rdf_loader::RDFLoader Class Reference

#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...

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

Loader for .urdf and .srdf descriptions

Definition at line 80 of file rdf_loader.h.

Constructor & Destructor Documentation

RDFLoader() [1/2]

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 58 of file rdf_loader.cpp.

RDFLoader() [2/2]

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 101 of file rdf_loader.cpp.

Member Function Documentation

getRobotDescription()

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

inline

Get the resolved parameter name for the robot description.

Definition at line 92 of file rdf_loader.h.

getSRDF()

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

inline

Get the parsed SRDF model.

Definition at line 104 of file rdf_loader.h.

getURDF()

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

inline

Get the parsed URDF model.

Definition at line 98 of file rdf_loader.h.

isXacroFile()

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

static

determine if given path points to a xacro file

Definition at line 123 of file rdf_loader.cpp.

loadFileToString()

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

static

load file from given path into buffer

Definition at line 131 of file rdf_loader.cpp.

loadPkgFileToString()

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 212 of file rdf_loader.cpp.

loadXacroFileToString()

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 162 of file rdf_loader.cpp.

loadXmlFileToString()

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 201 of file rdf_loader.cpp.

Member Data Documentation

robot_description_

std::string rdf_loader::RDFLoader::robot_description_

private

Definition at line 129 of file rdf_loader.h.

srdf_

srdf::ModelSharedPtr rdf_loader::RDFLoader::srdf_

private

Definition at line 130 of file rdf_loader.h.

urdf_

urdf::ModelInterfaceSharedPtr rdf_loader::RDFLoader::urdf_

private

Definition at line 131 of file rdf_loader.h.

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

• rdf_loader.h
• rdf_loader.cpp