scenegraph.h File Reference

The scenegraph data structure. More...

Go to the source code of this file.

Macros
#define	AA_RX_FRAME_ROOT   ((aa_rx_frame_id)-1)
	Magic frame_id for the root/global/absolute frame.
#define	AA_RX_FRAME_NONE   ((aa_rx_frame_id)-2)
#define	AA_RX_CONFIG_NONE   ((aa_rx_config_id)-1)
	Magic config_id for no configuration variable.
#define	AA_RX_CONFIG_MULTI   ((aa_rx_config_id)-2)

Typedefs
typedef signed long	aa_rx_frame_id
	Type for frame indices.
typedef signed long	aa_rx_config_id
	Type for configuration indices.

Enumerations
enum	aa_rx_frame_type { AA_RX_FRAME_FIXED, AA_RX_FRAME_REVOLUTE, AA_RX_FRAME_PRISMATIC }
	Enum of frame types. More...

Functions
AA_API struct aa_rx_sg *	aa_rx_sg_create ()
	Construct a new, empty scene graph.
AA_API void	aa_rx_sg_destroy (struct aa_rx_sg *scene_graph)
	Destroy a scene graph.
AA_API int	aa_rx_sg_init (struct aa_rx_sg *scene_graph)
	Setup the scenegraph internal indices. More...
AA_API enum aa_rx_frame_type	aa_rx_sg_frame_type (const struct aa_rx_sg *scene_graph, aa_rx_frame_id frame_id)
	Return the type of the given frame. More...
AA_API const char *	aa_rx_sg_frame_name (const struct aa_rx_sg *scene_graph, aa_rx_frame_id frame_id)
	Return the name of the given frame. More...
AA_API const char *	aa_rx_sg_config_name (const struct aa_rx_sg *scene_graph, aa_rx_config_id config_id)
	Return the config of the given frame. More...
AA_API aa_rx_frame_id	aa_rx_sg_frame_parent (const struct aa_rx_sg *scene_graph, aa_rx_frame_id frame_id)
	Return the parent id of the frame. More...
AA_API size_t	aa_rx_sg_frame_count (const struct aa_rx_sg *scene_graph)
	Return the number of frames in scene_graph.
AA_API size_t	aa_rx_sg_config_count (const struct aa_rx_sg *scene_graph)
	Return the number of configuration variables in scene_graph.
AA_API aa_rx_config_id	aa_rx_sg_frame_config (const struct aa_rx_sg *scene_graph, aa_rx_frame_id frame)
	Return the config id of frame. More...
AA_API size_t	aa_rx_sg_config_names (const struct aa_rx_sg *scene_graph, size_t n_names, const char **names)
	Fill names with pointers to config names. More...
AA_API aa_rx_config_id	aa_rx_sg_config_id (const struct aa_rx_sg *scene_graph, const char *config_name)
	Return the index of a configuration variable in the scene graph. More...
AA_API void	aa_rx_sg_config_indices (const struct aa_rx_sg *scene_graph, size_t n, const char **config_name, aa_rx_config_id *ids)
	Return the indices of a configuration variable in the scene graph. More...
AA_API void	aa_rx_sg_config_get (const struct aa_rx_sg *scene_graph, size_t n_all, size_t n_subset, const aa_rx_config_id *ids, const double *config_all, double *config_subset)
AA_API void	aa_rx_sg_config_set (const struct aa_rx_sg *scene_graph, size_t n_all, size_t n_subset, const aa_rx_config_id *ids, const double *config_subset, double *config_all)
AA_API aa_rx_frame_id	aa_rx_sg_frame_id (const struct aa_rx_sg *scene_graph, const char *frame_name)
	Return the index of a frame in the scene graph. More...
AA_API void	aa_rx_sg_add_frame_fixed (struct aa_rx_sg *scene_graph, const char *parent, const char *name, const double q[4], const double v[3])
	Add a fixed-transform frame to the scene graph. More...
AA_API void	aa_rx_sg_add_frame_prismatic (struct aa_rx_sg *scene_graph, const char *parent, const char *name, const double q[4], const double v[3], const char *config_name, const double axis[3], double offset)
	Add a prismatic-joint frame to the scene graph. More...
AA_API void	aa_rx_sg_add_frame_revolute (struct aa_rx_sg *scene_graph, const char *parent, const char *name, const double q[4], const double v[3], const char *config_name, const double axis[3], double offset)
	Add a revolute-joint frame to the scene graph. More...
AA_API void	aa_rx_sg_rm_frame (struct aa_rx_sg *scene_graph, const char *name)
	Remove a frame.
AA_API void	aa_rx_sg_set_limit_pos (struct aa_rx_sg *scenegraph, const char *config_name, double min, double max)
	Set position limit values.
AA_API void	aa_rx_sg_set_limit_vel (struct aa_rx_sg *scenegraph, const char *config_name, double min, double max)
	Set velocity limit values.
AA_API void	aa_rx_sg_set_limit_acc (struct aa_rx_sg *scenegraph, const char *config_name, double min, double max)
	Set acceleration limit values.
AA_API void	aa_rx_sg_set_limit_eff (struct aa_rx_sg *scenegraph, const char *config_name, double min, double max)
	Set effort limit values.
AA_API int	aa_rx_sg_get_limit_pos (const struct aa_rx_sg *scenegraph, aa_rx_config_id config_id, double *min, double *max)
	Get position limit values. More...
AA_API int	aa_rx_sg_get_limit_vel (const struct aa_rx_sg *scenegraph, aa_rx_config_id config_id, double *min, double *max)
	Get velocity limit values. More...
AA_API int	aa_rx_sg_get_limit_acc (const struct aa_rx_sg *scenegraph, aa_rx_config_id config_id, double *min, double *max)
	Get acceleration limit values. More...
AA_API int	aa_rx_sg_get_limit_eff (const struct aa_rx_sg *scenegraph, aa_rx_config_id config_id, double *min, double *max)
	Get effort limit values. More...
AA_API const double *	aa_rx_sg_frame_axis (const struct aa_rx_sg *scene_graph, aa_rx_frame_id frame)
	Return pointer to frame axis. More...
AA_API void	aa_rx_sg_tf (const struct aa_rx_sg *scene_graph, size_t n_q, const double *q, size_t n_tf, double *TF_rel, size_t ld_rel, double *TF_abs, size_t ld_abs)
	Compute transforms for the scene graph. More...
AA_API void	aa_rx_sg_tf_update (const struct aa_rx_sg *scene_graph, size_t n_q, const double *q0, const double *q, size_t n_tf, const double *TF_rel0, size_t ld_rel0, const double *TF_abs0, size_t ld_abs0, double *TF_rel, size_t ld_rel, double *TF_abs, size_t ld_abs)
AA_API void	aa_rx_sg_map_geom (const struct aa_rx_sg *scene_graph, void(*function)(void *context, aa_rx_frame_id frame_id, struct aa_rx_geom *geom), void *context)
	Call function for every geometry object in the scene graph. More...
AA_API void	aa_rx_sg_rel_tf (const struct aa_rx_sg *scene_graph, const aa_rx_frame_id frame_from, const aa_rx_frame_id frame_to, const double *tf_abs, size_t ld_abs, double *from_tf_to)
	Get transform between two given frames. More...
AA_API void	aa_rx_sg_reparent (const struct aa_rx_sg *scene_graph, const aa_rx_frame_id frame, const aa_rx_frame_id new_parent, const double *q)
AA_API struct aa_rx_sg *	aa_rx_sg_copy (const struct aa_rx_sg *orig)
AA_API void	aa_rx_sg_allow_collision (struct aa_rx_sg *scene_graph, const aa_rx_frame_id id0, const aa_rx_frame_id id1, const int allowed)
AA_API void	aa_rx_sg_allow_collision_name (struct aa_rx_sg *scene_graph, const char *id0, const char *id1, const int allowed)

