Default constructor. More...

#include <rdf_loader.h>

Public Member Functions
const std::string &	getRobotDescription () const
	Get the resolved parameter name for the robot description. More...

const srdf::ModelSharedPtr &	getSRDF () const
	Get the parsed SRDF model. More...

const urdf::ModelInterfaceSharedPtr &	getURDF () const
	Get the parsed URDF model. More...

	RDFLoader (const std::string &robot_description="robot_description")
	Default constructor. More...

	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. More...

	RDFLoader (TiXmlDocument urdf_doc, TiXmlDocument srdf_doc)
	Initialize the robot model from a parsed XML representation of the URDF and SRDF. More...

Static Public Member Functions
static bool	isXacroFile (const std::string &path)
	determine if given path points to a xacro file More...

static bool	loadFileToString (std::string &buffer, const std::string &path)
	load file from given path into buffer More...

static bool	loadPkgFileToString (std::string &buffer, const std::string &package_name, const std::string &relative_path, const std::vector< std::string > &xacro_args)
	helper that generates a file path based on package name and relative file path to package More...

static bool	loadXacroFileToString (std::string &buffer, const std::string &path, const std::vector< std::string > &xacro_args)
	run xacro with the given args on the file, return result in buffer More...

static bool	loadXmlFileToString (std::string &buffer, const std::string &path, const std::vector< std::string > &xacro_args)
	helper that branches between loadFileToString() and loadXacroFileToString() based on result of isXacroFile() More...

Private Attributes
std::string	robot_description_

srdf::ModelSharedPtr	srdf_

urdf::ModelInterfaceSharedPtr	urdf_

Detailed Description

Default constructor.

Parameters

robot_description The string name corresponding to the ROS param where the URDF is loaded

Definition at line 53 of file rdf_loader.h.

Constructor & Destructor Documentation

rdf_loader::RDFLoader::RDFLoader ( const std::string & robot_description = "robot_description" )

Default constructor.

Parameters

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 53 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 96 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 119 of file rdf_loader.cpp.

Member Function Documentation

const std::string& rdf_loader::RDFLoader::getRobotDescription ( ) const

inline

Get the resolved parameter name for the robot description.

Definition at line 68 of file rdf_loader.h.

const srdf::ModelSharedPtr& rdf_loader::RDFLoader::getSRDF ( ) const

inline

Get the parsed SRDF model.

Definition at line 80 of file rdf_loader.h.

const urdf::ModelInterfaceSharedPtr& rdf_loader::RDFLoader::getURDF ( ) const

inline

Get the parsed URDF model.

Definition at line 74 of file rdf_loader.h.

bool rdf_loader::RDFLoader::isXacroFile ( const std::string & path )

static

determine if given path points to a xacro file

Definition at line 142 of file rdf_loader.cpp.

bool rdf_loader::RDFLoader::loadFileToString	(	std::string &	buffer,
		const std::string &	path
	)

static

load file from given path into buffer

Definition at line 150 of file rdf_loader.cpp.

bool rdf_loader::RDFLoader::loadPkgFileToString	(	std::string &	buffer,
		const std::string &	package_name,
		const std::string &	relative_path,
		const std::vector< std::string > &	xacro_args
	)

static

helper that generates a file path based on package name and relative file path to package

Definition at line 230 of file rdf_loader.cpp.

bool rdf_loader::RDFLoader::loadXacroFileToString	(	std::string &	buffer,
		const std::string &	path,
		const std::vector< std::string > &	xacro_args
	)

static

run xacro with the given args on the file, return result in buffer

Definition at line 181 of file rdf_loader.cpp.

bool rdf_loader::RDFLoader::loadXmlFileToString	(	std::string &	buffer,
		const std::string &	path,
		const std::vector< std::string > &	xacro_args
	)

static

helper that branches between loadFileToString() and loadXacroFileToString() based on result of isXacroFile()

Definition at line 219 of file rdf_loader.cpp.

Member Data Documentation

std::string rdf_loader::RDFLoader::robot_description_

private

Definition at line 105 of file rdf_loader.h.

srdf::ModelSharedPtr rdf_loader::RDFLoader::srdf_

private

Definition at line 106 of file rdf_loader.h.

urdf::ModelInterfaceSharedPtr rdf_loader::RDFLoader::urdf_

private

Definition at line 107 of file rdf_loader.h.

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

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation