Core UE struct housing entity (robot, object) model data, wrapped by FRREntityModelInfo & FRREntityModelTableRow. More...

#include <RREntityStructs.h>

Collaboration diagram for FRREntityModelData:

[legend]

Public Member Functions
	FRREntityModelData (const TArray< FString > &InModelNameList)

	FRREntityModelData (TArray< FString > &&InModelNameList)

	FRREntityModelData ()

bool	IsURDF () const

bool	IsSDF () const

bool	IsUEDataTable () const

bool	IsSingleCAD () const

FString	GetModelDescTypeName () const

bool	IsWorldModel () const

FString	GetModelName () const

int32	GetVisualsNum () const

bool	IsUEComponentEnabled (const int32 InTypeMask) const

bool	IsUEComponentEnabled (const ERRUEComponentType InTypeMask) const

void	SetUEComponentEnabled (const int32 InTypeMask)

void	SetUEComponentEnabled (const ERRUEComponentType InTypeMask)

bool	IsPlainManipulatorModel () const

bool	IsPlainWheeledVehicleModel () const

bool	HasDriveComponents () const

bool	IsRobotModel () const

bool	IsObjectModel () const

void	UpdateLinksLocationFromJoints ()
	http://wiki.ros.org/urdf/XML/joint More...

void	RemoveLinkJointProp (const FString &InLinkName)
	Remove all link properties of InLinkName and its corresponding joint properties having their #ParentLinkName as InLinkName. More...

FRRRobotLinkProperty	GetBaseLinkProp () const
	Get the property of base link of which the name is denoted by BaseLinkName. More...

FRRRobotLinkProperty	GetLinkProp (const FString &InLinkName) const
	Get the property of a link by name read from URDF/SDF or CAD like FBX/COLLADA. More...

FRRRobotJointProperty	GetJointProp (const FString &InJointName) const
	Get the property of a joint by name read from URDF/SDF or CAD like FBX/COLLADA. More...

FRRRobotJointProperty	GetJointPropFromChildLinkName (const FString &InChildLinkName) const
	Get the property of the first joint having its child link name as InChildLinkName. More...

FRRRobotLinkProperty	FindLinkProp (int8 InLinkIndex) const
	Get the property of a link by its LinkIndex. More...

FRRRobotJointProperty	FindJointPropByLinkIndex (int8 InLinkIndex) const
	Get the property of a joint of which the child link name matchs the link property fetched by its LinkIndex. More...

FTransform	GetLinkVisualOffset (int8 InLinkIndex) const
	Get visual offset transform of a link by its LinkIndex. More...

FTransform	GetLinkAbsoluteTransform (int8 InLinkIndex) const
	Get the absolute transform of a link (in owner robot's frame) by its LinkIndex. More...

FTransform	GetLinkRelativeTransform (int8 InLinkIndex) const
	Get the relative transform of a link to its parent by its LinkIndex. More...

FTransform	GetLinkRelTransformToBase (int8 InLinkIndex) const
	Get the relative transform of a link to base link its LinkIndex. More...

FTransform	GetLinkVisualOffsetToBase (int8 InLinkIndex) const
	Get the visual offset transform of a link to base link its LinkIndex. More...

FRREntityGeometryInfo	GetVisualInfo () const
	Get model visual info. More...

FRRMaterialProperty	GetBodyMaterialInfo () const

FRRMaterialProperty	GetVisualMaterialInfo () const

bool	HasWheel (const FString &InWheelName) const

bool	operator== (const FRREntityModelData &OtherModelData)

bool	IsValid (bool bIsLogged=false) const

void	PrintSelf () const

Public Attributes
ERREntityDescriptionType	ModelDescType = ERREntityDescriptionType::NONE
	Robot Model Description Type (URDF/SDF) More...

FString	WorldName

bool	bHasWorldJoint = false

TArray< FString >	ModelNameList
	World model: [ModelNameList] >= 1. More...

FVector	TotalSize = FVector::ZeroVector
	Meshes are async loaded, & so their sizes. More...

FString	BaseFolderPath
	Path to the base package folder, from which meshes' CAD file paths are defined as relative to. More...

FString	DescriptionFilePath
	Robot Model Description File (URDF/SDF) More...

int32	CreatedInstancesNum = 0

FString	ParentFrameName

FTransform	RelativeTransform = FTransform::Identity

int32	UEComponentTypeFlags = 0
	UE Component types. More...

FString	BaseLinkName

TArray< FRRRobotLinkProperty >	LinkPropList

TArray< FRRRobotJointProperty >	JointPropList

TArray< FRREntityModelData >	ChildModelsData
	Struct recursion is NOT yet supported for UPROPERTY. More...

