Representation of semantic information about the robot. More...

#include <model.h>

Classes
struct	CollisionPair
	The definition of a disabled/enabled collision between two links. More...

struct	EndEffector
	Representation of an end effector. More...

struct	Group
	A group consists of a set of joints and the corresponding descendant links. There are multiple ways to specify a group. Directly specifying joints, links or chains, or referring to other defined groups. More...

struct	GroupState
	A named state for a particular group. More...

struct	LinkSpheres
	The definition of a list of spheres for a link. More...

struct	PassiveJoint

struct	Sphere
	The definition of a sphere. More...

struct	VirtualJoint

Public Types
using	JointPropertyMap = std::map< std::string, PropertyMap >

using	PropertyMap = std::map< std::string, std::string >

Public Member Functions
void	clear ()
	Clear the model. More...

const std::vector< CollisionPair > &	getDisabledCollisionPairs () const
	Get the list of pairs of links for which we explicitly disable collision. More...

const std::vector< CollisionPair > &	getEnabledCollisionPairs () const
	Get the list of pairs of links for which we explicitly re-enable collision (after having disabled it via a default) More...

const std::vector< EndEffector > &	getEndEffectors () const
	Get the list of end effectors defined for this model. More...

const std::vector< Group > &	getGroups () const
	Get the list of groups defined for this model. More...

const std::vector< GroupState > &	getGroupStates () const
	Get the list of group states defined for this model. More...

const JointPropertyMap &	getJointProperties () const
	Get the joint properties map. More...

const PropertyMap &	getJointProperties (const std::string &joint_name) const
	Get the joint properties for a particular joint. More...

const std::vector< LinkSpheres > &	getLinkSphereApproximations () const
	Get the collision spheres list. More...

const std::string &	getName () const
	Get the name of this model. More...

const std::vector< std::string > &	getNoDefaultCollisionLinks () const
	Get the list of links that should have collision checking disabled by default (and only selectively enabled) More...

const std::vector< PassiveJoint > &	getPassiveJoints () const
	Get the list of known passive joints. More...

const std::vector< VirtualJoint > &	getVirtualJoints () const
	Get the list of virtual joints defined for this model. More...

bool	initFile (const urdf::ModelInterface &urdf_model, const std::string &filename)
	Load Model given a filename. More...

bool	initString (const urdf::ModelInterface &urdf_model, const std::string &xmlstring)
	Load Model from a XML-string. More...

bool	initXml (const urdf::ModelInterface &urdf_model, tinyxml2::XMLDocument *xml)
	Load Model from XMLDocument. More...

bool	initXml (const urdf::ModelInterface &urdf_model, tinyxml2::XMLElement *xml)
	Load Model from XMLElement. More...

	Model ()

	~Model ()

Private Member Functions
bool	isValidJoint (const urdf::ModelInterface &urdf_model, const std::string &name) const

void	loadCollisionDefaults (const urdf::ModelInterface &urdf_model, tinyxml2::XMLElement *robot_xml)

void	loadCollisionPairs (const urdf::ModelInterface &urdf_model, tinyxml2::XMLElement robot_xml, const char tag_name, std::vector< CollisionPair > &pairs)

void	loadEndEffectors (const urdf::ModelInterface &urdf_model, tinyxml2::XMLElement *robot_xml)

void	loadGroups (const urdf::ModelInterface &urdf_model, tinyxml2::XMLElement *robot_xml)

void	loadGroupStates (const urdf::ModelInterface &urdf_model, tinyxml2::XMLElement *robot_xml)

void	loadJointProperties (const urdf::ModelInterface &urdf_model, tinyxml2::XMLElement *robot_xml)

void	loadLinkSphereApproximations (const urdf::ModelInterface &urdf_model, tinyxml2::XMLElement *robot_xml)

void	loadPassiveJoints (const urdf::ModelInterface &urdf_model, tinyxml2::XMLElement *robot_xml)

void	loadVirtualJoints (const urdf::ModelInterface &urdf_model, tinyxml2::XMLElement *robot_xml)

Private Attributes
std::vector< CollisionPair >	disabled_collision_pairs_

std::vector< CollisionPair >	enabled_collision_pairs_

std::vector< EndEffector >	end_effectors_

std::vector< GroupState >	group_states_

std::vector< Group >	groups_

JointPropertyMap	joint_properties_

std::vector< LinkSpheres >	link_sphere_approximations_

std::string	name_

std::vector< std::string >	no_default_collision_links_

std::vector< PassiveJoint >	passive_joints_

std::vector< VirtualJoint >	virtual_joints_

Detailed Description

Representation of semantic information about the robot.