Detailed Description

The scenegraph data structure.

Definition in file scenegraph.h.

Enumeration Type Documentation

enum aa_rx_frame_type

Enum of frame types.

Enumerator
AA_RX_FRAME_FIXED	A fixed transform.
AA_RX_FRAME_REVOLUTE	A rotating transform.
AA_RX_FRAME_PRISMATIC	A prismatic (sliding) transform.

Definition at line 72 of file scenegraph.h.

Function Documentation

AA_API void aa_rx_sg_add_frame_fixed	(	struct aa_rx_sg *	scene_graph,
		const char *	parent,
		const char *	name,
		const double	q[4],
		const double	v[3]
	)

Add a fixed-transform frame to the scene graph.

Note that adding a new frame may changes the frame_ids of all previously added frames.

Parameters

scene_graph	The scene graph container
parent	The name of the parent frame
name	The name of the frame to be added
q	The unit quaternion frame rotation (xyzw)
v	The frame translation vector

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API void aa_rx_sg_add_frame_prismatic	(	struct aa_rx_sg *	scene_graph,
		const char *	parent,
		const char *	name,
		const double	q[4],
		const double	v[3],
		const char *	config_name,
		const double	axis[3],
		double	offset
	)

Add a prismatic-joint frame to the scene graph.

Note that adding a new frame may changes the frame_ids and config_ids of all previously added frames.

Parameters

scene_graph	The scene graph container
parent	The name of the parent frame
name	The name of the frame to be added
q	The unit quaternion frame initial rotation (xyzw)
v	The frame initial translation vector
axis	The axis of rotation. A non-unit axis will scale the translation accordingly.
offset	An offset to be added to the configuration value

AA_API void aa_rx_sg_add_frame_revolute	(	struct aa_rx_sg *	scene_graph,
		const char *	parent,
		const char *	name,
		const double	q[4],
		const double	v[3],
		const char *	config_name,
		const double	axis[3],
		double	offset
	)

Add a revolute-joint frame to the scene graph.

Note that adding a new frame may changes the frame_ids and config_ids of all previously added frames.

