Class Model

Defined in File model.h

Nested Relationships

Nested Types

Class Documentation

class Model

Representation of semantic information about the robot.

Public Functions

inline Model()

inline ~Model()

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

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

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

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

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

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

inline 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)

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

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

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

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

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

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

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

inline const std::vector<JointProperty> &getJointProperties(const std::string &joint_name) const: Get the joint properties for a particular joint (empty vector if none)

inline const std::map<std::string, std::vector<JointProperty>> &getJointProperties() const: Get the joint properties list.

void clear(): Clear the model.

struct CollisionPair

The definition of a disabled/enabled collision between two links.

Public Members

std::string link1_: The name of the first link (as in URDF) of the disabled collision.

std::string link2_: The name of the second link (as in URDF) of the disabled collision.

std::string reason_: The reason why the collision check was disabled/enabled.

struct EndEffector

Representation of an end effector.

Public Members

std::string name_: The name of the end effector.

std::string parent_link_: The name of the link this end effector connects to.

std::string parent_group_: The name of the group to be considered the parent (this group should contain parent_link_) If not specified, this member is empty.

std::string component_group_: The name of the group that includes the joints & links this end effector consists of.

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.

Public Members

std::string name_: The name of the group.

std::vector<std::string> joints_: Directly specified joints to be included in the group. Descendent links should be implicitly considered to be part of the group, although this parsed does not add them to links_. The joints are checked to be in the corresponding URDF.

std::vector<std::string> links_: Directly specified links to be included in the group. Parent joints should be implicitly considered to be part of the group. The links are checked to be in the corresponding URDF.

std::vector<std::pair<std::string, std::string>> chains_: Specify a chain of links (and the implicit joints) to be added to the group. Each chain is specified as a pair of base link and tip link. It is checked that the chain is indeed a chain in the specified URDF.

std::vector<std::string> subgroups_: It is sometimes convenient to refer to the content of another group. A group can include the content of the referenced groups

struct GroupState

A named state for a particular group.

Public Members

std::string name_: The name of the state.

std::string group_: The name of the group this state is specified for.

std::map<std::string, std::vector<double>> joint_values_: The values of joints for this state. Each joint can have a value. We use a vector for the ‘value’ to support multi-DOF joints

struct JointProperty

Public Members

std::string joint_name_: The name of the joint that this property belongs to.

std::string property_name_: The name of the property.

std::string value_: The value of the property. Type not specified.

struct LinkSpheres

The definition of a list of spheres for a link.

Public Members

std::string link_: The name of the link (as in URDF).

std::vector<Sphere> spheres_: The spheres for the link.

struct PassiveJoint

Public Members

std::string name_: The name of the new joint.

struct Sphere

The definition of a sphere.

Public Members

double center_x_: The center of the sphere in the link collision frame.

double center_y_

double center_z_

double radius_: The radius of the sphere.

struct VirtualJoint

In addition to the joints specified in the URDF it is sometimes convenient to add special (virtual) joints. For example, to connect the robot to the environment in a meaningful way.

Public Members

std::string name_: The name of the new joint.

std::string type_: The type of this new joint. This can be “fixed” (0 DOF), “planar” (3 DOF: x,y,yaw) or “floating” (6DOF)

std::string parent_frame_: The transform applied by this joint to the robot model brings that model to a particular frame.

std::string child_link_: The link this joint applies to.