Definition at line 84 of file model.h.

Member Typedef Documentation

◆ JointPropertyMap

using srdf::Model::JointPropertyMap = std::map<std::string, PropertyMap>

Definition at line 120 of file model.h.

◆ PropertyMap

using srdf::Model::PropertyMap = std::map<std::string, std::string>

Definition at line 119 of file model.h.

Constructor & Destructor Documentation

◆ Model()

srdf::Model::Model ( )

inline

Definition at line 122 of file model.h.

◆ ~Model()

srdf::Model::~Model ( )

inline

Definition at line 126 of file model.h.

Member Function Documentation

◆ clear()

void srdf::Model::clear ( )

Clear the model.

Definition at line 717 of file model.cpp.

◆ getDisabledCollisionPairs()

const std::vector<CollisionPair>& srdf::Model::getDisabledCollisionPairs ( ) const

inline

Get the list of pairs of links for which we explicitly disable collision.

Definition at line 284 of file model.h.

◆ getEnabledCollisionPairs()

const std::vector<CollisionPair>& srdf::Model::getEnabledCollisionPairs ( ) const

inline

Get the list of pairs of links for which we explicitly re-enable collision (after having disabled it via a default)

Definition at line 278 of file model.h.

◆ getEndEffectors()

const std::vector<EndEffector>& srdf::Model::getEndEffectors ( ) const

inline

Get the list of end effectors defined for this model.

Definition at line 302 of file model.h.

◆ getGroups()

const std::vector<Group>& srdf::Model::getGroups ( ) const

inline

Get the list of groups defined for this model.

Definition at line 290 of file model.h.

◆ getGroupStates()

const std::vector<GroupState>& srdf::Model::getGroupStates ( ) const

inline

Get the list of group states defined for this model.

Definition at line 308 of file model.h.

◆ getJointProperties() [1/2]

const JointPropertyMap& srdf::Model::getJointProperties ( ) const

inline

Get the joint properties map.

Definition at line 338 of file model.h.

◆ getJointProperties() [2/2]

const PropertyMap& srdf::Model::getJointProperties ( const std::string & joint_name ) const

inline

Get the joint properties for a particular joint.

Definition at line 326 of file model.h.

◆ getLinkSphereApproximations()

const std::vector<LinkSpheres>& srdf::Model::getLinkSphereApproximations ( ) const

inline

Get the collision spheres list.

Definition at line 320 of file model.h.

◆ getName()

const std::string& srdf::Model::getName ( ) const

inline

Get the name of this model.

Definition at line 266 of file model.h.

◆ getNoDefaultCollisionLinks()

const std::vector<std::string>& srdf::Model::getNoDefaultCollisionLinks ( ) const

inline

Get the list of links that should have collision checking disabled by default (and only selectively enabled)

Definition at line 272 of file model.h.

◆ getPassiveJoints()

const std::vector<PassiveJoint>& srdf::Model::getPassiveJoints ( ) const

inline

Get the list of known passive joints.

Definition at line 314 of file model.h.

◆ getVirtualJoints()

const std::vector<VirtualJoint>& srdf::Model::getVirtualJoints ( ) const

inline

Get the list of virtual joints defined for this model.

Definition at line 296 of file model.h.

◆ initFile()

bool srdf::Model::initFile	(	const urdf::ModelInterface &	urdf_model,
		const std::string &	filename
	)

Load Model given a filename.

Definition at line 683 of file model.cpp.

◆ initString()

bool srdf::Model::initString	(	const urdf::ModelInterface &	urdf_model,
		const std::string &	xmlstring
	)

Load Model from a XML-string.

Definition at line 706 of file model.cpp.

◆ initXml() [1/2]

bool srdf::Model::initXml	(	const urdf::ModelInterface &	urdf_model,
		tinyxml2::XMLDocument *	xml
	)

Load Model from XMLDocument.

◆ initXml() [2/2]

bool srdf::Model::initXml	(	const urdf::ModelInterface &	urdf_model,
		tinyxml2::XMLElement *	xml
	)

Load Model from XMLElement.

◆ isValidJoint()

bool srdf::Model::isValidJoint	(	const urdf::ModelInterface &	urdf_model,
		const std::string &	name
	)		const

private

Definition at line 48 of file model.cpp.

◆ loadCollisionDefaults()

void srdf::Model::loadCollisionDefaults	(	const urdf::ModelInterface &	urdf_model,
		tinyxml2::XMLElement *	robot_xml
	)

private

Definition at line 531 of file model.cpp.

