RobotDynamics::Urdf Namespace Reference

Typedefs
typedef map< string, urdf::JointSharedPtr >	URDFJointMap
typedef vector< urdf::JointSharedPtr >	URDFJointVector
typedef map< string, urdf::LinkSharedPtr >	URDFLinkMap
typedef vector< urdf::LinkSharedPtr >	URDFLinkVector

Functions
bool	construct_model (ModelPtr rdl_model, urdf::ModelInterfaceSharedPtr urdf_model, bool floating_base, bool verbose)
bool	parseJointAndBodyNamesFromString (const std::string &model_xml_string, std::vector< std::string > &joint_names, std::vector< std::string > &body_names)
	This will build vectors of joint name and body name pairs. More...
bool	parseJointAndBodyNamesFromString (const char *model_xml_string, std::vector< std::string > &joint_names, std::vector< std::string > &body_names)
	This will build vectors of joint name and body name pairs. More...
bool	parseJointAndQIndex (const RobotDynamics::Model &model, const std::vector< std::string > &body_names, std::vector< unsigned int > &q_indices)
	This will build a vector of joint indices in the same order as the list of joints. More...
bool	parseJointAndQIndex (const std::string &model_xml_string, std::vector< unsigned int > &q_indices)
	This will build a vector of joint indices in the same order as the list of joints. More...
bool	parseJointBodyNameMapFromFile (const char *filename, std::map< std::string, std::string > &jointBodyMap)
	This will build a map of joint name to body name. More...
bool	parseJointBodyNameMapFromString (const char *model_xml_string, std::map< std::string, std::string > &jointBodyMap)
	This will build a map of joint name to body name. More...
bool	parseJointBodyNameMapFromString (const std::string &model_xml_string, std::map< std::string, std::string > &jointBodyMap)
	This will build a map of joint name to body name. More...
bool	urdfReadFromFile (const char *filename, ModelPtr model, bool floating_base, bool verbose=false)
	Read urdf from file path. More...
bool	urdfReadFromFile (const std::string &filename, ModelPtr model)
	Read urdf from file path. More...
bool	urdfReadFromString (const char *model_xml_string, ModelPtr model, bool floating_base, bool verbose=false)
	Read urdf from string contents. More...
bool	urdfReadFromString (const std::string &model_xml_string, ModelPtr model)
	Read urdf from string contents. More...

Typedef Documentation

typedef map<string, urdf::JointSharedPtr> RobotDynamics::Urdf::URDFJointMap

Definition at line 24 of file urdfreader.cc.

typedef vector<urdf::JointSharedPtr> RobotDynamics::Urdf::URDFJointVector

Definition at line 22 of file urdfreader.cc.

typedef map<string, urdf::LinkSharedPtr> RobotDynamics::Urdf::URDFLinkMap

Definition at line 23 of file urdfreader.cc.

typedef vector<urdf::LinkSharedPtr> RobotDynamics::Urdf::URDFLinkVector

Definition at line 21 of file urdfreader.cc.

Function Documentation

bool RobotDynamics::Urdf::construct_model	(	ModelPtr	rdl_model,
		urdf::ModelInterfaceSharedPtr	urdf_model,
		bool	floating_base,
		bool	verbose
	)

Definition at line 26 of file urdfreader.cc.

bool RobotDynamics::Urdf::parseJointAndBodyNamesFromString	(	const std::string &	model_xml_string,
		std::vector< std::string > &	joint_names,
		std::vector< std::string > &	body_names
	)

This will build vectors of joint name and body name pairs.

Parameters

model_xml_string	Urdf file contents
joint_names	Modified
body_names	Modified

Returns

True if succuss, false otherwise

Warning

This will NOT give any information about a floating body/joint. The floating body will be ignored since it's not moved by a joint called out in the urdf. Only joints/bodies in 'joint'/'link' tags will be used to populate the map. Non fixed joint/body pairs will be ignored

Definition at line 323 of file urdfreader.cc.

bool RobotDynamics::Urdf::parseJointAndBodyNamesFromString	(	const char *	model_xml_string,
		std::vector< std::string > &	joint_names,
		std::vector< std::string > &	body_names
	)

This will build vectors of joint name and body name pairs.

