srdf::SRDFWriter Class Reference

#include <srdf_writer.h>

Public Member Functions
void	createCollisionDefaultsXML (tinyxml2::XMLElement *root)
void	createDisabledCollisionPairsXML (tinyxml2::XMLElement *root)
void	createEndEffectorsXML (tinyxml2::XMLElement *root)
void	createGroupStatesXML (tinyxml2::XMLElement *root)
void	createGroupsXML (tinyxml2::XMLElement *root)
void	createJointPropertiesXML (tinyxml2::XMLElement *root)
void	createLinkSphereApproximationsXML (tinyxml2::XMLElement *root)
void	createPassiveJointsXML (tinyxml2::XMLElement *root)
void	createVirtualJointsXML (tinyxml2::XMLElement *root)
void	generateSRDF (tinyxml2::XMLDocument &document)
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< Model::CollisionPair >	disabled_collision_pairs_
std::vector< Model::CollisionPair >	enabled_collision_pairs_
std::vector< Model::EndEffector >	end_effectors_
std::vector< Model::GroupState >	group_states_
std::vector< Model::Group >	groups_
Model::JointPropertyMap	joint_properties_
std::vector< Model::LinkSpheres >	link_sphere_approximations_
std::vector< std::string >	no_default_collision_links_
std::vector< Model::PassiveJoint >	passive_joints_
std::string	robot_name_
ModelSharedPtr	srdf_model_
std::vector< Model::VirtualJoint >	virtual_joints_

Protected Member Functions
void	createCollisionPairsXML (tinyxml2::XMLElement *root, const char *tag_name, const std::vector< Model::CollisionPair > &pairs)

Detailed Description

Definition at line 83 of file srdf_writer.h.

Constructor & Destructor Documentation

SRDFWriter()

srdf::SRDFWriter::SRDFWriter

(

)

Constructor

Definition at line 59 of file srdf_writer.cpp.

~SRDFWriter()

srdf::SRDFWriter::~SRDFWriter

(

)

Destructor

Definition at line 68 of file srdf_writer.cpp.

Member Function Documentation

createCollisionDefaultsXML()

void srdf::SRDFWriter::createCollisionDefaultsXML

(

tinyxml2::XMLElement *

root

)

Generate XML for SRDF collision defaults

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 329 of file srdf_writer.cpp.

createCollisionPairsXML()

void srdf::SRDFWriter::createCollisionPairsXML ( tinyxml2::XMLElement *  root, const char *  tag_name, const std::vector< Model::CollisionPair > &  pairs  )

protected

Generate XML for SRDF disabled/enabled collisions of robot link pairs

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 355 of file srdf_writer.cpp.

createDisabledCollisionPairsXML()

void srdf::SRDFWriter::createDisabledCollisionPairsXML

(

tinyxml2::XMLElement *

root

)

Generate XML for SRDF disabled collisions of robot link pairs

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 375 of file srdf_writer.cpp.

createEndEffectorsXML()

void srdf::SRDFWriter::createEndEffectorsXML

(

tinyxml2::XMLElement *

root

)

Generate XML for SRDF end effectors

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 431 of file srdf_writer.cpp.

createGroupStatesXML()

void srdf::SRDFWriter::createGroupStatesXML

(

tinyxml2::XMLElement *

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 393 of file srdf_writer.cpp.

createGroupsXML()

void srdf::SRDFWriter::createGroupsXML

(

tinyxml2::XMLElement *

root

)

Generate XML for SRDF groups

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 213 of file srdf_writer.cpp.

createJointPropertiesXML()

void srdf::SRDFWriter::createJointPropertiesXML

(

tinyxml2::XMLElement *

root

)

Generate XML for SRDF joint properties

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 506 of file srdf_writer.cpp.

createLinkSphereApproximationsXML()

void srdf::SRDFWriter::createLinkSphereApproximationsXML

(

tinyxml2::XMLElement *

root

)

Generate XML for SRDF link collision spheres

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 289 of file srdf_writer.cpp.

createPassiveJointsXML()

void srdf::SRDFWriter::createPassiveJointsXML

(

tinyxml2::XMLElement *

root

)

Generate XML for SRDF passive joints

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 486 of file srdf_writer.cpp.

createVirtualJointsXML()

void srdf::SRDFWriter::createVirtualJointsXML

(

tinyxml2::XMLElement *

root

)

Generate XML for SRDF virtual joints

Parameters

root	- TinyXML root element to attach sub elements to

Definition at line 459 of file srdf_writer.cpp.

generateSRDF()

void srdf::SRDFWriter::generateSRDF

(

tinyxml2::XMLDocument &

document

)

Generate SRDF XML of all contained data

Returns

TinyXML document that contains current SRDF data in this class

Definition at line 164 of file srdf_writer.cpp.

getSRDFString()

std::string srdf::SRDFWriter::getSRDFString

(

)

Get a string of a generated SRDF document

Returns

string of XML of current SRDF contents

Definition at line 147 of file srdf_writer.cpp.

initModel()

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 92 of file srdf_writer.cpp.

initString()

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 75 of file srdf_writer.cpp.

updateSRDFModel()

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 119 of file srdf_writer.cpp.

writeSRDF()

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 134 of file srdf_writer.cpp.

Member Data Documentation

disabled_collision_pairs_

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

Definition at line 261 of file srdf_writer.h.

enabled_collision_pairs_

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

Definition at line 262 of file srdf_writer.h.

end_effectors_

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

Definition at line 258 of file srdf_writer.h.

group_states_

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

Definition at line 256 of file srdf_writer.h.

groups_

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

Definition at line 255 of file srdf_writer.h.

joint_properties_

Model::JointPropertyMap srdf::SRDFWriter::joint_properties_

Definition at line 264 of file srdf_writer.h.

link_sphere_approximations_

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

Definition at line 259 of file srdf_writer.h.

no_default_collision_links_

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

Definition at line 260 of file srdf_writer.h.

passive_joints_

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

Definition at line 263 of file srdf_writer.h.

robot_name_

std::string srdf::SRDFWriter::robot_name_

Definition at line 270 of file srdf_writer.h.

srdf_model_

ModelSharedPtr srdf::SRDFWriter::srdf_model_

Definition at line 267 of file srdf_writer.h.

virtual_joints_

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

Definition at line 257 of file srdf_writer.h.

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

• srdf_writer.h
• srdf_writer.cpp