◆ loadCollisionPairs()

void srdf::Model::loadCollisionPairs	(	const urdf::ModelInterface &	urdf_model,
		tinyxml2::XMLElement *	robot_xml,
		const char *	tag_name,
		std::vector< CollisionPair > &	pairs
	)

private

Definition at line 552 of file model.cpp.

◆ loadEndEffectors()

void srdf::Model::loadEndEffectors	(	const urdf::ModelInterface &	urdf_model,
		tinyxml2::XMLElement *	robot_xml
	)

private

Definition at line 376 of file model.cpp.

◆ loadGroups()

void srdf::Model::loadGroups	(	const urdf::ModelInterface &	urdf_model,
		tinyxml2::XMLElement *	robot_xml
	)

private

Definition at line 119 of file model.cpp.

◆ loadGroupStates()

void srdf::Model::loadGroupStates	(	const urdf::ModelInterface &	urdf_model,
		tinyxml2::XMLElement *	robot_xml
	)

private

Definition at line 290 of file model.cpp.

◆ loadJointProperties()

void srdf::Model::loadJointProperties	(	const urdf::ModelInterface &	urdf_model,
		tinyxml2::XMLElement *	robot_xml
	)

private

Definition at line 605 of file model.cpp.

◆ loadLinkSphereApproximations()

void srdf::Model::loadLinkSphereApproximations	(	const urdf::ModelInterface &	urdf_model,
		tinyxml2::XMLElement *	robot_xml
	)

private

Definition at line 434 of file model.cpp.

◆ loadPassiveJoints()

void srdf::Model::loadPassiveJoints	(	const urdf::ModelInterface &	urdf_model,
		tinyxml2::XMLElement *	robot_xml
	)

private

Definition at line 582 of file model.cpp.

◆ loadVirtualJoints()

void srdf::Model::loadVirtualJoints	(	const urdf::ModelInterface &	urdf_model,
		tinyxml2::XMLElement *	robot_xml
	)

private

Definition at line 64 of file model.cpp.

Member Data Documentation

◆ disabled_collision_pairs_

std::vector<CollisionPair> srdf::Model::disabled_collision_pairs_

private

Definition at line 368 of file model.h.

◆ enabled_collision_pairs_

std::vector<CollisionPair> srdf::Model::enabled_collision_pairs_

private

Definition at line 367 of file model.h.

◆ end_effectors_

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

private

Definition at line 364 of file model.h.

◆ group_states_

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

private

Definition at line 362 of file model.h.

◆ groups_

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

private

Definition at line 361 of file model.h.

◆ joint_properties_

JointPropertyMap srdf::Model::joint_properties_

private

Definition at line 370 of file model.h.

◆ link_sphere_approximations_

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

private

Definition at line 365 of file model.h.

◆ name_

std::string srdf::Model::name_

private

Definition at line 360 of file model.h.

◆ no_default_collision_links_

std::vector<std::string> srdf::Model::no_default_collision_links_

private

Definition at line 366 of file model.h.

◆ passive_joints_

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

private

Definition at line 369 of file model.h.

◆ virtual_joints_

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

private

Definition at line 363 of file model.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ JointPropertyMap

◆ PropertyMap

Constructor & Destructor Documentation

◆ Model()

◆ ~Model()

Member Function Documentation

◆ clear()

◆ getDisabledCollisionPairs()

◆ getEnabledCollisionPairs()

◆ getEndEffectors()

◆ getGroups()

◆ getGroupStates()

◆ getJointProperties() [1/2]

◆ getJointProperties() [2/2]

◆ getLinkSphereApproximations()

◆ getName()

◆ getNoDefaultCollisionLinks()

◆ getPassiveJoints()

◆ getVirtualJoints()

◆ initFile()

◆ initString()

◆ initXml() [1/2]

◆ initXml() [2/2]

◆ isValidJoint()

◆ loadCollisionDefaults()

◆ loadCollisionPairs()

◆ loadEndEffectors()

◆ loadGroups()

◆ loadGroupStates()

◆ loadJointProperties()

◆ loadLinkSphereApproximations()

◆ loadPassiveJoints()

◆ loadVirtualJoints()

Member Data Documentation

◆ disabled_collision_pairs_

◆ enabled_collision_pairs_

◆ end_effectors_

◆ group_states_

◆ groups_

◆ joint_properties_

◆ link_sphere_approximations_

◆ name_

◆ no_default_collision_links_

◆ passive_joints_

◆ virtual_joints_