if the given RobotNodeSet was already assigned to a DesignerTrajectoryManager.

deleteDesignerTrajectoryManager()

bool deleteDesignerTrajectoryManager

(

std::string

rnsName

)

Deletes the DesignerTrajectoryManager assigned to the given RobotNodeSet.

Parameters

rns	RobotNodeSet

Returns

true, if DesignerTrajectoryManager existed and was successfully deleted; false, if no DesignerTrajectoryManager was assigned to the given RobotNodeSet

getTrajectoryManager()

DesignerTrajectoryManagerPtr getTrajectoryManager

(

std::string

rnsName

)

Returns the DesignerTrajectoryManager assigned to the given RobotNodeSet.

Parameters

rns	RobotNodeSet

Returns

DesignerTrajectoryManager assigned to the given RobotNodeSet.

import()

bool import	(	DesignerTrajectoryPtr	designerTrajectory,
		bool	force = true )

Imports the given DesignerTrajectory.

The DesignerTrajectory holds a RobotNodeSet. If this RobotNodeSet is not assigned to a DesignerTrajectoryManager then a new DesignerTrajectoryManager is created with the given DesignerTrajectory (return true). If the DesignerTrajectory's RobotNodeSet is already assigned to a DesignerTrajectoryManager there are two options:

• If force is true (default), the existing DesignerTrajectoryManager gets overridden by a new DesignerTrajectoryManager created with the given DesignerTrajectory (return true).
• If force is false, nothing happens (return false).

Parameters

designerTrajectory	new DesignerTrajectory
force	Boolean indicating wheather to force the import or not

Returns

(see detailed function description)

isInCollision()

bool isInCollision	(	std::string	activeColModelName,
		std::vector< std::string >	bodyColModelsNames,
		unsigned int	fps )

isInCollision Checks if the given collision models (active and body) collide for the jointangle configurations given in the trajectory

Parameters

t	trajectory combining all trajectories represented by the managers
activeColModelName	the collision model of the RobotNodeSet which gets manipulated
bodyColModelsNames	the collision models to check against
fps	resolution for collision checking in frames per second

Returns

true in case of a collision

rnsExists()

bool rnsExists

(

std::string

rnsName

)

Checks if there is already a DesignerTrajectoryManager assigned to the given RobotNodeSet.

Parameters

rns	RobotNodeSet

Returns

true, if a DesignerTrajectoryManager assigned to the given RobotNodeSet exists; false, if no DesignerTrajectoryManager is assigned to the given RobotNodeSet

rnsIsPartOfExistingRns()

bool rnsIsPartOfExistingRns

(

std::string

rnsName

)

Checks if the given RobotNodeSet is part of a RobotNodeSet to which a DesignerTrajectoryManager is assigned to.

Parameters

rns	RobotNodeSet

Returns

true, if the given RobotNodeSet is part of a existing one; false, if the given RobotNodeSet is not part of a existing one

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

• RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Manager/DesignerTrajectoryHolder.h
• RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Manager/DesignerTrajectoryHolder.cpp