This class provides functions to traverse the URDF and provides convenience functions to access the URDF model. More...

#include <UrdfTraverser.h>

Public Member Functions
LinkPtr	getChildLink (const JointConstPtr &joint)
JointPtr	getJoint (const std::string &name)
bool	getJointNames (const std::string &fromLink, const bool skipFixed, std::vector< std::string > &result)
LinkPtr	getLink (const std::string &name)
ModelPtr	getModel ()
std::string	getModelDirectory () const
bool	getModelFromFile (const std::string &urdfFilename, std::string &xml_string) const
std::string	getModelName () const
JointPtr	getParentJoint (const JointConstPtr &joint)
std::string	getRootLinkName () const
bool	loadModelFromFile (const std::string &urdfFilename)
bool	loadModelFromXMLString (const std::string &xmlString)
void	printJointNames (const std::string &fromLink)
bool	printModel (const std::string &fromLink, bool verbose)
bool	printModel (bool verbose)
LinkConstPtr	readChildLink (const JointConstPtr &joint) const
JointConstPtr	readJoint (const std::string &name) const
LinkConstPtr	readLink (const std::string &name) const
ModelConstPtr	readModel () const
JointConstPtr	readParentJoint (const JointConstPtr &joint) const
void	setModelDirectory (const std::string &dir)
int	traverseTreeBottomUp (const std::string &linkName, boost::function< int(RecursionParamsPtr &)> link_cb, RecursionParamsPtr &params, bool includeLink=true)
int	traverseTreeTopDown (const std::string &linkName, boost::function< int(RecursionParamsPtr &)> link_cb, RecursionParamsPtr &params, bool includeLink=true)
	UrdfTraverser ()
	~UrdfTraverser ()
Protected Member Functions
int	getChildJoint (const JointPtr &joint, JointPtr &child)
bool	getDependencyOrderedJoints (std::vector< JointPtr > &result, const JointPtr &from_joint, bool allowSplits=true, bool onlyActive=true)
bool	getDependencyOrderedJoints (std::vector< JointPtr > &result, const LinkPtr &from_link, bool allowSplits=true, bool onlyActive=true)
EigenTransform	getTransform (const LinkPtr &from_link, const JointPtr &to_joint)
bool	hasChildLink (const LinkConstPtr &link, const std::string &childName) const
int	traverseTreeBottomUp (const LinkPtr &link, boost::function< int(RecursionParamsPtr &)> link_cb, RecursionParamsPtr &params, bool includeLink=true, unsigned int level=0)
int	traverseTreeTopDown (const LinkPtr &link, boost::function< int(RecursionParamsPtr &)> link_cb, RecursionParamsPtr &params, bool includeLink=true, unsigned int level=0)
Private Member Functions
int	printLink (RecursionParamsPtr &p)
Private Attributes
ModelPtr	model
std::string	modelDir

Detailed Description

This class provides functions to traverse the URDF and provides convenience functions to access the URDF model.

Traversal through a model is always done on links. This is because the root of a model is always a link. Traversal through joint space is also possible by using the link's parent joint as reference.

Methods int traverseTreeTopDown() and traverseTreeBottomUp() can be used and will require a callback function for the traversal. An example of how to use the functions can for example be found in PrintModel.h or JointNames.h.

Author:: Jennifer Buehler

Date:: May 2016

Definition at line 66 of file UrdfTraverser.h.

Constructor & Destructor Documentation

urdf_traverser::UrdfTraverser::UrdfTraverser ( ) [inline, explicit]

Definition at line 72 of file UrdfTraverser.h.

urdf_traverser::UrdfTraverser::~UrdfTraverser ( ) [inline]

Definition at line 76 of file UrdfTraverser.h.

