robot_model_test_utils.h
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34 
35 /* Author: Bryce Willey */
38 #pragma once
39 
40 #include <srdfdom/srdf_writer.h>
41 #include <urdf/model.h>
43 #include <geometry_msgs/Pose.h>
44 
45 namespace moveit
46 {
47 namespace core
48 {
55 moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& robot_name);
56 
63 urdf::ModelInterfaceSharedPtr loadModelInterface(const std::string& robot_name);
64 
71 srdf::ModelSharedPtr loadSRDFModel(const std::string& robot_name);
72 
84 class RobotModelBuilder
85 {
86 public:
91  RobotModelBuilder(const std::string& name, const std::string& base_link_name);
92 
105  void addChain(const std::string& section, const std::string& type,
106  const std::vector<geometry_msgs::Pose>& joint_origins = {});
107 
114  void addCollisionMesh(const std::string& link_name, const std::string& filename, geometry_msgs::Pose origin);
120  void addCollisionBox(const std::string& link_name, const std::vector<double>& dims, geometry_msgs::Pose origin);
121 
127  void addVisualBox(const std::string& link_name, const std::vector<double>& size, geometry_msgs::Pose origin);
128 
135  void addInertial(const std::string& link_name, double mass, geometry_msgs::Pose origin, double ixx, double ixy,
136  double ixz, double iyy, double iyz, double izz);
137 
150  void addVirtualJoint(const std::string& parent_frame, const std::string& child_link, const std::string& type,
151  const std::string& name = "");
152 
158  void addGroupChain(const std::string& base_link, const std::string& tip_link, const std::string& name = "");
159 
165  void addGroup(const std::vector<std::string>& links, const std::vector<std::string>& joints, const std::string& name);
166 
170  bool isValid();
171 
174  moveit::core::RobotModelPtr build();
175 
176 private:
178  void addLinkCollision(const std::string& link_name, const urdf::CollisionSharedPtr& coll, geometry_msgs::Pose origin);
179 
181  void addLinkVisual(const std::string& link_name, const urdf::VisualSharedPtr& vis, geometry_msgs::Pose origin);
182 
184  urdf::ModelInterfaceSharedPtr urdf_model_;
187 
189  bool is_valid_ = true;
190 };
191 } // namespace core
192 } // namespace moveit
moveit::core::RobotModelBuilder::is_valid_
bool is_valid_
Whether the current builder state is valid. If any 'add' method fails, this becomes false.
Definition: robot_model_test_utils.h:253
moveit::core::RobotModelBuilder::addLinkVisual
void addLinkVisual(const std::string &link_name, const urdf::VisualSharedPtr &vis, geometry_msgs::Pose origin)
Adds different visual geometries to a link.
Definition: robot_model_test_utils.cpp:343
srdf::ModelSharedPtr
std::shared_ptr< Model > ModelSharedPtr
moveit::core::RobotModelBuilder::addVisualBox
void addVisualBox(const std::string &link_name, const std::vector< double > &size, geometry_msgs::Pose origin)
Adds a visual box to a specific link.
Definition: robot_model_test_utils.cpp:289
moveit::core::RobotModelBuilder::addInertial
void addInertial(const std::string &link_name, double mass, geometry_msgs::Pose origin, double ixx, double ixy, double ixz, double iyy, double iyz, double izz)
Definition: robot_model_test_utils.cpp:262
moveit::core::RobotModelBuilder::addChain
void addChain(const std::string &section, const std::string &type, const std::vector< geometry_msgs::Pose > &joint_origins={})
Adds a chain of links and joints to the builder. The joint names are generated automatically as "<par...
Definition: robot_model_test_utils.cpp:176
moveit::core::loadModelInterface
urdf::ModelInterfaceSharedPtr loadModelInterface(const std::string &robot_name)
Loads a URDF Model Interface from moveit_resources.
Definition: robot_model_test_utils.cpp:124
robot_model.h
moveit::core::RobotModelBuilder::urdf_model_
urdf::ModelInterfaceSharedPtr urdf_model_
The URDF model, holds all of the URDF components of the robot added so far.
Definition: robot_model_test_utils.h:248
model.h
moveit::core::RobotModelBuilder::isValid
bool isValid()
Returns true if the building process so far has been valid.
Definition: robot_model_test_utils.cpp:409
moveit::core::RobotModelBuilder::build
moveit::core::RobotModelPtr build()
Builds and returns the robot model added to the builder.
Definition: robot_model_test_utils.cpp:414
moveit::core::RobotModelBuilder::addCollisionBox
void addCollisionBox(const std::string &link_name, const std::vector< double > &dims, geometry_msgs::Pose origin)
Adds a collision box to a specific link.
Definition: robot_model_test_utils.cpp:299
moveit::core::loadSRDFModel
srdf::ModelSharedPtr loadSRDFModel(const std::string &robot_name)
Loads an SRDF Model from moveit_resources.
Definition: robot_model_test_utils.cpp:145
moveit::core::RobotModelBuilder::addLinkCollision
void addLinkCollision(const std::string &link_name, const urdf::CollisionSharedPtr &coll, geometry_msgs::Pose origin)
Adds different collision geometries to a link.
Definition: robot_model_test_utils.cpp:325
moveit::core::RobotModelBuilder::addVirtualJoint
void 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.
Definition: robot_model_test_utils.cpp:374
moveit::core::RobotModelBuilder::RobotModelBuilder
RobotModelBuilder(const std::string &name, const std::string &base_link_name)
Constructor, takes the names of the robot and the base link.
Definition: robot_model_test_utils.cpp:163
moveit::core::RobotModelBuilder::addGroup
void 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.
Definition: robot_model_test_utils.cpp:399
moveit
Main namespace for MoveIt.
Definition: background_processing.h:46
moveit::core::RobotModelBuilder::addGroupChain
void 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.
Definition: robot_model_test_utils.cpp:388
srdf_writer.h
moveit::core::RobotModelBuilder::addCollisionMesh
void addCollisionMesh(const std::string &link_name, const std::string &filename, geometry_msgs::Pose origin)
Adds a collision mesh to a specific link.
Definition: robot_model_test_utils.cpp:315
moveit::core::RobotModelBuilder::srdf_writer_
srdf::SRDFWriterPtr srdf_writer_
The SRDF model, holds all of the SRDF components of the robot added so far.
Definition: robot_model_test_utils.h:250
moveit::core::loadTestingRobotModel
moveit::core::RobotModelPtr loadTestingRobotModel(const std::string &robot_name)
Loads a robot from moveit_resources.
Definition: robot_model_test_utils.cpp:116
srdf::SRDFWriterPtr
std::shared_ptr< SRDFWriter > SRDFWriterPtr


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Nov 24 2020 03:26:40