Stores an OpenRAVE robot and the active degrees of freedom. More...

Inheritance diagram for trajopt::RobotAndDOF:

Public Member Functions
	RobotAndDOF (OR::KinBodyPtr _robot, const IntVec &_joint_inds, int _affinedofs=0, const OR::Vector _rotationaxis=OR::Vector(0, 0, 1))

void	SetDOFValues (const DblVec &dofs)

void	GetDOFLimits (DblVec &lower, DblVec &upper) const

DblVec	GetDOFValues ()

int	GetDOF () const

virtual OpenRAVE::EnvironmentBasePtr	GetEnv ()

IntVec	GetJointIndices () const

DblMatrix	PositionJacobian (int link_ind, const OR::Vector &pt) const

DblMatrix	RotationJacobian (int link_ind) const

OR::RobotBasePtr	GetRobot () const

virtual vector < OpenRAVE::KinBodyPtr >	GetBodies ()

bool	DoesAffect (const KinBody::Link &link)

std::vector< KinBody::LinkPtr >	GetAffectedLinks ()

void	GetAffectedLinks (std::vector< KinBody::LinkPtr > &links, bool only_with_geom, vector< int > &link_inds)

DblVec	RandomDOFValues ()

SaverPtr	Save ()

void	SetRobotActiveDOFs ()

Additional Inherited Members
Public Types inherited from trajopt::Configuration
typedef boost::shared_ptr< Saver >	SaverPtr

Detailed Description

Stores an OpenRAVE robot and the active degrees of freedom.

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

Classes