kdl_parser Namespace Reference

Functions
bool	addChildrenToTree (urdf::LinkConstSharedPtr root, KDL::Tree &tree)
KDL::Vector	toKdl (urdf::Vector3 v)
KDL::Rotation	toKdl (urdf::Rotation r)
KDL::Frame	toKdl (urdf::Pose p)
KDL::Joint	toKdl (urdf::JointSharedPtr jnt)
KDL::RigidBodyInertia	toKdl (urdf::InertialSharedPtr i)
KDL_PARSER_PUBLIC bool	treeFromFile (const std::string &file, KDL::Tree &tree)
KDL_PARSER_PUBLIC bool	treeFromParam (const std::string &param, KDL::Tree &tree)
KDL_PARSER_PUBLIC bool	treeFromString (const std::string &xml, KDL::Tree &tree)
KDL_PARSER_PUBLIC bool	treeFromUrdfModel (const urdf::ModelInterface &robot_model, KDL::Tree &tree)
KDL_PARSER_PUBLIC bool	treeFromXml (const tinyxml2::XMLDocument *xml_doc, KDL::Tree &tree)
KDL_PARSER_PUBLIC bool	treeFromXml (TiXmlDocument *xml_doc, KDL::Tree &tree)

Function Documentation

addChildrenToTree()

bool kdl_parser::addChildrenToTree	(	urdf::LinkConstSharedPtr	root,
		KDL::Tree &	tree
	)

Definition at line 142 of file kdl_parser.cpp.

toKdl() [1/5]

KDL::Vector kdl_parser::toKdl

(

urdf::Vector3

v

)

Definition at line 64 of file kdl_parser.cpp.

toKdl() [2/5]

KDL::Rotation kdl_parser::toKdl

(

urdf::Rotation

r

)

Definition at line 70 of file kdl_parser.cpp.

toKdl() [3/5]

KDL::Frame kdl_parser::toKdl

(

urdf::Pose

p

)

Definition at line 76 of file kdl_parser.cpp.

toKdl() [4/5]

KDL::Joint kdl_parser::toKdl

(

urdf::JointSharedPtr

jnt

)

Definition at line 82 of file kdl_parser.cpp.

toKdl() [5/5]

KDL::RigidBodyInertia kdl_parser::toKdl

(

urdf::InertialSharedPtr

i

)

Definition at line 111 of file kdl_parser.cpp.

treeFromFile()

bool kdl_parser::treeFromFile	(	const std::string &	file,
		KDL::Tree &	tree
	)

Constructs a KDL tree from a file, given the file name

Parameters

file	The filename from where to read the xml
tree	The resulting KDL Tree returns true on success, false on failure

Definition at line 172 of file kdl_parser.cpp.

treeFromParam()

bool kdl_parser::treeFromParam	(	const std::string &	param,
		KDL::Tree &	tree
	)

Constructs a KDL tree from the parameter server, given the parameter name

Parameters

param	the name of the parameter on the parameter server
tree	The resulting KDL Tree returns true on success, false on failure or if built without ROS

Definition at line 179 of file kdl_parser.cpp.

treeFromString()

bool kdl_parser::treeFromString	(	const std::string &	xml,
		KDL::Tree &	tree
	)

Constructs a KDL tree from a string containing xml

Parameters

xml	A string containing the xml description of the robot
tree	The resulting KDL Tree returns true on success, false on failure

Definition at line 194 of file kdl_parser.cpp.

treeFromUrdfModel()

bool kdl_parser::treeFromUrdfModel	(	const urdf::ModelInterface &	robot_model,
		KDL::Tree &	tree
	)

Constructs a KDL tree from a URDF robot model

Parameters

robot_model	The URDF robot model
tree	The resulting KDL Tree returns true on success, false on failure

Definition at line 230 of file kdl_parser.cpp.

treeFromXml() [1/2]

bool kdl_parser::treeFromXml	(	const tinyxml2::XMLDocument *	xml_doc,
		KDL::Tree &	tree
	)

Constructs a KDL tree from a TinyXML2 document

Parameters

[in]	xml_doc	The document containing the xml description of the robot
[out]	tree	The resulting KDL Tree

Returns

true on success, false on failure

Definition at line 204 of file kdl_parser.cpp.

treeFromXml() [2/2]

bool kdl_parser::treeFromXml	(	TiXmlDocument *	xml_doc,
		KDL::Tree &	tree
	)

Constructs a KDL tree from a TinyXML document

Parameters

[in]	xml_doc	The document containing the xml description of the robot
[out]	tree	The resulting KDL Tree returns true on success, false on failure

Definition at line 217 of file kdl_parser.cpp.