Inheritance diagram for or_lemur::FamilyModule:

Public Types
typedef boost::shared_ptr< Set >	SetPtr

typedef std::pair< std::set < SetPtr >, SetPtr >	Relation

typedef boost::function< bool(const std::vector< OpenRAVE::dReal > &values)>	Indicator

Public Member Functions
	FamilyModule (OpenRAVE::EnvironmentBasePtr penv)

std::string	GetInstanceId ()

void	SetCostPerIlc (double cost_per_ilc)

int	main (const std::string &cmd)

void	Destroy ()

std::string	GetFamilyId ()

SetPtr	GetCurrentSet ()

SetPtr	GetSetFromExpression (std::string input)

SetPtr	GetSet (std::string literal)

void	Let (std::string literal, SetPtr set)

void	Del (std::string literal)

std::string	GetHeaderFromSet (SetPtr set)

SetPtr	GetSetFromHeader (std::string set_header)

Family	GetCurrentFamily (std::set< SetPtr > sets_ext=std::set< SetPtr >())

std::map< SetPtr, std::pair < double, Indicator > >	GetIndicators (const Family &family)

std::map< SetPtr, std::string >	GetCanonicalNames (const Family &family)

bool	CmdGetInstanceId (std::ostream &soutput, std::istream &sinput)

bool	CmdGetRobotName (std::ostream &soutput, std::istream &sinput)

bool	CmdSetCostPerIlc (std::ostream &soutput, std::istream &sinput)

bool	CmdGetFamilyId (std::ostream &soutput, std::istream &sinput)

bool	CmdLet (std::ostream &soutput, std::istream &sinput)

bool	CmdNamesOf (std::ostream &soutput, std::istream &sinput)

bool	CmdPrintCurrentFamily (std::ostream &soutput, std::istream &sinput)

bool	CmdGetHeaderFromSet (std::ostream &soutput, std::istream &sinput)

Detailed Description

This is tied to a particular robot instance

the job of the family object is to maintain/deduplicate canonical names for linkdata objects, save/load to disk, etc

it's either loaded from disk, or it isnt!

this maintains pointers to sets sets persist if they're named, or if other people own pointers to them

a family is a set of sets bound to a particular robot (for now)

NOTE: The current set includes all robot self and environment inter-link collisions, with the following known differences:

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

Classes