37 #ifndef _SRDFDOM_SRDF_WRITER_ 38 #define _SRDFDOM_SRDF_WRITER_ 40 #include <boost/shared_ptr.hpp> 76 bool initString(
const urdf::ModelInterface &robot_model,
const std::string &srdf_string );
99 bool writeSRDF(
const std::string &file_path );
void createEndEffectorsXML(TiXmlElement *root)
void createDisabledCollisionsXML(TiXmlElement *root)
Representation of semantic information about the robot.
void createGroupStatesXML(TiXmlElement *root)
void updateSRDFModel(const urdf::ModelInterface &robot_model)
void initModel(const urdf::ModelInterface &robot_model, const srdf::Model &srdf_model)
std::vector< srdf::Model::VirtualJoint > virtual_joints_
void createPassiveJointsXML(TiXmlElement *root)
std::vector< srdf::Model::DisabledCollision > disabled_collisions_
std::vector< srdf::Model::EndEffector > end_effectors_
std::vector< srdf::Model::LinkSpheres > link_sphere_approximations_
void createVirtualJointsXML(TiXmlElement *root)
boost::shared_ptr< SRDFWriter > SRDFWriterPtr
srdf::ModelSharedPtr srdf_model_
void createLinkSphereApproximationsXML(TiXmlElement *root)
bool writeSRDF(const std::string &file_path)
TiXmlDocument generateSRDF()
void createGroupsXML(TiXmlElement *root)
bool initString(const urdf::ModelInterface &robot_model, const std::string &srdf_string)
std::vector< srdf::Model::Group > groups_
std::string getSRDFString()
std::vector< srdf::Model::GroupState > group_states_
std::vector< srdf::Model::PassiveJoint > passive_joints_