Class Model

Nested Relationships

Nested Types

Class Documentation

class Model

Representation of semantic information about the robot.

Public Functions

inline Model()
inline ~Model()
bool initXml(const urdf::ModelInterface &urdf_model, tinyxml2::XMLElement *xml)

Load Model from XMLElement.

bool initXml(const urdf::ModelInterface &urdf_model, tinyxml2::XMLDocument *xml)

Load Model from XMLDocument.

bool initFile(const urdf::ModelInterface &urdf_model, const std::string &filename)

Load Model given a filename.

bool initString(const urdf::ModelInterface &urdf_model, const std::string &xmlstring)

Load Model from a XML-string.

inline const std::string &getName() const

Get the name of this model.

inline const std::vector<std::string> &getNoDefaultCollisionLinks() const

Get the list of links that should have collision checking disabled by default (and only selectively enabled)

inline const std::vector<CollisionPair> &getEnabledCollisionPairs() const

Get the list of pairs of links for which we explicitly re-enable collision (after having disabled it via a default)

inline const std::vector<CollisionPair> &getDisabledCollisionPairs() const

Get the list of pairs of links for which we explicitly disable collision.

inline const std::vector<Group> &getGroups() const

Get the list of groups defined for this model.

inline const std::vector<VirtualJoint> &getVirtualJoints() const

Get the list of virtual joints defined for this model.

inline const std::vector<EndEffector> &getEndEffectors() const

Get the list of end effectors defined for this model.

inline const std::vector<GroupState> &getGroupStates() const

Get the list of group states defined for this model.

inline const std::vector<PassiveJoint> &getPassiveJoints() const

Get the list of known passive joints.

inline const std::vector<LinkSpheres> &getLinkSphereApproximations() const

Get the collision spheres list.

inline const std::vector<JointProperty> &getJointProperties(const std::string &joint_name) const

Get the joint properties for a particular joint (empty vector if none)

inline const std::map<std::string, std::vector<JointProperty>> &getJointProperties() const

Get the joint properties list.

void clear()

Clear the model.

struct CollisionPair

The definition of a disabled/enabled collision between two links.

Public Members

std::string link1_

The name of the first link (as in URDF) of the disabled collision.

std::string link2_

The name of the second link (as in URDF) of the disabled collision.

std::string reason_

The reason why the collision check was disabled/enabled.

struct EndEffector

Representation of an end effector.

Public Members

std::string name_

The name of the end effector.

std::string parent_link_

The name of the link this end effector connects to.

std::string parent_group_

The name of the group to be considered the parent (this group should contain parent_link_) If not specified, this member is empty.

std::string component_group_

The name of the group that includes the joints & links this end effector consists of.

struct Group

A group consists of a set of joints and the corresponding descendant links. There are multiple ways to specify a group. Directly specifying joints, links or chains, or referring to other defined groups.

Public Members

std::string name_

The name of the group.

std::vector<std::string> joints_

Directly specified joints to be included in the group. Descendent links should be implicitly considered to be part of the group, although this parsed does not add them to links_. The joints are checked to be in the corresponding URDF.

std::vector<std::string> links_

Directly specified links to be included in the group. Parent joints should be implicitly considered to be part of the group. The links are checked to be in the corresponding URDF.

std::vector<std::pair<std::string, std::string>> chains_

Specify a chain of links (and the implicit joints) to be added to the group. Each chain is specified as a pair of base link and tip link. It is checked that the chain is indeed a chain in the specified URDF.

std::vector<std::string> subgroups_

It is sometimes convenient to refer to the content of another group. A group can include the content of the referenced groups

struct GroupState

A named state for a particular group.

Public Members

std::string name_

The name of the state.

std::string group_

The name of the group this state is specified for.

std::map<std::string, std::vector<double>> joint_values_

The values of joints for this state. Each joint can have a value. We use a vector for the ‘value’ to support multi-DOF joints

struct JointProperty

Public Members

std::string joint_name_

The name of the joint that this property belongs to.

std::string property_name_

The name of the property.

std::string value_

The value of the property. Type not specified.

struct LinkSpheres

The definition of a list of spheres for a link.

Public Members

std::string link_

The name of the link (as in URDF).

std::vector<Sphere> spheres_

The spheres for the link.

struct PassiveJoint

Public Members

std::string name_

The name of the new joint.

struct Sphere

The definition of a sphere.

Public Members

double center_x_

The center of the sphere in the link collision frame.

double center_y_
double center_z_
double radius_

The radius of the sphere.

struct VirtualJoint

In addition to the joints specified in the URDF it is sometimes convenient to add special (virtual) joints. For example, to connect the robot to the environment in a meaningful way.

Public Members

std::string name_

The name of the new joint.

std::string type_

The type of this new joint. This can be “fixed” (0 DOF), “planar” (3 DOF: x,y,yaw) or “floating” (6DOF)

std::string parent_frame_

The transform applied by this joint to the robot model brings that model to a particular frame.

std::string child_link_

The link this joint applies to.