Parameters

model_xml_string	Urdf file contents
joint_names	Modified
body_names	Modified

Returns

True if succuss, false otherwise

Warning

This will NOT give any information about a floating body/joint. The floating body will be ignored since it's not moved by a joint called out in the urdf. Only joints/bodies in 'joint'/'link' tags will be used to populate the map. Non fixed joint/body pairs will be ignored

Definition at line 295 of file urdfreader.cc.

bool RobotDynamics::Urdf::parseJointAndQIndex	(	const RobotDynamics::Model &	model,
		const std::vector< std::string > &	body_names,
		std::vector< unsigned int > &	q_indices
	)

This will build a vector of joint indices in the same order as the list of joints.

Parameters

model	RDL Model
body_names	vector of body names. Order is important here. Recommended this comes from one of the parse joint and body names functions to ensure correct ordering
q_indices	Modified. Vector of q indices populated

Returns

true on success, false otherwise

Warning

This will NOT give any information about a floating body/joint

Definition at line 362 of file urdfreader.cc.

bool RobotDynamics::Urdf::parseJointAndQIndex	(	const std::string &	model_xml_string,
		std::vector< unsigned int > &	q_indices
	)

This will build a vector of joint indices in the same order as the list of joints.

Parameters

model_xml_string	Urdf string
q_indices	Modified. Vector of q indices populated

Returns

true on success, false otherwise

Warning

This will NOT give any information about a floating body/joint

Definition at line 373 of file urdfreader.cc.

bool RobotDynamics::Urdf::parseJointBodyNameMapFromFile	(	const char *	filename,
		std::map< std::string, std::string > &	jointBodyMap
	)

This will build a map of joint name to body name.

Parameters

filename	Filepath
jointBodyMap	Modified

Returns

Warning

This will NOT give any information about a floating body/joint. The floating body will be ignored since it's not moved by a joint called out in the urdf. Only joints/bodies in 'joint'/'link' tags will be used to populate the map.

Definition at line 274 of file urdfreader.cc.

bool RobotDynamics::Urdf::parseJointBodyNameMapFromString	(	const char *	model_xml_string,
		std::map< std::string, std::string > &	jointBodyMap
	)

This will build a map of joint name to body name.

Parameters

model_xml_string	Urdf file contents
jointBodyMap	Modified

Returns

Warning

This will NOT give any information about a floating body/joint. The floating body will be ignored since it's not moved by a joint called out in the urdf. Only joints/bodies in 'joint'/'link' tags will be used to populate the map.

Definition at line 345 of file urdfreader.cc.

bool RobotDynamics::Urdf::parseJointBodyNameMapFromString	(	const std::string &	model_xml_string,
		std::map< std::string, std::string > &	jointBodyMap
	)

This will build a map of joint name to body name.

Parameters

model_xml_string	Urdf file contents
jointBodyMap	Modified

Returns

Warning

This will NOT give any information about a floating body/joint. The floating body will be ignored since it's not moved by a joint called out in the urdf. Only joints/bodies in 'joint'/'link' tags will be used to populate the map.

Definition at line 328 of file urdfreader.cc.

bool RobotDynamics::Urdf::urdfReadFromFile	(	const char *	filename,
		ModelPtr	model,
		bool	floating_base,
		bool	verbose = false
	)

Read urdf from file path.

Parameters

filename
model
floating_base
verbose

Returns

Definition at line 390 of file urdfreader.cc.

bool RobotDynamics::Urdf::urdfReadFromFile	(	const std::string &	filename,
		ModelPtr	model
	)

Read urdf from file path.

Parameters

filename
model
floating_base
verbose

Returns

Definition at line 428 of file urdfreader.cc.

bool RobotDynamics::Urdf::urdfReadFromString	(	const char *	model_xml_string,
		ModelPtr	model,
		bool	floating_base,
		bool	verbose = false
	)

Read urdf from string contents.

Parameters

model_xml_string
model
floating_base
verbose

Returns

Definition at line 411 of file urdfreader.cc.

bool RobotDynamics::Urdf::urdfReadFromString	(	const std::string &	model_xml_string,
		ModelPtr	model
	)

Read urdf from string contents.

Parameters

model_xml_string
model
verbose

Returns

Note

This function will deduce whether or not the robot has a floating base by checking the name of the root link. If the name of the root link is "world", then it will have a floating base.

Definition at line 449 of file urdfreader.cc.