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[Personalrobots-commit] SF.net SVN: personalrobots:[17954] pkg/trunk/motion_planning/ planning_models
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From: <is...@us...> - 2009-06-30 05:23:28
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Revision: 17954
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17954&view=rev
Author: isucan
Date: 2009-06-30 05:22:26 +0000 (Tue, 30 Jun 2009)
Log Message:
-----------
some documentation on planning models
Modified Paths:
--------------
pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h
pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic_state_params.h
pkg/trunk/motion_planning/planning_models/include/planning_models/output.h
Added Paths:
-----------
pkg/trunk/motion_planning/planning_models/mainpage.dox
Modified: pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h
===================================================================
--- pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h 2009-06-30 05:22:08 UTC (rev 17953)
+++ pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h 2009-06-30 05:22:26 UTC (rev 17954)
@@ -49,30 +49,29 @@
#include <string>
#include <map>
-/** Describing a kinematic robot model loaded from URDF. Visual geometry is ignored */
-/** Main namespace */
+/** \brief Main namespace */
namespace planning_models
{
class StateParams;
- /** Definition of a kinematic model. This class is not thread
+ /** \brief Definition of a kinematic model. This class is not thread
safe, however multiple instances can be created */
class KinematicModel
{
public:
- /** Forward definition of a joint */
+ /** \brief Forward definition of a joint */
class Joint;
- /** Forward definition of a link */
+ /** \brief Forward definition of a link */
class Link;
- /** Forward definition of a robot */
+ /** \brief Forward definition of a robot */
class Robot;
- /** A joint from the robot. Contains the transform applied by the joint type */
+ /** \brief A joint from the robot. Contains the transform applied by the joint type */
class Joint
{
friend class KinematicModel;
@@ -92,27 +91,27 @@
}
- /** Name of the joint */
+ /** \brief Name of the joint */
std::string name;
- /** The robot that owns this joint */
+ /** \brief The robot that owns this joint */
Robot *owner;
- /** the links that this joint connects */
+ /** \brief the links that this joint connects */
Link *before;
Link *after;
- /** The range of indices in the parameter vector that
+ /** \brief The range of indices in the parameter vector that
needed to access information about the position of this
joint */
unsigned int usedParams;
- /** Bitvector identifying which groups this joint is part of */
+ /** \brief Bitvector identifying which groups this joint is part of */
std::vector<bool> inGroup;
protected:
- /** the local transform (computed by forward kinematics) */
+ /** \brief the local transform (computed by forward kinematics) */
btTransform varTrans;
/* Compute the parameter names from this joint; the
@@ -121,30 +120,30 @@
vector of parameters */
unsigned int computeParameterNames(unsigned int pos);
- /** Update varTrans if this joint is part of the group indicated by groupID
+ /** \brief Update varTrans if this joint is part of the group indicated by groupID
* and recompute globalTrans using varTrans */
const double* computeTransform(const double *params, int groupID);
- /** Update the value of VarTrans using the information from params */
+ /** \brief Update the value of VarTrans using the information from params */
virtual void updateVariableTransform(const double *params) = 0;
- /** Extract the information needed by the joint given the URDF description */
+ /** \brief Extract the information needed by the joint given the URDF description */
virtual void extractInformation(const robot_desc::URDF::Link *urdfLink, Robot *robot) = 0;
};
- /** A fixed joint */
+ /** \brief A fixed joint */
class FixedJoint : public Joint
{
protected:
- /** Update the value of varTrans using the information from params */
+ /** \brief Update the value of varTrans using the information from params */
virtual void updateVariableTransform(const double *params);
- /** Extract the information needed by the joint given the URDF description */
+ /** \brief Extract the information needed by the joint given the URDF description */
virtual void extractInformation(const robot_desc::URDF::Link *urdfLink, Robot *robot);
};
- /** A planar joint */
+ /** \brief A planar joint */
class PlanarJoint : public Joint
{
public:
@@ -155,14 +154,14 @@
}
protected:
- /** Update the value of varTrans using the information from params */
+ /** \brief Update the value of varTrans using the information from params */
virtual void updateVariableTransform(const double *params);
- /** Extract the information needed by the joint given the URDF description */
+ /** \brief Extract the information needed by the joint given the URDF description */
virtual void extractInformation(const robot_desc::URDF::Link *urdfLink, Robot *robot);
};
- /** A floating joint */
+ /** \brief A floating joint */
class FloatingJoint : public Joint
{
public:
@@ -174,14 +173,14 @@
protected:
- /** Update the value of varTrans using the information from params */
+ /** \brief Update the value of varTrans using the information from params */
virtual void updateVariableTransform(const double *params);
- /** Extract the information needed by the joint given the URDF description */
+ /** \brief Extract the information needed by the joint given the URDF description */
virtual void extractInformation(const robot_desc::URDF::Link *urdfLink, Robot *robot);
};
- /** A prismatic joint */
+ /** \brief A prismatic joint */
class PrismaticJoint : public Joint
{
public:
@@ -196,15 +195,15 @@
double limit[2];
protected:
- /** Update the value of varTrans using the information from params */
+ /** \brief Update the value of varTrans using the information from params */
virtual void updateVariableTransform(const double *params);
- /** Extract the information needed by the joint given the URDF description */
+ /** \brief Extract the information needed by the joint given the URDF description */
virtual void extractInformation(const robot_desc::URDF::Link *urdfLink, Robot *robot);
};
- /** A revolute joint */
+ /** \brief A revolute joint */
class RevoluteJoint : public Joint
{
public:
@@ -223,15 +222,15 @@
protected:
- /** Update the value of varTrans using the information from params */
+ /** \brief Update the value of varTrans using the information from params */
virtual void updateVariableTransform(const double *params);
- /** Extract the information needed by the joint given the URDF description */
+ /** \brief Extract the information needed by the joint given the URDF description */
virtual void extractInformation(const robot_desc::URDF::Link *urdfLink, Robot *robot);
};
- /** Class defining bodies that can be attached to robot
+ /** \brief Class defining bodies that can be attached to robot
links. This is useful when handling objects picked up by
the robot. */
class AttachedBody
@@ -252,22 +251,22 @@
delete shape;
}
- /** The constant transform applied to the link (needs to be specified by user) */
+ /** \brief The constant transform applied to the link (needs to be specified by user) */
btTransform attachTrans;
- /** The geometry of the attached body */
+ /** \brief The geometry of the attached body */
shapes::Shape* shape;
- /** The global transform for this link (computed by forward kinematics) */
+ /** \brief The global transform for this link (computed by forward kinematics) */
btTransform globalTrans;
protected:
- /** recompute globalTrans */
+ /** \brief recompute globalTrans */
void computeTransform(btTransform &parentTrans);
};
- /** A link from the robot. Contains the constant transform applied to the link and its geometry */
+ /** \brief A link from the robot. Contains the constant transform applied to the link and its geometry */
class Link
{
friend class KinematicModel;
@@ -294,36 +293,36 @@
delete attachedBodies[i];
}
- /** Name of the link */
+ /** \brief Name of the link */
std::string name;
- /** The model that owns this link */
+ /** \brief The model that owns this link */
Robot *owner;
- /** Joint that connects this link to the parent link */
+ /** \brief Joint that connects this link to the parent link */
Joint *before;
- /** List of descending joints (each connects to a child link) */
+ /** \brief List of descending joints (each connects to a child link) */
std::vector<Joint*> after;
- /** The constant transform applied to the link (local) */
+ /** \brief The constant transform applied to the link (local) */
btTransform constTrans;
- /** The constant transform applied to the collision geometry of the link (local) */
+ /** \brief The constant transform applied to the collision geometry of the link (local) */
btTransform constGeomTrans;
- /** The geometry of the link */
+ /** \brief The geometry of the link */
shapes::Shape *shape;
- /** Attached bodies */
+ /** \brief Attached bodies */
std::vector<AttachedBody*> attachedBodies;
/* ----------------- Computed data -------------------*/
- /** The global transform this link forwards (computed by forward kinematics) */
+ /** \brief The global transform this link forwards (computed by forward kinematics) */
btTransform globalTransFwd;
- /** The global transform for this link (computed by forward kinematics) */
+ /** \brief The global transform for this link (computed by forward kinematics) */
btTransform globalTrans;
protected:
@@ -331,15 +330,15 @@
/* compute the parameter names from this link */
unsigned int computeParameterNames(unsigned int pos);
- /** recompute globalTrans */
+ /** \brief recompute globalTrans */
const double* computeTransform(const double *params, int groupID);
- /** Extract the information needed by the joint given the URDF description */
+ /** \brief Extract the information needed by the joint given the URDF description */
void extractInformation(const robot_desc::URDF::Link *urdfLink, Robot *robot);
};
- /** A robot structure */
+ /** \brief A robot structure */
struct Robot
{
Robot(KinematicModel *model)
@@ -356,38 +355,38 @@
delete chain;
}
- /** The model that owns this robot */
+ /** \brief The model that owns this robot */
KinematicModel *owner;
- /** A transform that is applied to the entire robot */
+ /** \brief A transform that is applied to the entire robot */
btTransform rootTransform;
- /** List of links in the robot */
+ /** \brief List of links in the robot */
std::vector<Link*> links;
- /** List of joints in the robot */
+ /** \brief List of joints in the robot */
std::vector<Joint*> joints;
- /** The first joint in the robot -- the root */
+ /** \brief The first joint in the robot -- the root */
Joint *chain;
- /** Number of parameters needed to define the joints */
+ /** \brief Number of parameters needed to define the joints */
unsigned int stateDimension;
- /** The bounding box for the set of parameters describing the
+ /** \brief The bounding box for the set of parameters describing the
* joints. This array contains 2 * stateDimension elements:
* positions 2*i and 2*i+1 define the minimum and maximum
* values for the parameter. If both minimum and maximum are
* set to 0, the parameter is unbounded. */
std::vector<double> stateBounds;
- /** The list of index values where floating joints
+ /** \brief The list of index values where floating joints
start. These joints need special attention in motion
planning, so the indices are provided here for
convenience. */
std::vector<int> floatingJoints;
- /** The list of index values where planar joints
+ /** \brief The list of index values where planar joints
start. These joints need special attention in motion
planning, so the indices are provided here for
convenience. */
@@ -403,32 +402,32 @@
};
- /** State information */
+ /** \brief State information */
struct ModelInfo
{
- /** Cumulative list of floating joints */
+ /** \brief Cumulative list of floating joints */
std::vector<int> floatingJoints;
- /** Cumulative list of planar joints */
+ /** \brief Cumulative list of planar joints */
std::vector<int> planarJoints;
- /** Cumulative state dimension */
+ /** \brief Cumulative state dimension */
unsigned int stateDimension;
- /** Cumulative state bounds */
+ /** \brief Cumulative state bounds */
std::vector<double> stateBounds;
- /** A map defining the parameter names in the complete state */
+ /** \brief A map defining the parameter names in the complete state */
std::map<std::string, unsigned int> parameterIndex;
std::map<unsigned int, std::string> parameterName;
- /** Cumulative index list */
+ /** \brief Cumulative index list */
std::vector< std::vector<unsigned int> > groupStateIndexList;
- /** Cumulative list of group roots */
+ /** \brief Cumulative list of group roots */
std::vector< std::vector<Joint*> > groupChainStart;
- /** True if this model has been set in the robot frame */
+ /** \brief True if this model has been set in the robot frame */
bool inRobotFrame;
};
@@ -455,79 +454,79 @@
void setVerbose(bool verbose);
- /** General the model name **/
+ /** \brief General the model name **/
const std::string& getModelName(void) const;
- /** Get the number of robots in the model */
+ /** \brief Get the number of robots in the model */
unsigned int getRobotCount(void) const;
- /** Get the datastructure associated to a specific robot */
+ /** \brief Get the datastructure associated to a specific robot */
Robot* getRobot(unsigned int index) const;
- /** Get the array of planning groups, indexed by their group ID */
+ /** \brief Get the array of planning groups, indexed by their group ID */
void getGroups(std::vector<std::string> &groups) const;
- /** Get the number of groups */
+ /** \brief Get the number of groups */
unsigned int getGroupCount(void) const;
- /** Get the group ID of a group */
+ /** \brief Get the group ID of a group */
int getGroupID(const std::string &group) const;
- /** Get a link by its name */
+ /** \brief Get a link by its name */
Link* getLink(const std::string &link) const;
- /** Get the array of links, in no particular order */
+ /** \brief Get the array of links, in no particular order */
void getLinks(std::vector<Link*> &links) const;
- /** Get a joint by its name */
+ /** \brief Get a joint by its name */
Joint* getJoint(const std::string &joint) const;
- /** Get the array of joints, ordered in the same way as in the state vector */
+ /** \brief Get the array of joints, ordered in the same way as in the state vector */
void getJoints(std::vector<Joint*> &joints) const;
- /** Get the names of the joints in a specific group. Only joints with paramteres are returned and the order is the
+ /** \brief Get the names of the joints in a specific group. Only joints with paramteres are returned and the order is the
same as in the group state */
void getJointsInGroup(std::vector<std::string> &names, int groupID) const;
- /** Get the names of the joints in a specific group. Only joints with parameters are returned and the order is the
+ /** \brief Get the names of the joints in a specific group. Only joints with parameters are returned and the order is the
same as in the group state */
void getJointsInGroup(std::vector<std::string> &names, const std::string &name) const;
- /** Return the index of a joint in the complete state vector */
+ /** \brief Return the index of a joint in the complete state vector */
int getJointIndex(const std::string &name) const;
- /** Get the index for the parameter of a joint in a given group */
+ /** \brief Get the index for the parameter of a joint in a given group */
int getJointIndexInGroup(const std::string &name, const std::string &group) const;
- /** Get the index for the parameter of a joint in a given group */
+ /** \brief Get the index for the parameter of a joint in a given group */
int getJointIndexInGroup(const std::string &name, int groupID) const;
- /** Returns the dimension of the group (as a state, not number of joints) */
+ /** \brief Returns the dimension of the group (as a state, not number of joints) */
unsigned int getGroupDimension(int groupID) const;
- /** Returns the dimension of the group (as a state, not number of joints) */
+ /** \brief Returns the dimension of the group (as a state, not number of joints) */
unsigned int getGroupDimension(const std::string &name) const;
- /** Bring the robot to a default state */
+ /** \brief Bring the robot to a default state */
void defaultState(void);
- /** Apply the transforms to a group, based on the params */
+ /** \brief Apply the transforms to a group, based on the params */
void computeTransformsGroup(const double *params, int groupID);
- /** Apply the transforms to the entire robot, based on the params */
+ /** \brief Apply the transforms to the entire robot, based on the params */
void computeTransforms(const double *params);
- /** Add transforms to the rootTransform such that the robot is in its planar/floating link frame.
+ /** \brief Add transforms to the rootTransform such that the robot is in its planar/floating link frame.
* Such a transform is needed only if the root joint of the robot is planar or floating */
void reduceToRobotFrame(void);
- /** Provide interface to a lock. Use carefully! */
+ /** \brief Provide interface to a lock. Use carefully! */
void lock(void)
{
m_lock.lock();
}
- /** Provide interface to a lock. Use carefully! */
+ /** \brief Provide interface to a lock. Use carefully! */
void unlock(void)
{
m_lock.unlock();
@@ -541,7 +540,7 @@
protected:
- /** The name of the model */
+ /** \brief The name of the model */
std::string m_name;
ModelInfo m_mi;
@@ -564,22 +563,22 @@
private:
- /** Build the needed datastructure for a joint */
+ /** \brief Build the needed datastructure for a joint */
void buildChainJ(Robot *robot, Link *parent, Joint *joint, const robot_desc::URDF::Link *urdfLink, const robot_desc::URDF &model);
- /** Build the needed datastructure for a link */
+ /** \brief Build the needed datastructure for a link */
void buildChainL(Robot *robot, Joint *parent, Link *link, const robot_desc::URDF::Link *urdfLink, const robot_desc::URDF &model);
- /** Construct the list of groups the model knows about (the ones marked with the 'plan' attribute) */
+ /** \brief Construct the list of groups the model knows about (the ones marked with the 'plan' attribute) */
void constructGroupList();
/* compute the parameter names */
void computeParameterNames(void);
- /** Get the index for the parameter of a joint in a given group */
+ /** \brief Get the index for the parameter of a joint in a given group */
int getJointIndexInGroupSlow(const std::string &name, int groupID) const;
- /** Allocate a joint of appropriate type, depending on the loaded link */
+ /** \brief Allocate a joint of appropriate type, depending on the loaded link */
Joint* createJoint(const robot_desc::URDF::Link* urdfLink);
};
Modified: pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic_state_params.h
===================================================================
--- pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic_state_params.h 2009-06-30 05:22:08 UTC (rev 17953)
+++ pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic_state_params.h 2009-06-30 05:22:26 UTC (rev 17954)
@@ -44,9 +44,8 @@
#include <map>
#include <iostream>
-/** Maintaining a kinematic state */
-/** Main namespace */
+/** \brief Main namespace */
namespace planning_models
{
Modified: pkg/trunk/motion_planning/planning_models/include/planning_models/output.h
===================================================================
--- pkg/trunk/motion_planning/planning_models/include/planning_models/output.h 2009-06-30 05:22:08 UTC (rev 17953)
+++ pkg/trunk/motion_planning/planning_models/include/planning_models/output.h 2009-06-30 05:22:26 UTC (rev 17954)
@@ -40,17 +40,23 @@
#include <string>
#include <cstdarg>
-/** Main namespace */
+/** \brief Main namespace */
namespace planning_models
{
- /** Message namespace */
+ /** \brief Message namespace. Code in this namespace is used to
+ forward information/warnings/errors to the user by using
+ output handlers. The library uses an Interface to send such
+ messages. The Interface in turn uses an instance of an
+ OutputHandler to publish this data. By default, data goes to
+ STDOUT and STDERR */
namespace msg
{
- /** The piece of code that desires interaction with an action
- or an output handler should use an instance of this
- class */
+ /** \brief The piece of code that desires interaction with an
+ output handler should use an instance of this
+ class. Multiple instances of this class will use the same
+ OutputHandler */
class Interface
{
public:
@@ -74,7 +80,9 @@
};
- /** Generic class to handle output from a piece of code */
+ /** \brief Generic class to handle output from a piece of
+ code. An instance of an output handler is used by the
+ Interface instances */
class OutputHandler
{
public:
@@ -87,19 +95,20 @@
{
}
- /** Print an error message: "Error: ...." */
+ /** \brief Print an error message: "Error: ...." */
virtual void error(const std::string &text) = 0;
- /** Print an warning message: "Warning: ...." */
+ /** \brief Print an warning message: "Warning: ...." */
virtual void warn(const std::string &text) = 0;
- /** Print some information: "Information: ...." */
+ /** \brief Print some information: "Information: ...." */
virtual void inform(const std::string &text) = 0;
- /** Print a simple message */
+ /** \brief Print a simple message */
virtual void message(const std::string &text) = 0;
};
-
+
+ /** \brief Default output handler: prints to STDOUT and STDERR */
class OutputHandlerSTD : public OutputHandler
{
public:
@@ -108,23 +117,28 @@
{
}
- /** Print an error message: "Error: ...." */
+ /** \brief Print an error message: "Error: ...." */
virtual void error(const std::string &text);
- /** Print an warning message: "Warning: ...." */
+ /** \brief Print an warning message: "Warning: ...." */
virtual void warn(const std::string &text);
- /** Print some information: "Information: ...." */
+ /** \brief Print some information: "Information: ...." */
virtual void inform(const std::string &text);
- /** Print a simple message */
+ /** \brief Print a simple message */
virtual void message(const std::string &text);
};
+ /** \brief Disable all output */
void noOutputHandler(void);
+
+ /** \brief Direct output to this handler */
void useOutputHandler(OutputHandler *oh);
+
+ /** \brief Get the address of the active handler */
OutputHandler* getOutputHandler(void);
}
Added: pkg/trunk/motion_planning/planning_models/mainpage.dox
===================================================================
--- pkg/trunk/motion_planning/planning_models/mainpage.dox (rev 0)
+++ pkg/trunk/motion_planning/planning_models/mainpage.dox 2009-06-30 05:22:26 UTC (rev 17954)
@@ -0,0 +1,32 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b planning_models is used for describing a kinematic robot model loaded from URDF. Visual geometry is ignored (only collision geometry is considered). This package allows performing forward kinematics for various groups of joints, for potentially multiple robots. The states for different groups of joints can be easily extractes using the KinematicModel class. The StateParams class allows easy updating of various state values by using the joint names specified in URDF.
+
+<!--
+In addition to providing an overview of your package,
+this is the section where the specification and design/architecture
+should be detailed. While the original specification may be done on the
+wiki, it should be transferred here once your package starts to take shape.
+You can then link to this documentation page from the Wiki.
+-->
+
+
+\section codeapi Code API
+- see the KinematicModel class
+- see the StateParams class
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/
\ No newline at end of file
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