robot_model_test_utils.h

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/* Author: Bryce Willey */
#pragma once
 
#include <srdfdom/srdf_writer.h>
#include <urdf/model.h>
#include <moveit/robot_model/robot_model.h>
#include <geometry_msgs/Pose.h>
 
namespace moveit
{
namespace core
{
moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& robot_name);
 
urdf::ModelInterfaceSharedPtr loadModelInterface(const std::string& robot_name);
 
srdf::ModelSharedPtr loadSRDFModel(const std::string& robot_name);
 
void loadIKPluginForGroup(JointModelGroup* jmg, const std::string& base_link, const std::string& tip_link,
                          std::string plugin = "KDL", double timeout = 0.1);
 
class RobotModelBuilder
{
public:
  RobotModelBuilder(const std::string& name, const std::string& base_link_name);
 
  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));
 
  RobotModelBuilder& addCollisionMesh(const std::string& link_name, const std::string& filename,
                                      geometry_msgs::Pose origin);
 
  RobotModelBuilder& addCollisionSphere(const std::string& link_name, double dims, geometry_msgs::Pose origin);
 
  RobotModelBuilder& addCollisionBox(const std::string& link_name, const std::vector<double>& dims,
                                     geometry_msgs::Pose origin);
 
  RobotModelBuilder& addVisualBox(const std::string& link_name, const std::vector<double>& size,
                                  geometry_msgs::Pose origin);
 
  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);
 
  RobotModelBuilder& addVirtualJoint(const std::string& parent_frame, const std::string& child_link,
                                     const std::string& type, const std::string& name = "");
 
  RobotModelBuilder& addGroupChain(const std::string& base_link, const std::string& tip_link,
                                   const std::string& name = "");
 
  RobotModelBuilder& addGroup(const std::vector<std::string>& links, const std::vector<std::string>& joints,
                              const std::string& name);
 
  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);
 
  bool isValid();
 
  moveit::core::RobotModelPtr build();
 
private:
  void addLinkCollision(const std::string& link_name, const urdf::CollisionSharedPtr& coll, geometry_msgs::Pose origin);
 
  void addLinkVisual(const std::string& link_name, const urdf::VisualSharedPtr& vis, geometry_msgs::Pose origin);
 
  urdf::ModelInterfaceSharedPtr urdf_model_;
  srdf::SRDFWriterPtr srdf_writer_;
 
  bool is_valid_ = true;
};
}  // namespace core
}  // namespace moveit