Member Function Documentation

int UrdfTraverser::getChildJoint	(	const JointPtr &	joint,
		JointPtr &	child
	)		`[protected]`

Return values:

-2	on error
-1	if the joint has multiple children
0	if the joint has no child joints (it's an end effector joint),
1	if a child joint is returned in parameter "child"

Definition at line 108 of file UrdfTraverser.cpp.

urdf_traverser::LinkPtr UrdfTraverser::getChildLink ( const JointConstPtr & joint )

Definition at line 132 of file UrdfTraverser.cpp.

bool UrdfTraverser::getDependencyOrderedJoints	(	std::vector< JointPtr > &	result,
		const JointPtr &	from_joint,
		bool	allowSplits = `true`,
		bool	onlyActive = `true`
	)		`[protected]`

Returns all joints starting from from_joint (including from_joint) within the tree. This is obtained by depth-first traversal, so all joints in the result won't depend on any joints further back in the result set.

Definition at line 74 of file UrdfTraverser.cpp.

bool UrdfTraverser::getDependencyOrderedJoints	(	std::vector< JointPtr > &	result,
		const LinkPtr &	from_link,
		bool	allowSplits = `true`,
		bool	onlyActive = `true`
	)		`[protected]`

Returns all joints down from from_link within the tree. This is obtained by depth-first traversal, so all joints in the result won't depend on any joints further back in the result set.

Definition at line 80 of file UrdfTraverser.cpp.

urdf_traverser::JointPtr UrdfTraverser::getJoint ( const std::string & name )

Definition at line 320 of file UrdfTraverser.cpp.

bool UrdfTraverser::getJointNames	(	const std::string &	fromLink,
		const bool	skipFixed,
		std::vector< std::string > &	result
	)

Returns all joint names in depth-frist search order starting from fromLink (or from root if fromLink is empty). Only joints *after* the given link are returned.

Definition at line 87 of file UrdfTraverser.cpp.

urdf_traverser::LinkPtr UrdfTraverser::getLink ( const std::string & name )

Definition at line 306 of file UrdfTraverser.cpp.

ModelPtr urdf_traverser::UrdfTraverser::getModel ( ) [inline]

Definition at line 180 of file UrdfTraverser.h.

std::string urdf_traverser::UrdfTraverser::getModelDirectory ( ) const [inline]

Definition at line 111 of file UrdfTraverser.h.

bool UrdfTraverser::getModelFromFile	(	const std::string &	urdfFilename,
		std::string &	xml_string
	)		const

Reads the URDF file from the filename into xml_string. Does not change anything in the UrdfTraverser object. Result can be used with loadModelFromXMLString().

Definition at line 394 of file UrdfTraverser.cpp.

std::string urdf_traverser::UrdfTraverser::getModelName ( ) const [inline]

Definition at line 132 of file UrdfTraverser.h.

urdf_traverser::JointPtr UrdfTraverser::getParentJoint ( const JointConstPtr & joint )

Definition at line 146 of file UrdfTraverser.cpp.

std::string UrdfTraverser::getRootLinkName ( ) const

Definition at line 52 of file UrdfTraverser.cpp.

urdf_traverser::EigenTransform UrdfTraverser::getTransform	(	const LinkPtr &	from_link,
		const JointPtr &	to_joint
	)		`[protected]`

Definition at line 413 of file UrdfTraverser.cpp.

bool UrdfTraverser::hasChildLink	(	const LinkConstPtr &	link,
		const std::string &	childName
	)		const `[protected]`

Definition at line 162 of file UrdfTraverser.cpp.

bool UrdfTraverser::loadModelFromFile ( const std::string & urdfFilename )

Loads the URDF model from file

Definition at line 352 of file UrdfTraverser.cpp.

bool UrdfTraverser::loadModelFromXMLString ( const std::string & xmlString )

Loads the URDF from a file

Definition at line 375 of file UrdfTraverser.cpp.

void UrdfTraverser::printJointNames ( const std::string & fromLink )

Loads the URDF from parameter server TODO: still need to re-activate this by also reading the urdf into field robot_urdf Prints the joint names. Can't be const in this version because of the use of a recursive method. Only joints *after* the given link are printed.

