rdf_loader::RDFLoader Class Reference

Default constructor. More...

#include <rdf_loader.h>

List of all members.

Public Member Functions
const std::string &	getRobotDescription () const
	Get the resolved parameter name for the robot description.
const boost::shared_ptr < srdf::Model > &	getSRDF () const
	Get the parsed SRDF model.
const boost::shared_ptr < urdf::ModelInterface > &	getURDF () const
	Get the parsed URDF model.
	RDFLoader (const std::string &robot_description="robot_description")
	Default constructor.
	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.
	RDFLoader (TiXmlDocument *urdf_doc, TiXmlDocument *srdf_doc)
	Initialize the robot model from a parsed XML representation of the URDF and SRDF.
Private Attributes
std::string	robot_description_
boost::shared_ptr< srdf::Model >	srdf_
boost::shared_ptr < urdf::ModelInterface >	urdf_

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Detailed Description

Default constructor.

Parameters:

robot_description

The string name corresponding to the ROS param where the URDF is loaded

Definition at line 50 of file rdf_loader.h.

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Constructor & Destructor Documentation

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 41 of file rdf_loader.cpp.

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 82 of file rdf_loader.cpp.

rdf_loader::RDFLoader::RDFLoader	(	TiXmlDocument *	urdf_doc,
		TiXmlDocument *	srdf_doc
	)

Initialize the robot model from a parsed XML representation of the URDF and SRDF.

Definition at line 105 of file rdf_loader.cpp.

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Member Function Documentation

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

(

)

const [inline]

Get the resolved parameter name for the robot description.

Definition at line 64 of file rdf_loader.h.

const boost::shared_ptr<srdf::Model>& rdf_loader::RDFLoader::getSRDF

(

)

const [inline]

Get the parsed SRDF model.

Definition at line 76 of file rdf_loader.h.

const boost::shared_ptr<urdf::ModelInterface>& rdf_loader::RDFLoader::getURDF

(

)

const [inline]

Get the parsed URDF model.

Definition at line 70 of file rdf_loader.h.

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Member Data Documentation

std::string rdf_loader::RDFLoader::robot_description_ [private]

Definition at line 83 of file rdf_loader.h.

boost::shared_ptr<srdf::Model> rdf_loader::RDFLoader::srdf_ [private]

Definition at line 84 of file rdf_loader.h.

boost::shared_ptr<urdf::ModelInterface> rdf_loader::RDFLoader::urdf_ [private]

Definition at line 85 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