param_parser.cpp File Reference

#include <cob_omni_drive_controller/param_parser.h>
#include <cob_omni_drive_controller/UndercarriageCtrlGeomROS.h>
#include <urdf/model.h>
#include <angles/angles.h>
#include <XmlRpcException.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Transform.h>
#include <tf2/LinearMath/Vector3.h>

Include dependency graph for param_parser.cpp:

Go to the source code of this file.

Classes
class	MergedXmlRpcStruct

Namespaces
	cob_omni_drive_controller

Functions
bool	make_wheel_struct (XmlRpc::XmlRpcValue &wheel_list)
bool	parseCtrlParams (CtrlParams &params, XmlRpc::XmlRpcValue &wheel, urdf::Model *model)
bool	parsePosCtrlParams (PosCtrlParams &params, XmlRpc::XmlRpcValue &wheel)
template<>
bool	parseWheel (UndercarriageCtrl::WheelParams &params, XmlRpc::XmlRpcValue &wheel, MergedXmlRpcStruct &merged, urdf::Model *model)
template<>
bool	parseWheel (UndercarriageDirectCtrl::WheelParams &params, XmlRpc::XmlRpcValue &wheel, MergedXmlRpcStruct &merged, urdf::Model *model)
template<>
bool	parseWheel (UndercarriageGeom::WheelParams &params, XmlRpc::XmlRpcValue &wheel, MergedXmlRpcStruct &merged, urdf::Model *model)
template<typename W >
bool	parseWheel (W &params, XmlRpc::XmlRpcValue &wheel, MergedXmlRpcStruct &merged, urdf::Model *model)
bool	parseWheelGeom (WheelGeom &geom, XmlRpc::XmlRpcValue &wheel, MergedXmlRpcStruct &merged, urdf::Model *model)
bool	cob_omni_drive_controller::parseWheelParams (std::vector< UndercarriageCtrl::WheelParams > &params, const ros::NodeHandle &nh, bool read_urdf=true)
bool	cob_omni_drive_controller::parseWheelParams (std::vector< UndercarriageDirectCtrl::WheelParams > &params, const ros::NodeHandle &nh, bool read_urdf=true)
bool	cob_omni_drive_controller::parseWheelParams (std::vector< UndercarriageGeom::WheelParams > &params, const ros::NodeHandle &nh, bool read_urdf=true)
template<typename W >
bool	parseWheels (std::vector< W > &wheel_params, const ros::NodeHandle &nh, bool read_urdf)
template<typename T >
bool	read (T &val, const std::string &name, XmlRpc::XmlRpcValue &wheel)
template<typename T >
bool	read_optional (T &val, const std::string &name, XmlRpc::XmlRpcValue &wheel)
template<typename T >
T	read_typed (XmlRpc::XmlRpcValue &val)
template<>
double	read_typed (XmlRpc::XmlRpcValue &val)
template<typename T >
bool	read_with_default (T &val, const std::string &name, XmlRpc::XmlRpcValue &wheel, const T &def)

Function Documentation

make_wheel_struct()

bool make_wheel_struct

(

XmlRpc::XmlRpcValue &

wheel_list

)

Definition at line 216 of file param_parser.cpp.

parseCtrlParams()

bool parseCtrlParams	(	CtrlParams &	params,
		XmlRpc::XmlRpcValue &	wheel,
		urdf::Model *	model
	)

Definition at line 83 of file param_parser.cpp.

parsePosCtrlParams()

bool parsePosCtrlParams	(	PosCtrlParams &	params,
		XmlRpc::XmlRpcValue &	wheel
	)

Definition at line 122 of file param_parser.cpp.

parseWheel() [1/4]

template<>

bool parseWheel	(	UndercarriageCtrl::WheelParams &	params,
		XmlRpc::XmlRpcValue &	wheel,
		MergedXmlRpcStruct &	merged,
		urdf::Model *	model
	)

Definition at line 212 of file param_parser.cpp.

parseWheel() [2/4]

template<>

bool parseWheel	(	UndercarriageDirectCtrl::WheelParams &	params,
		XmlRpc::XmlRpcValue &	wheel,
		MergedXmlRpcStruct &	merged,
		urdf::Model *	model
	)

Definition at line 208 of file param_parser.cpp.

parseWheel() [3/4]

template<>

bool parseWheel	(	UndercarriageGeom::WheelParams &	params,
		XmlRpc::XmlRpcValue &	wheel,
		MergedXmlRpcStruct &	merged,
		urdf::Model *	model
	)

Definition at line 204 of file param_parser.cpp.

parseWheel() [4/4]

template<typename W >

bool parseWheel	(	W &	params,
		XmlRpc::XmlRpcValue &	wheel,
		MergedXmlRpcStruct &	merged,
		urdf::Model *	model
	)

parseWheelGeom()

bool parseWheelGeom	(	WheelGeom &	geom,
		XmlRpc::XmlRpcValue &	wheel,
		MergedXmlRpcStruct &	merged,
		urdf::Model *	model
	)

Definition at line 136 of file param_parser.cpp.

parseWheels()

template<typename W >

bool parseWheels	(	std::vector< W > &	wheel_params,
		const ros::NodeHandle &	nh,
		bool	read_urdf
	)

Definition at line 230 of file param_parser.cpp.

read()

template<typename T >

bool read	(	T &	val,
		const std::string &	name,
		XmlRpc::XmlRpcValue &	wheel
	)

Definition at line 75 of file param_parser.cpp.

read_optional()

template<typename T >

bool read_optional	(	T &	val,
		const std::string &	name,
		XmlRpc::XmlRpcValue &	wheel
	)

Definition at line 55 of file param_parser.cpp.

read_typed() [1/2]

template<typename T >

T read_typed

(

XmlRpc::XmlRpcValue &

val

)

Definition at line 47 of file param_parser.cpp.

read_typed() [2/2]

template<>

double read_typed

(

XmlRpc::XmlRpcValue &

val

)

Definition at line 50 of file param_parser.cpp.

read_with_default()

template<typename T >

bool read_with_default	(	T &	val,
		const std::string &	name,
		XmlRpc::XmlRpcValue &	wheel,
		const T &	def
	)

Definition at line 67 of file param_parser.cpp.