Definition at line 337 of file UrdfTraverser.cpp.

int urdf_traverser::UrdfTraverser::printLink ( RecursionParamsPtr & p ) [private]

printing a link, used by recursive printModel(). Supports FlagRecursionParamsPtr, if the flag is true it prints verbose.

bool UrdfTraverser::printModel	(	const std::string &	fromLink,
		bool	verbose
	)

Definition at line 63 of file UrdfTraverser.cpp.

bool UrdfTraverser::printModel ( bool verbose )

Definition at line 68 of file UrdfTraverser.cpp.

urdf_traverser::LinkConstPtr UrdfTraverser::readChildLink ( const JointConstPtr & joint ) const

Definition at line 139 of file UrdfTraverser.cpp.

urdf_traverser::JointConstPtr UrdfTraverser::readJoint ( const std::string & name ) const

Definition at line 328 of file UrdfTraverser.cpp.

urdf_traverser::LinkConstPtr UrdfTraverser::readLink ( const std::string & name ) const

Definition at line 313 of file UrdfTraverser.cpp.

ModelConstPtr urdf_traverser::UrdfTraverser::readModel ( ) const [inline]

Definition at line 184 of file UrdfTraverser.h.

urdf_traverser::JointConstPtr UrdfTraverser::readParentJoint ( const JointConstPtr & joint ) const

Definition at line 153 of file UrdfTraverser.cpp.

void urdf_traverser::UrdfTraverser::setModelDirectory ( const std::string & dir ) [inline]

Set the directory which is considered the base of all mesh and texture files. When loading the model URDF from file, this directory is automatically set to the directory in which the URDF file resides. However if other files referenced from the URDF don't share this same base directory, use this function to override this.

Definition at line 104 of file UrdfTraverser.h.

int UrdfTraverser::traverseTreeBottomUp	(	const std::string &	linkName,
		boost::function< int(RecursionParamsPtr &)>	link_cb,
		RecursionParamsPtr &	params,
		bool	includeLink = `true`
	)

Similar to traverseTreeTopDown(), but traverses bottom-up and is allows to re-link tree (by traversing it safely such that changes in structure won't matter).

Parameters:

includeLink	include the link itself. If false, will start to traverse starting from the link's children.
link_cb	Callback to be called when traversing a link. returns -1 or 0 if traversal is to be stopped, otherwise 1. -1 is for stop because of an error, while 0 is stop because an expected condition found and traversal has been stopped with no error.

Returns:: the last return value of the callback

Definition at line 231 of file UrdfTraverser.cpp.

int UrdfTraverser::traverseTreeBottomUp	(	const LinkPtr &	link,
		boost::function< int(RecursionParamsPtr &)>	link_cb,
		RecursionParamsPtr &	params,
		bool	includeLink = `true`,
		unsigned int	level = `0`
	)		`[protected]`

Main recursive bottom-up traversal method, called from other traverseTreeBottomUp().

Definition at line 245 of file UrdfTraverser.cpp.

int UrdfTraverser::traverseTreeTopDown	(	const std::string &	linkName,
		boost::function< int(RecursionParamsPtr &)>	link_cb,
		RecursionParamsPtr &	params,
		bool	includeLink = `true`
	)

Traverses the tree starting from link (depth first) and calls link_cb on each link.

Parameters:

includeLink	include the link itself. If false, will start to traverse starting from the link's children.
link_cb	Callback to be called when traversing a link. returns -1 or 0 if traversal is to be stopped, otherwise 1. -1 is for stop because of an error, while 0 is stop because an expected condition found and traversal has been stopped with no error.

Returns:: the last return value of the callback

Definition at line 173 of file UrdfTraverser.cpp.

int UrdfTraverser::traverseTreeTopDown	(	const LinkPtr &	link,
		boost::function< int(RecursionParamsPtr &)>	link_cb,
		RecursionParamsPtr &	params,
		bool	includeLink = `true`,
		unsigned int	level = `0`
	)		`[protected]`

Main recursive top-down traversal method, called from other traverseTreeTopDown().

Definition at line 185 of file UrdfTraverser.cpp.

Member Data Documentation

ModelPtr urdf_traverser::UrdfTraverser::model [private]

Definition at line 246 of file UrdfTraverser.h.

std::string urdf_traverser::UrdfTraverser::modelDir [private]

The directory which is considered the base of all mesh and texture files of the model

Definition at line 252 of file UrdfTraverser.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation