Class ModelInterface

Defined in File model.h

Class Documentation

class ModelInterface

Public Functions

inline LinkConstSharedPtr getRoot(void) const

inline LinkConstSharedPtr getLink(const std::string &name) const

inline JointConstSharedPtr getJoint(const std::string &name) const

inline const std::string &getName() const

inline void getLinks(std::vector<LinkSharedPtr> &links) const

inline void clear()

inline void getLink(const std::string &name, LinkSharedPtr &link) const: non-const getLink()

inline MaterialSharedPtr getMaterial(const std::string &name) const: non-const getMaterial()

inline void initTree(std::map<std::string, std::string> &parent_link_tree)

inline void initRoot(const std::map<std::string, std::string> &parent_link_tree)

Public Members

std::map<std::string, LinkSharedPtr> links_: complete list of Links

std::map<std::string, JointSharedPtr> joints_: complete list of Joints

std::map<std::string, MaterialSharedPtr> materials_: complete list of Materials

std::string name_: The name of the robot model.

LinkSharedPtr root_link_: The root is always a link (the parent of the tree describing the robot)