Easily build different robot models for testing. Essentially a programmer-friendly light wrapper around URDF and SRDF. Best shown by an example: More...

#include <robot_model_test_utils.h>

Public Member Functions
moveit::core::RobotModelPtr	build ()
	Builds and returns the robot model added to the builder. More...

bool	isValid ()
	Returns true if the building process so far has been valid. More...

	RobotModelBuilder (const std::string &name, const std::string &base_link_name)
	Constructor, takes the names of the robot and the base link. More...

URDF Functions
RobotModelBuilder &	addChain (const std::string &section, const std::string &type, const std::vector< geometry_msgs::Pose > &joint_origins={}, urdf::Vector3 joint_axis=urdf::Vector3(1.0, 0.0, 0.0))
	Adds a chain of links and joints to the builder. The joint names are generated automatically as "<parent>-<child>-joint". More...

RobotModelBuilder &	addCollisionMesh (const std::string &link_name, const std::string &filename, geometry_msgs::Pose origin)
	Adds a collision mesh to a specific link. More...

RobotModelBuilder &	addCollisionSphere (const std::string &link_name, double dims, geometry_msgs::Pose origin)
	Adds a collision sphere to a specific link. More...

RobotModelBuilder &	addCollisionBox (const std::string &link_name, const std::vector< double > &dims, geometry_msgs::Pose origin)
	Adds a collision box to a specific link. More...

RobotModelBuilder &	addVisualBox (const std::string &link_name, const std::vector< double > &size, geometry_msgs::Pose origin)
	Adds a visual box to a specific link. More...

RobotModelBuilder &	addInertial (const std::string &link_name, double mass, geometry_msgs::Pose origin, double ixx, double ixy, double ixz, double iyy, double iyz, double izz)

SRDF functions
RobotModelBuilder &	addVirtualJoint (const std::string &parent_frame, const std::string &child_link, const std::string &type, const std::string &name="")
	Adds a virtual joint to the SRDF. More...

RobotModelBuilder &	addGroupChain (const std::string &base_link, const std::string &tip_link, const std::string &name="")
	Adds a new group using a chain of links. The group is the parent joint of each link in the chain. More...

RobotModelBuilder &	addGroup (const std::vector< std::string > &links, const std::vector< std::string > &joints, const std::string &name)
	Adds a new group using a list of links and a list of joints. More...

RobotModelBuilder &	addEndEffector (const std::string &name, const std::string &parent_link, const std::string &parent_group="", const std::string &component_group="")

void	addJointProperty (const std::string &joint_name, const std::string &property_name, const std::string &value)
	Adds a new joint property. More...

Private Member Functions
void	addLinkCollision (const std::string &link_name, const urdf::CollisionSharedPtr &coll, geometry_msgs::Pose origin)
	Adds different collision geometries to a link. More...

void	addLinkVisual (const std::string &link_name, const urdf::VisualSharedPtr &vis, geometry_msgs::Pose origin)
	Adds different visual geometries to a link. More...

Private Attributes
bool	is_valid_ = true
	Whether the current builder state is valid. If any 'add' method fails, this becomes false. More...

srdf::SRDFWriterPtr	srdf_writer_
	The SRDF model, holds all of the SRDF components of the robot added so far. More...

urdf::ModelInterfaceSharedPtr	urdf_model_
	The URDF model, holds all of the URDF components of the robot added so far. More...

Detailed Description

Easily build different robot models for testing. Essentially a programmer-friendly light wrapper around URDF and SRDF. Best shown by an example:

RobotModelBuilder builder("my_robot", "base_link");
builder.addChain("a->b->c", "continuous");
builder.addGroup({"a", "b"}, {}, "example_group");
ASSERT_TRUE(builder.isValid());
RobotModelPtr model = builder.build();

Definition at line 158 of file robot_model_test_utils.h.

Constructor & Destructor Documentation

◆ RobotModelBuilder()

moveit::core::RobotModelBuilder::RobotModelBuilder	(	const std::string &	name,
		const std::string &	base_link_name
	)

Constructor, takes the names of the robot and the base link.

Parameters

[in]	name	The name of the robot, i.e. the 'name' attribute of the robot tag in URDF
[in]	base_link_name	The name of the root link of the robot. All other links should be descendants of this

Definition at line 191 of file robot_model_test_utils.cpp.

Member Function Documentation

◆ addChain()

RobotModelBuilder & moveit::core::RobotModelBuilder::addChain	(	const std::string &	section,
		const std::string &	type,
		const std::vector< geometry_msgs::Pose > &	joint_origins = `{}`,
		urdf::Vector3	joint_axis = `urdf::Vector3(1.0, 0.0, 0.0)`
	)

Adds a chain of links and joints to the builder. The joint names are generated automatically as "<parent>-<child>-joint".

Parameters

[in]	section	A list of link names separated by "->". The first link should already be added to the build by the time this function is called
[in]	type	The type of the joints connecting all of the given links, e.g. "revolute" or "continuous". All of the joints will be given this type. To add multiple types of joints, call this method multiple times
[in]	joint_origins	The "parent to joint" origins for the joints connecting the links. If not used, all origins will default to the identity transform
[in]	joint_axis	The joint axis specified in the joint frame defaults to (1,0,0)

Definition at line 204 of file robot_model_test_utils.cpp.

◆ addCollisionBox()

RobotModelBuilder & moveit::core::RobotModelBuilder::addCollisionBox	(	const std::string &	link_name,
		const std::vector< double > &	dims,
		geometry_msgs::Pose	origin
	)

Adds a collision box to a specific link.

Parameters

[in]	link_name	The name of the link to which the box will be added. Must already be in the builder.
[in]	dims	The dimensions of the box
[in]	origin	The origin pose of this collision box relative to the link origin

Definition at line 344 of file robot_model_test_utils.cpp.

◆ addCollisionMesh()

RobotModelBuilder & moveit::core::RobotModelBuilder::addCollisionMesh	(	const std::string &	link_name,
		const std::string &	filename,
		geometry_msgs::Pose	origin
	)

Adds a collision mesh to a specific link.

Parameters

[in]	link_name	The name of the link to which the mesh will be added. Must already be in the builder
[in]	filename	The path to the mesh file, e.g. "package://moveit_resources_pr2_description/urdf/meshes/base_v0/base_L.stl"
[in]	origin	The origin pose of this collision mesh relative to the link origin

Definition at line 361 of file robot_model_test_utils.cpp.

◆ addCollisionSphere()

RobotModelBuilder & moveit::core::RobotModelBuilder::addCollisionSphere	(	const std::string &	link_name,
		double	dims,
		geometry_msgs::Pose	origin
	)

Adds a collision sphere to a specific link.

Parameters

[in]	link_name	The name of the link to which the sphere will be added. Must already be in the builder.
[in]	radius	The radius of the sphere
[in]	origin	The origin pose of this collision sphere relative to the link origin

Definition at line 333 of file robot_model_test_utils.cpp.

◆ addEndEffector()

RobotModelBuilder & moveit::core::RobotModelBuilder::addEndEffector	(	const std::string &	name,
		const std::string &	parent_link,
		const std::string &	parent_group = `""`,
		const std::string &	component_group = `""`
	)

Definition at line 460 of file robot_model_test_utils.cpp.

◆ addGroup()

RobotModelBuilder & moveit::core::RobotModelBuilder::addGroup	(	const std::vector< std::string > &	links,
		const std::vector< std::string > &	joints,
		const std::string &	name
	)

Adds a new group using a list of links and a list of joints.

Parameters

[in]	links	The links (really their parent joints) to include in the group
[in]	joints	The joints to include in the group
[in]	name	The name of the group, required

Definition at line 449 of file robot_model_test_utils.cpp.

◆ addGroupChain()

RobotModelBuilder & moveit::core::RobotModelBuilder::addGroupChain	(	const std::string &	base_link,
		const std::string &	tip_link,
		const std::string &	name = `""`
	)

Adds a new group using a chain of links. The group is the parent joint of each link in the chain.

Parameters

[in]	base_link	The starting link of the chain
[in]	tip_link	The ending link of the chain.
[in]	name	The name of the group, if not given it's set as "<base>-<tip>-chain-group"

Definition at line 436 of file robot_model_test_utils.cpp.

◆ addInertial()

RobotModelBuilder & moveit::core::RobotModelBuilder::addInertial	(	const std::string &	link_name,
		double	mass,
		geometry_msgs::Pose	origin,
		double	ixx,
		double	ixy,
		double	ixz,
		double	iyy,
		double	iyz,
		double	izz
	)

Adds an inertial component to a link.

Parameters

[in]	link_name	The name of the link for this inertial information
[in]	mass	The mass of the link
[in]	origin	The origin center pose of the center of mass of this link

Definition at line 292 of file robot_model_test_utils.cpp.

◆ addJointProperty()

void moveit::core::RobotModelBuilder::addJointProperty	(	const std::string &	joint_name,
		const std::string &	property_name,
		const std::string &	value
	)

Adds a new joint property.

Parameters

[in]	joint_name	The name of the joint the property is specified for
[in]	property_name	The joint property name
[in]	value	The value of the joint property

Definition at line 473 of file robot_model_test_utils.cpp.

◆ addLinkCollision()

void moveit::core::RobotModelBuilder::addLinkCollision	(	const std::string &	link_name,
		const urdf::CollisionSharedPtr &	coll,
		geometry_msgs::Pose	origin
	)

private

Adds different collision geometries to a link.

Definition at line 372 of file robot_model_test_utils.cpp.

◆ addLinkVisual()

void moveit::core::RobotModelBuilder::addLinkVisual	(	const std::string &	link_name,
		const urdf::VisualSharedPtr &	vis,
		geometry_msgs::Pose	origin
	)

private

Adds different visual geometries to a link.

Definition at line 390 of file robot_model_test_utils.cpp.

◆ addVirtualJoint()

RobotModelBuilder & moveit::core::RobotModelBuilder::addVirtualJoint	(	const std::string &	parent_frame,
		const std::string &	child_link,
		const std::string &	type,
		const std::string &	name = `""`
	)

Adds a virtual joint to the SRDF.

Parameters

[in]	parent_frame	The parent, e.g. "odom"
[in]	child_link	The child link of this virtual joint, usually the base link
[in]	type	The type of joint, can be "fixed", "floating", or "planar"
[in]	name	The name of the virtual joint, if not given it's automatically made to be "<parent_frame>-<child>-virtual-joint"

Definition at line 421 of file robot_model_test_utils.cpp.

◆ addVisualBox()

RobotModelBuilder & moveit::core::RobotModelBuilder::addVisualBox	(	const std::string &	link_name,
		const std::vector< double > &	size,
		geometry_msgs::Pose	origin
	)

Adds a visual box to a specific link.

Parameters

[in]	link_name	The name of the link to which the box will be added. Must already be in the builder.
[in]	size	The dimensions of the box
[in]	origin	The origin pose of this visual box relative to the link origin

Definition at line 322 of file robot_model_test_utils.cpp.

◆ build()

moveit::core::RobotModelPtr moveit::core::RobotModelBuilder::build ( )

Builds and returns the robot model added to the builder.

Definition at line 484 of file robot_model_test_utils.cpp.

◆ isValid()

bool moveit::core::RobotModelBuilder::isValid ( )

Returns true if the building process so far has been valid.

Definition at line 479 of file robot_model_test_utils.cpp.

Member Data Documentation

◆ is_valid_

bool moveit::core::RobotModelBuilder::is_valid_ = true

private

Whether the current builder state is valid. If any 'add' method fails, this becomes false.

Definition at line 288 of file robot_model_test_utils.h.

◆ srdf_writer_

srdf::SRDFWriterPtr moveit::core::RobotModelBuilder::srdf_writer_

private

The SRDF model, holds all of the SRDF components of the robot added so far.

Definition at line 285 of file robot_model_test_utils.h.

◆ urdf_model_

urdf::ModelInterfaceSharedPtr moveit::core::RobotModelBuilder::urdf_model_

private

The URDF model, holds all of the URDF components of the robot added so far.

Definition at line 283 of file robot_model_test_utils.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RobotModelBuilder()

Member Function Documentation

◆ addChain()

◆ addCollisionBox()

◆ addCollisionMesh()

◆ addCollisionSphere()

◆ addEndEffector()

◆ addGroup()

◆ addGroupChain()

◆ addInertial()

◆ addJointProperty()

◆ addLinkCollision()

◆ addLinkVisual()

◆ addVirtualJoint()

◆ addVisualBox()

◆ build()

◆ isValid()

Member Data Documentation

◆ is_valid_

◆ srdf_writer_

◆ urdf_model_