srdf::SRDFWriter Class Reference

#include <srdf_writer.h>

Public Member Functions
void	createDisabledCollisionsXML (TiXmlElement *root)
void	createEndEffectorsXML (TiXmlElement *root)
void	createGroupStatesXML (TiXmlElement *root)
void	createGroupsXML (TiXmlElement *root)
void	createLinkSphereApproximationsXML (TiXmlElement *root)
void	createPassiveJointsXML (TiXmlElement *root)
void	createVirtualJointsXML (TiXmlElement *root)
TiXmlDocument	generateSRDF ()
std::string	getSRDFString ()
void	initModel (const urdf::ModelInterface &robot_model, const srdf::Model &srdf_model)
bool	initString (const urdf::ModelInterface &robot_model, const std::string &srdf_string)
	SRDFWriter ()
void	updateSRDFModel (const urdf::ModelInterface &robot_model)
bool	writeSRDF (const std::string &file_path)
	~SRDFWriter ()

Public Attributes
std::vector< srdf::Model::DisabledCollision >	disabled_collisions_
std::vector< srdf::Model::EndEffector >	end_effectors_
std::vector< srdf::Model::GroupState >	group_states_
std::vector< srdf::Model::Group >	groups_
std::vector< srdf::Model::LinkSpheres >	link_sphere_approximations_
std::vector< srdf::Model::PassiveJoint >	passive_joints_
std::string	robot_name_
srdf::ModelSharedPtr	srdf_model_
std::vector< srdf::Model::VirtualJoint >	virtual_joints_

Detailed Description

Definition at line 52 of file srdf_writer.h.

Constructor & Destructor Documentation

srdf::SRDFWriter::SRDFWriter

(

)

Constructor

Definition at line 46 of file srdf_writer.cpp.

srdf::SRDFWriter::~SRDFWriter

(

)

Destructor

Definition at line 55 of file srdf_writer.cpp.

Member Function Documentation

void srdf::SRDFWriter::createDisabledCollisionsXML

(

TiXmlElement *

root

)

Generate XML for SRDF disabled collisions of robot link pairs

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 301 of file srdf_writer.cpp.

void srdf::SRDFWriter::createEndEffectorsXML

(

TiXmlElement *

root

)

Generate XML for SRDF end effectors

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 363 of file srdf_writer.cpp.

void srdf::SRDFWriter::createGroupStatesXML

(

TiXmlElement *

root

)

Generate XML for SRDF group states of each joint's position

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 327 of file srdf_writer.cpp.

void srdf::SRDFWriter::createGroupsXML

(

TiXmlElement *

root

)

Generate XML for SRDF groups

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 190 of file srdf_writer.cpp.

void srdf::SRDFWriter::createLinkSphereApproximationsXML

(

TiXmlElement *

root

)

Generate XML for SRDF link collision spheres

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 261 of file srdf_writer.cpp.

void srdf::SRDFWriter::createPassiveJointsXML

(

TiXmlElement *

root

)

Generate XML for SRDF passive joints

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 414 of file srdf_writer.cpp.

void srdf::SRDFWriter::createVirtualJointsXML

(

TiXmlElement *

root

)

Generate XML for SRDF virtual joints

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 390 of file srdf_writer.cpp.

TiXmlDocument srdf::SRDFWriter::generateSRDF

(

)

Generate SRDF XML of all contained data

Returns

TinyXML document that contains current SRDF data in this class

Definition at line 147 of file srdf_writer.cpp.

std::string srdf::SRDFWriter::getSRDFString

(

)

Get a string of a generated SRDF document

Returns

string of XML of current SRDF contents

Definition at line 130 of file srdf_writer.cpp.

void srdf::SRDFWriter::initModel	(	const urdf::ModelInterface &	robot_model,
		const srdf::Model &	srdf_model
	)

Initialize the SRDF writer with an exisiting SRDF model (optional)

Parameters

urdf_model	a preloaded urdf model reference
srdf_model	a preloaded srdf model reference

Definition at line 79 of file srdf_writer.cpp.

bool srdf::SRDFWriter::initString	(	const urdf::ModelInterface &	robot_model,
		const std::string &	srdf_string
	)

Initialize the SRDF writer with an exisiting SRDF file (optional)

Parameters

urdf_model	a preloaded urdf model reference
srdf_string	the text contents of an SRDF file

Returns

bool if initialization was successful

Definition at line 62 of file srdf_writer.cpp.

void srdf::SRDFWriter::updateSRDFModel

(

const urdf::ModelInterface &

robot_model

)

Update the SRDF Model class using a new SRDF string

Parameters

robot_model

a loaded URDF model

Definition at line 103 of file srdf_writer.cpp.

bool srdf::SRDFWriter::writeSRDF

(

const std::string &

file_path

)

Generate SRDF XML of all contained data and save to file

Parameters

file_path

- string path location to save SRDF

Returns

bool - true if save was successful

Definition at line 118 of file srdf_writer.cpp.

Member Data Documentation

std::vector<srdf::Model::DisabledCollision> srdf::SRDFWriter::disabled_collisions_

Definition at line 173 of file srdf_writer.h.

std::vector<srdf::Model::EndEffector> srdf::SRDFWriter::end_effectors_

Definition at line 171 of file srdf_writer.h.

std::vector<srdf::Model::GroupState> srdf::SRDFWriter::group_states_

Definition at line 169 of file srdf_writer.h.

std::vector<srdf::Model::Group> srdf::SRDFWriter::groups_

Definition at line 168 of file srdf_writer.h.

std::vector<srdf::Model::LinkSpheres> srdf::SRDFWriter::link_sphere_approximations_

Definition at line 172 of file srdf_writer.h.

std::vector<srdf::Model::PassiveJoint> srdf::SRDFWriter::passive_joints_

Definition at line 174 of file srdf_writer.h.

std::string srdf::SRDFWriter::robot_name_

Definition at line 180 of file srdf_writer.h.

srdf::ModelSharedPtr srdf::SRDFWriter::srdf_model_

Definition at line 177 of file srdf_writer.h.

std::vector<srdf::Model::VirtualJoint> srdf::SRDFWriter::virtual_joints_

Definition at line 170 of file srdf_writer.h.

---

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

• srdf_writer.h
• srdf_writer.cpp