Parameters

scene_graph	The scene graph container
parent	The name of the parent frame
name	The name of the frame to be added
q	The unit quaternion frame initial rotation (xyzw)
v	The frame initial translation vector
axis	The axis of rotation. A non-unit axis will scale the rotation accordingly.
offset	An offset to be added to the configuration value

AA_API aa_rx_config_id aa_rx_sg_config_id	(	const struct aa_rx_sg *	scene_graph,
		const char *	config_name
	)

Return the index of a configuration variable in the scene graph.

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API void aa_rx_sg_config_indices	(	const struct aa_rx_sg *	scene_graph,
		size_t	n,
		const char **	config_name,
		aa_rx_config_id *	ids
	)

Return the indices of a configuration variable in the scene graph.

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API const char* aa_rx_sg_config_name	(	const struct aa_rx_sg *	scene_graph,
		aa_rx_config_id	config_id
	)

Return the config of the given frame.

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API size_t aa_rx_sg_config_names	(	const struct aa_rx_sg *	scene_graph,
		size_t	n_names,
		const char **	names
	)

Fill names with pointers to config names.

AA_API const double* aa_rx_sg_frame_axis	(	const struct aa_rx_sg *	scene_graph,
		aa_rx_frame_id	frame
	)

Return pointer to frame axis.

Only valid for univariate joint frames.

AA_API aa_rx_config_id aa_rx_sg_frame_config	(	const struct aa_rx_sg *	scene_graph,
		aa_rx_frame_id	frame
	)

Return the config id of frame.

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API aa_rx_frame_id aa_rx_sg_frame_id	(	const struct aa_rx_sg *	scene_graph,
		const char *	frame_name
	)

Return the index of a frame in the scene graph.

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API const char* aa_rx_sg_frame_name	(	const struct aa_rx_sg *	scene_graph,
		aa_rx_frame_id	frame_id
	)

Return the name of the given frame.

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API aa_rx_frame_id aa_rx_sg_frame_parent	(	const struct aa_rx_sg *	scene_graph,
		aa_rx_frame_id	frame_id
	)

Return the parent id of the frame.

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API enum aa_rx_frame_type aa_rx_sg_frame_type	(	const struct aa_rx_sg *	scene_graph,
		aa_rx_frame_id	frame_id
	)

Return the type of the given frame.

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API int aa_rx_sg_get_limit_acc	(	const struct aa_rx_sg *	scenegraph,
		aa_rx_config_id	config_id,
		double *	min,
		double *	max
	)

Get acceleration limit values.

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API int aa_rx_sg_get_limit_eff	(	const struct aa_rx_sg *	scenegraph,
		aa_rx_config_id	config_id,
		double *	min,
		double *	max
	)

Get effort limit values.

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API int aa_rx_sg_get_limit_pos	(	const struct aa_rx_sg *	scenegraph,
		aa_rx_config_id	config_id,
		double *	min,
		double *	max
	)

Get position limit values.

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API int aa_rx_sg_get_limit_vel	(	const struct aa_rx_sg *	scenegraph,
		aa_rx_config_id	config_id,
		double *	min,
		double *	max
	)

Get velocity limit values.

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API int aa_rx_sg_init

(

struct aa_rx_sg *

scene_graph

)

Setup the scenegraph internal indices.

This function must be called before any frame_ids or config_ids can be used with the scenegraph.

AA_API void aa_rx_sg_map_geom	(	const struct aa_rx_sg *	scene_graph,
		void(*)(void *context, aa_rx_frame_id frame_id, struct aa_rx_geom *geom)	function,
		void *	context
	)

Call function for every geometry object in the scene graph.

Parameters

scene_graph	The scene graph container
function	A function to call on every geometry object
context	The context argument to function

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.

AA_API void aa_rx_sg_rel_tf	(	const struct aa_rx_sg *	scene_graph,
		const aa_rx_frame_id	frame_from,
		const aa_rx_frame_id	frame_to,
		const double *	tf_abs,
		size_t	ld_abs,
		double *	from_tf_to
	)

Get transform between two given frames.

Parameters

scene_graph	The scene graph container
frame_from
frame_to
q	Current configs
tf_rel	Relative transform from the from frame to the to frame

AA_API void aa_rx_sg_tf	(	const struct aa_rx_sg *	scene_graph,
		size_t	n_q,
		const double *	q,
		size_t	n_tf,
		double *	TF_rel,
		size_t	ld_rel,
		double *	TF_abs,
		size_t	ld_abs
	)

Compute transforms for the scene graph.

Transform entries are in {q_x, q_y, q_z, q_w, v_x, v_y, v_z} format.

Parameters

scene_graph	The scene graph container
n_q	Size of configuration vector q
q	Configuraiton vector
n_tf	Number of entries in the TF array
TF_rel	Relative transform matrix in quaternion-vector format
ld_rel	Leading dimensional of TF_rel, i.e., space between each entry
TF_abs	Absolute transform matrix in quaternion-vector format
ld_abs	Leading dimensional of TF_abs, i.e., space between each entry

Precondition

aa_rx_sg_init() has been called after all frames were added to the scenegraph.