Default constructor. More...
#include <rdf_loader.h>
Public Member Functions | |
const std::string & | getRobotDescription () const |
Get the resolved parameter name for the robot description. | |
const boost::shared_ptr < srdf::Model > & | getSRDF () const |
Get the parsed SRDF model. | |
const boost::shared_ptr < urdf::ModelInterface > & | getURDF () const |
Get the parsed URDF model. | |
RDFLoader (const std::string &robot_description="robot_description") | |
Default constructor. | |
RDFLoader (const std::string &urdf_string, const std::string &srdf_string) | |
Initialize the robot model from a string representation of the URDF and SRDF documents. | |
RDFLoader (TiXmlDocument *urdf_doc, TiXmlDocument *srdf_doc) | |
Initialize the robot model from a parsed XML representation of the URDF and SRDF. | |
Private Attributes | |
std::string | robot_description_ |
boost::shared_ptr< srdf::Model > | srdf_ |
boost::shared_ptr < urdf::ModelInterface > | urdf_ |
Default constructor.
robot_description | The string name corresponding to the ROS param where the URDF is loaded |
Definition at line 50 of file rdf_loader.h.
rdf_loader::RDFLoader::RDFLoader | ( | const std::string & | robot_description = "robot_description" | ) |
Default constructor.
robot_description | The string name corresponding to the ROS param where the URDF is loaded; the SRDF is assumed to be at the same param name + the "_semantic" suffix |
Definition at line 41 of file rdf_loader.cpp.
rdf_loader::RDFLoader::RDFLoader | ( | const std::string & | urdf_string, |
const std::string & | srdf_string | ||
) |
Initialize the robot model from a string representation of the URDF and SRDF documents.
Definition at line 82 of file rdf_loader.cpp.
rdf_loader::RDFLoader::RDFLoader | ( | TiXmlDocument * | urdf_doc, |
TiXmlDocument * | srdf_doc | ||
) |
Initialize the robot model from a parsed XML representation of the URDF and SRDF.
Definition at line 105 of file rdf_loader.cpp.
const std::string& rdf_loader::RDFLoader::getRobotDescription | ( | ) | const [inline] |
Get the resolved parameter name for the robot description.
Definition at line 64 of file rdf_loader.h.
const boost::shared_ptr<srdf::Model>& rdf_loader::RDFLoader::getSRDF | ( | ) | const [inline] |
Get the parsed SRDF model.
Definition at line 76 of file rdf_loader.h.
const boost::shared_ptr<urdf::ModelInterface>& rdf_loader::RDFLoader::getURDF | ( | ) | const [inline] |
Get the parsed URDF model.
Definition at line 70 of file rdf_loader.h.
std::string rdf_loader::RDFLoader::robot_description_ [private] |
Definition at line 83 of file rdf_loader.h.
boost::shared_ptr<srdf::Model> rdf_loader::RDFLoader::srdf_ [private] |
Definition at line 84 of file rdf_loader.h.
boost::shared_ptr<urdf::ModelInterface> rdf_loader::RDFLoader::urdf_ [private] |
Definition at line 85 of file rdf_loader.h.