FString	WholeBodyStaticMeshName

FRRMaterialProperty	WholeBodyMaterialInfo

TArray< FString >	ArticulatedLinksNames

TArray< FString >	EndEffectorNames

TArray< FRRRobotWheelProperty >	WheelPropList

Detailed Description

Core UE struct housing entity (robot, object) model data, wrapped by FRREntityModelInfo & FRREntityModelTableRow.

USTRUCT(BlueprintType)

Constructor & Destructor Documentation

◆ FRREntityModelData() [1/3]

FRREntityModelData::FRREntityModelData ( const TArray< FString > & InModelNameList )

inline

◆ FRREntityModelData() [2/3]

FRREntityModelData::FRREntityModelData ( TArray< FString > && InModelNameList )

inline

◆ FRREntityModelData() [3/3]

FRREntityModelData::FRREntityModelData ( )

inline

Member Function Documentation

◆ FindJointPropByLinkIndex()

FRRRobotJointProperty FRREntityModelData::FindJointPropByLinkIndex ( int8 InLinkIndex ) const

inline

Get the property of a joint of which the child link name matchs the link property fetched by its LinkIndex.

NOTE: LinkIndex is assigned indendently from its index in LinkPropList as building robot skeleton structure

Parameters

InLinkIndex

Returns: FRRRobotJointProperty

◆ FindLinkProp()

FRRRobotLinkProperty FRREntityModelData::FindLinkProp ( int8 InLinkIndex ) const

inline

Get the property of a link by its LinkIndex.

NOTE: LinkIndex is assigned indendently from its index in LinkPropList as building robot skeleton structure

Parameters

InLinkIndex

Returns: FRRRobotLinkProperty

◆ GetBaseLinkProp()

FRRRobotLinkProperty FRREntityModelData::GetBaseLinkProp ( ) const

inline

Get the property of base link of which the name is denoted by BaseLinkName.

Returns: FRRRobotLinkProperty

◆ GetBodyMaterialInfo()

FRRMaterialProperty FRREntityModelData::GetBodyMaterialInfo ( ) const

inline

◆ GetJointProp()

FRRRobotJointProperty FRREntityModelData::GetJointProp ( const FString & InJointName ) const

inline

Get the property of a joint by name read from URDF/SDF or CAD like FBX/COLLADA.

Parameters

InJointName

Returns: FRRRobotJointProperty

◆ GetJointPropFromChildLinkName()

FRRRobotJointProperty FRREntityModelData::GetJointPropFromChildLinkName ( const FString & InChildLinkName ) const

inline

Get the property of the first joint having its child link name as InChildLinkName.

Parameters

InChildLinkName

Returns: FRRRobotJointProperty

◆ GetLinkAbsoluteTransform()

FTransform FRREntityModelData::GetLinkAbsoluteTransform ( int8 InLinkIndex ) const

inline

Get the absolute transform of a link (in owner robot's frame) by its LinkIndex.

NOTE: LinkIndex is assigned indendently from its index in LinkPropList as building robot skeleton structure

Parameters

InLinkIndex

Returns: FTransform

◆ GetLinkProp()

FRRRobotLinkProperty FRREntityModelData::GetLinkProp ( const FString & InLinkName ) const

inline

Get the property of a link by name read from URDF/SDF or CAD like FBX/COLLADA.

Parameters

InLinkName

Returns: FRRRobotLinkProperty

◆ GetLinkRelativeTransform()

FTransform FRREntityModelData::GetLinkRelativeTransform ( int8 InLinkIndex ) const

inline

Get the relative transform of a link to its parent by its LinkIndex.

NOTE: LinkIndex is assigned indendently from its index in LinkPropList as building robot skeleton structure

Parameters

InLinkIndex

Returns: FTransform

◆ GetLinkRelTransformToBase()

FTransform FRREntityModelData::GetLinkRelTransformToBase ( int8 InLinkIndex ) const

inline

Get the relative transform of a link to base link its LinkIndex.

NOTE: LinkIndex is assigned indendently from its index in LinkPropList as building robot skeleton structure

Parameters

InLinkIndex

Returns: FTransform

◆ GetLinkVisualOffset()

FTransform FRREntityModelData::GetLinkVisualOffset ( int8 InLinkIndex ) const

inline

Get visual offset transform of a link by its LinkIndex.

NOTE: LinkIndex is assigned indendently from its index in LinkPropList as building robot skeleton structure

Parameters

InLinkIndex

Returns: FTransform

◆ GetLinkVisualOffsetToBase()

FTransform FRREntityModelData::GetLinkVisualOffsetToBase ( int8 InLinkIndex ) const

inline

Get the visual offset transform of a link to base link its LinkIndex.

NOTE: LinkIndex is assigned indendently from its index in LinkPropList as building robot skeleton structure

Parameters

InLinkIndex

Returns: FTransform

◆ GetModelDescTypeName()

FString FRREntityModelData::GetModelDescTypeName ( ) const

inline

◆ GetModelName()

FString FRREntityModelData::GetModelName ( ) const

inline

◆ GetVisualInfo()

FRREntityGeometryInfo FRREntityModelData::GetVisualInfo ( ) const

inline

Get model visual info.

◆ GetVisualMaterialInfo()

FRRMaterialProperty FRREntityModelData::GetVisualMaterialInfo ( ) const

inline

◆ GetVisualsNum()

int32 FRREntityModelData::GetVisualsNum ( ) const

inline

◆ HasDriveComponents()

bool FRREntityModelData::HasDriveComponents ( ) const

inline

◆ HasWheel()

bool FRREntityModelData::HasWheel ( const FString & InWheelName ) const

inline

◆ IsObjectModel()

bool FRREntityModelData::IsObjectModel ( ) const

inline

◆ IsPlainManipulatorModel()

bool FRREntityModelData::IsPlainManipulatorModel ( ) const

inline

◆ IsPlainWheeledVehicleModel()

bool FRREntityModelData::IsPlainWheeledVehicleModel ( ) const

inline

◆ IsRobotModel()

bool FRREntityModelData::IsRobotModel ( ) const

inline

◆ IsSDF()

bool FRREntityModelData::IsSDF ( ) const

inline

◆ IsSingleCAD()

bool FRREntityModelData::IsSingleCAD ( ) const

inline

◆ IsUEComponentEnabled() [1/2]

bool FRREntityModelData::IsUEComponentEnabled ( const ERRUEComponentType InTypeMask ) const

inline

◆ IsUEComponentEnabled() [2/2]

bool FRREntityModelData::IsUEComponentEnabled ( const int32 InTypeMask ) const

inline

◆ IsUEDataTable()

bool FRREntityModelData::IsUEDataTable ( ) const

inline

◆ IsURDF()

bool FRREntityModelData::IsURDF ( ) const

inline

◆ IsValid()

bool FRREntityModelData::IsValid ( bool bIsLogged = false ) const

inline

◆ IsWorldModel()

bool FRREntityModelData::IsWorldModel ( ) const

inline

◆ operator==()

bool FRREntityModelData::operator== ( const FRREntityModelData & OtherModelData )

inline

◆ PrintSelf()

void FRREntityModelData::PrintSelf ( ) const

inline

◆ RemoveLinkJointProp()

void FRREntityModelData::RemoveLinkJointProp ( const FString & InLinkName )

inline

Remove all link properties of InLinkName and its corresponding joint properties having their #ParentLinkName as InLinkName.

Parameters

InLinkName

◆ SetUEComponentEnabled() [1/2]

void FRREntityModelData::SetUEComponentEnabled ( const ERRUEComponentType InTypeMask )

inline

◆ SetUEComponentEnabled() [2/2]

void FRREntityModelData::SetUEComponentEnabled ( const int32 InTypeMask )

inline

◆ UpdateLinksLocationFromJoints()

void FRREntityModelData::UpdateLinksLocationFromJoints ( )

inline

http://wiki.ros.org/urdf/XML/joint

This is only applied to link/joint properties read from URDF, where the joint locates at the origin of the child

link. JointProp's loc info is a relative location of child link to its parent link. Since every Link other than the

base link has to be connected to another link, the number of joints is fixed.

JointInfo's Location --> Child Link Info

http://sdformat.org/spec?elem=joint

http://sdformat.org/tutorials?tut=pose_frame_semantics

For SDF, typically link visual pose (as relative to child link) is defined independently of joint, which is also

attached to child link.

Member Data Documentation

◆ ArticulatedLinksNames

TArray<FString> FRREntityModelData::ArticulatedLinksNames

UPROPERTY(EditAnywhere)

◆ BaseFolderPath

FString FRREntityModelData::BaseFolderPath

Path to the base package folder, from which meshes' CAD file paths are defined as relative to.

UPROPERTY(VisibleAnywhere)

◆ BaseLinkName

FString FRREntityModelData::BaseLinkName

UPROPERTY(EditAnywhere)

◆ bHasWorldJoint

bool FRREntityModelData::bHasWorldJoint = false

UPROPERTY()

◆ ChildModelsData

TArray<FRREntityModelData> FRREntityModelData::ChildModelsData

Struct recursion is NOT yet supported for UPROPERTY.

