amino  1.0-beta2
Lightweight Robot Utility Library
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Robray Lisp API

Scene graph data structure and associate operations.

Defines a purely-function interface for scene graphs, i.e., kinematic trees, that shares geometric types with the C implementation. Binds associated operations such a collision checking, motion planning, and OpenGL rendering.

The ROBRAY dictionary

*RENDER-OPTIONS*

[special-var]

Association-list of default rendering options.

DRAW-OPTION

[function]

DRAW-OPTION: (options key) => result
Return the draw option in OPTIONS for KEY.

DRAW-OPTIONS

[function]

DRAW-OPTIONS: (&rest options-plist) => result
Construct drawing options from a propetry list.

DRAW-OPTIONS-DEFAULT

[function]

DRAW-OPTIONS-DEFAULT: (&key options scale no-shadow specular color alpha visual type collision) => result
Construct a drawing options set using default values from OPTIONS.

DRAW-TF-AXIS

[function]

DRAW-TF-AXIS: (axis &optional translation) => result
Construct a TF given the axis for Z in the parent frame.

GET-RENDER-OPTION

[function]

GET-RENDER-OPTION: (options keyword &optional default) => result
Return the rendering options in OPTIONS for KEYWORD.

ITEM-CONE-AXIS

[function]

ITEM-CONE-AXIS: (parent name &key height start-radius end-radius axis translation options) => result
Draw a cone in a new frame given an axis.

ITEM-CYLINDER-AXIS

[function]

ITEM-CYLINDER-AXIS: (parent name &key height radius axis translation options) => result
Draw a cylinder in a new frame given an axis.

LOAD-SCENE-FILE

[function]

LOAD-SCENE-FILE: (filename &key type reload bind-c-geom emit-povray compile mesh-up-axis mesh-forward-axis) => result
Load a scene-graph from FILENAME.

MERGE-DRAW-OPTIONS

[function]

MERGE-DRAW-OPTIONS: (new-options &optional base-options) => result
Merge two drawing options.
Values in NEW-OPTIONS supersede values in BASE-OPTIONS.

MERGE-RENDER-OPTIONS

[function]

MERGE-RENDER-OPTIONS: (new-options &optional base-options) => result
Merge two drawing options.
Values in NEW-OPTIONS supersede values in BASE-OPTIONS.

MERGE-SCENE-GRAPH

[function]

MERGE-SCENE-GRAPH: (scene-graph new-scene-graph &key if-exists) => result
Combine two scene graphs.

MOTION-PLAN

[standard class]

Container for a motion plan.

MOTION-PLAN

[function]

MOTION-PLAN: (sub-scene-graph start-map &key jointspace-goal workspace-goal simplify track-collisions timeout) => result
Compute a motion plan.

MOTION-PLAN-ENDPOINT-ARRAY

[function]

MOTION-PLAN-ENDPOINT-ARRAY: (motion-plan) => result
Return the endpoint of MOTION-PLAN as an array.

MOTION-PLAN-ENDPOINT-MAP

[function]

MOTION-PLAN-ENDPOINT-MAP: (motion-plan) => result
Return the endpoint of MOTION-PLAN as an configuration map.

RENDER-OPTIONS

[function]

RENDER-OPTIONS: (&rest options-plist) => result
Construct a rendering options set from a property list.

RENDER-OPTIONS-DEFAULT

[function]

RENDER-OPTIONS-DEFAULT: (&key options width codec height quality frames-per-second use-collision encode-video antialias render-frames) => result
Construct a rendering options set using default values from OPTIONS.

RENDER-OPTIONS-FAST

[function]

RENDER-OPTIONS-FAST: (&optional base-options) => result
Default rendering options for fast but low quality rendering.

RENDER-OPTIONS-FULL-HD

[function]

RENDER-OPTIONS-FULL-HD: (&optional base-options) => result
Default rendering options for full high-definition rendering.

RENDER-OPTIONS-MEDIUM

[function]

RENDER-OPTIONS-MEDIUM: (&optional base-options) => result
Default rendering options for medium quality/speed.

RENDER-SCENE-GRAPH

[function]

RENDER-SCENE-GRAPH: (scene-graph &key camera-tf render options configuration-map output directory include-directory include include-text default-configuration) => result
Generate the POV-ray scene for the given scene-graph.

SCENE-BOX

[standard class]

SCENE-CONE

[standard class]

SCENE-CYLINDER

[standard class]

SCENE-FRAME-FIXED

[standard class]

A frame with a fixed transformation

SCENE-FRAME-FIXED

[function]

SCENE-FRAME-FIXED: (parent name &key geometry inertial tf) => result
Create a new fixed frame.

SCENE-FRAME-PRISMATIC

[standard class]

A frame representing a prismatic (sliding) joint.

SCENE-FRAME-PRISMATIC

[function]

SCENE-FRAME-PRISMATIC: (parent name &key axis configuration-name configuration-offset limits tf) => result
Create a new prismatic frame.

SCENE-FRAME-REVOLUTE

[standard class]

A frame representing a revolute (rotating) joint.

SCENE-FRAME-REVOLUTE

[function]

SCENE-FRAME-REVOLUTE: (parent name &key axis configuration-name configuration-offset tf geometry limits) => result
Create a new revolute frame.

SCENE-GRAPH

[standard class]

The data type for scene graphs, i.e., kinematic trees.
This is a purely functional type, so opertions on scene-graphs
create (partial) copies without modifying or destroying the original.

SCENE-GRAPH

[function]

SCENE-GRAPH: (&rest things) => result
Construct a scene-graph from THINGS.
Elements of things may be other scene-graphs, individual frames, files
to load, or sequences of any of these.

SCENE-GRAPH-ALLOW-COLLISIONS

[function]

SCENE-GRAPH-ALLOW-COLLISIONS: (scene-graph collision-set) => result
Insert the provided allowed collisions into the allowable set for SCENE-GRAPH.

SCENE-GRAPH-CHAIN

[function]

SCENE-GRAPH-CHAIN: (scenegraph root tip) => result
Construct the sub-scene-graph for a kinematic chain from ROOT to TIP.

SCENE-GRAPH-F

[macro]

SCENE-GRAPH-F: (place &rest things) => result
Add THINGS to the scene-graph in PLACE and assign result to PLACE.

SCENE-GRAPH-FIND

[function]

SCENE-GRAPH-FIND: (scene-graph frame-name) => result
Find a frame

SCENE-GRAPH-PARENT-NAME

[function]

SCENE-GRAPH-PARENT-NAME: (scene-graph frame-name) => result
Find a parent frame name

SCENE-GRAPH-REMOVE-FRAME

[function]

SCENE-GRAPH-REMOVE-FRAME: (scene-graph frame-name) => result
Remove a frame from the scene.

SCENE-GRAPH-REPARENT

[function]

SCENE-GRAPH-REPARENT: (scene-graph new-parent frame-name &key tf tf-absolute-map configuration-map default-configuration) => result
Change the parent of frame FRAME-NAME to NEW-PARENT

SCENE-GRAPH-TF-ABSOLUTE

[function]

SCENE-GRAPH-TF-ABSOLUTE: (scene-graph frame-name &key configuration-map tf-absolute-map default-configuration) => result
Compute the absolute transform for FRAME-NAME.

SCENE-SPHERE

[standard class]

SUB-SCENE-GRAPH

[standard class]

SUB-SCENE-GRAPH-SCENE-GRAPH

[function]

SUB-SCENE-GRAPH-SCENE-GRAPH: (ssg) => result
Return the (full) scene-graph for a sub-scene-graph.

Authors

  • Neil T. Dantam