viam::sdk::ModelTable Class Reference

A per-joint model table for a serial kinematic chain, held in chain order. Build one with the from factories and read it back via rows() or to_tensor(). More...

#include <kinematics_model_table.hpp>

Classes
struct	JointRow
	One row of the model table: the per-joint URDF fields. More...

Public Types
enum class	JointType { k_revolute = 0 , k_continuous = 1 , k_prismatic = 2 , k_fixed = 3 }
	URDF joint type, restricted to arm-relevant joints. More...

Public Member Functions
	ModelTable (std::vector< JointRow > rows)
	Construct directly from rows already in chain order.
xt::xarray< double >	to_tensor () const
	Convert to a double tensor of shape (n, 10). Columns: 0..2 xyz, 3..5 rpy, 6..8 axis, 9 joint type as the underlying value of JointType (see enum declaration for the encoding).
const std::vector< JointRow > &	rows () const
	The rows of the table, in chain order.

Static Public Member Functions
static ModelTable	from (const KinematicsDataURDF &urdf)
	Parse a kinematics description into a model table in chain order.
static ModelTable	from (const xt::xarray< double > &tensor)
	Inverse of to_tensor: rehydrate an (n, 10) double tensor into a model table. Reconstructed rows have empty name (names are not carried in the tensor).

Detailed Description

A per-joint model table for a serial kinematic chain, held in chain order. Build one with the from factories and read it back via rows() or to_tensor().

Member Enumeration Documentation

JointType

enum class viam::sdk::ModelTable::JointType

strong

URDF joint type, restricted to arm-relevant joints.

Note

Underlying values are stable and form the wire encoding for column 9 of the tensor produced by to_tensor().

Member Function Documentation

from() [1/2]

static ModelTable viam::sdk::ModelTable::from ( const KinematicsDataURDF & urdf )

static

Parse a kinematics description into a model table in chain order.

Exceptions

viam::sdk::Exception

on parse error, branching / multi-root / disconnected topology, unsupported joint types, or zero axis.

from() [2/2]

static ModelTable viam::sdk::ModelTable::from ( const xt::xarray< double > & tensor )

static

Inverse of to_tensor: rehydrate an (n, 10) double tensor into a model table. Reconstructed rows have empty name (names are not carried in the tensor).

Exceptions

viam::sdk::Exception

on non-2D input, wrong column count, empty input, or invalid joint-type encoding (col 9 must be an integer matching one of the JointType values).

to_tensor()

xt::xarray< double > viam::sdk::ModelTable::to_tensor

(

)

const

Convert to a double tensor of shape (n, 10). Columns: 0..2 xyz, 3..5 rpy, 6..8 axis, 9 joint type as the underlying value of JointType (see enum declaration for the encoding).

Exceptions

viam::sdk::Exception

on empty table.

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

• src/viam/sdk/referenceframe/kinematics_model_table.hpp