◆ CreatedInstancesNum

int32 FRREntityModelData::CreatedInstancesNum = 0

UPROPERTY(VisibleAnywhere)

◆ DescriptionFilePath

FString FRREntityModelData::DescriptionFilePath

Robot Model Description File (URDF/SDF)

UPROPERTY(VisibleAnywhere)

◆ EndEffectorNames

TArray<FString> FRREntityModelData::EndEffectorNames

UPROPERTY(EditAnywhere)

◆ JointPropList

TArray<FRRRobotJointProperty> FRREntityModelData::JointPropList

UPROPERTY(EditAnywhere)

◆ LinkPropList

TArray<FRRRobotLinkProperty> FRREntityModelData::LinkPropList

UPROPERTY(EditAnywhere)

◆ ModelDescType

ERREntityDescriptionType FRREntityModelData::ModelDescType = ERREntityDescriptionType::NONE

Robot Model Description Type (URDF/SDF)

UPROPERTY(EditAnywhere)

◆ ModelNameList

TArray<FString> FRREntityModelData::ModelNameList

World model: [ModelNameList] >= 1.

Pure model: [ModelNameList] == 1 if Single else > 1

UPROPERTY(EditAnywhere)

◆ ParentFrameName

FString FRREntityModelData::ParentFrameName

UPROPERTY(EditAnywhere)

◆ RelativeTransform

FTransform FRREntityModelData::RelativeTransform = FTransform::Identity

UPROPERTY(EditAnywhere)

◆ TotalSize

FVector FRREntityModelData::TotalSize = FVector::ZeroVector

Meshes are async loaded, & so their sizes.

UPROPERTY(VisibleAnywhere)

◆ UEComponentTypeFlags

int32 FRREntityModelData::UEComponentTypeFlags = 0

UE Component types.

UPROPERTY(EditAnywhere)

◆ WheelPropList

TArray<FRRRobotWheelProperty> FRREntityModelData::WheelPropList

UPROPERTY(EditAnywhere)

◆ WholeBodyMaterialInfo

FRRMaterialProperty FRREntityModelData::WholeBodyMaterialInfo

UPROPERTY(EditAnywhere)

◆ WholeBodyStaticMeshName

FString FRREntityModelData::WholeBodyStaticMeshName

UPROPERTY(EditAnywhere)

◆ WorldName

FString FRREntityModelData::WorldName

UPROPERTY(EditAnywhere)

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

/home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Core/RREntityStructs.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FRREntityModelData() [1/3]

◆ FRREntityModelData() [2/3]

◆ FRREntityModelData() [3/3]

Member Function Documentation

◆ FindJointPropByLinkIndex()

◆ FindLinkProp()

◆ GetBaseLinkProp()

◆ GetBodyMaterialInfo()

◆ GetJointProp()

◆ GetJointPropFromChildLinkName()

◆ GetLinkAbsoluteTransform()

◆ GetLinkProp()

◆ GetLinkRelativeTransform()

◆ GetLinkRelTransformToBase()

◆ GetLinkVisualOffset()

◆ GetLinkVisualOffsetToBase()

◆ GetModelDescTypeName()

◆ GetModelName()

◆ GetVisualInfo()

◆ GetVisualMaterialInfo()

◆ GetVisualsNum()

◆ HasDriveComponents()

◆ HasWheel()

◆ IsObjectModel()

◆ IsPlainManipulatorModel()

◆ IsPlainWheeledVehicleModel()

◆ IsRobotModel()

◆ IsSDF()

◆ IsSingleCAD()

◆ IsUEComponentEnabled() [1/2]

◆ IsUEComponentEnabled() [2/2]

◆ IsUEDataTable()

◆ IsURDF()

◆ IsValid()

◆ IsWorldModel()

◆ operator==()

◆ PrintSelf()

◆ RemoveLinkJointProp()

◆ SetUEComponentEnabled() [1/2]

◆ SetUEComponentEnabled() [2/2]

◆ UpdateLinksLocationFromJoints()

Member Data Documentation

◆ ArticulatedLinksNames

◆ BaseFolderPath

◆ BaseLinkName

◆ bHasWorldJoint

◆ ChildModelsData

◆ CreatedInstancesNum

◆ DescriptionFilePath

◆ EndEffectorNames

◆ JointPropList

◆ LinkPropList

◆ ModelDescType

◆ ModelNameList

◆ ParentFrameName

◆ RelativeTransform

◆ TotalSize

◆ UEComponentTypeFlags

◆ WheelPropList

◆ WholeBodyMaterialInfo

◆ WholeBodyStaticMeshName

◆ WorldName