robot_model_loader::RobotModelLoader Class Reference

#include <robot_model_loader.h>

List of all members.

Classes
struct	Options
	Structure that encodes the options to be passed to the RobotModelLoader constructor. More...
Public Member Functions
std::map< std::string, kinematics::KinematicsBasePtr >	generateKinematicsSolversMap () const
	Get a map from group name to a configured instance of a kinematic solver.
const kinematics_plugin_loader::KinematicsPluginLoaderPtr &	getKinematicsPluginLoader () const
	Get the kinematics solvers plugin loader.
const robot_model::RobotModelPtr &	getModel () const
	Get the constructed planning_models::RobotModel.
const rdf_loader::RDFLoaderPtr &	getRDFLoader () const
	Get the instance of rdf_loader::RDFLoader that was used to load the robot description.
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.
void	loadKinematicsSolvers (const kinematics_plugin_loader::KinematicsPluginLoaderPtr &kloader=kinematics_plugin_loader::KinematicsPluginLoaderPtr())
	Load the kinematics solvers into the kinematic model. This is done by default, unless disabled explicitly by the options passed to the constructor.
	RobotModelLoader (const Options &opt=Options())
	Default constructor.
	RobotModelLoader (const std::string &robot_description, bool load_kinematics_solvers=true)
	~RobotModelLoader ()
Private Member Functions
void	configure (const Options &opt)
Private Attributes
kinematics_plugin_loader::KinematicsPluginLoaderPtr	kinematics_loader_
robot_model::RobotModelPtr	model_
rdf_loader::RDFLoaderPtr	rdf_loader_

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Detailed Description

Definition at line 48 of file robot_model_loader.h.

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Constructor & Destructor Documentation

robot_model_loader::RobotModelLoader::RobotModelLoader

(

const Options &

opt = Options()

)

Default constructor.

Definition at line 48 of file robot_model_loader.cpp.

robot_model_loader::RobotModelLoader::RobotModelLoader	(	const std::string &	robot_description,
		bool	load_kinematics_solvers = true
	)

Definition at line 41 of file robot_model_loader.cpp.

robot_model_loader::RobotModelLoader::~RobotModelLoader

(

)

Definition at line 53 of file robot_model_loader.cpp.

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Member Function Documentation

void robot_model_loader::RobotModelLoader::configure

(

const Options &

opt

)

[private]

Definition at line 81 of file robot_model_loader.cpp.

std::map< std::string, kinematics::KinematicsBasePtr > robot_model_loader::RobotModelLoader::generateKinematicsSolversMap

(

)

const

Get a map from group name to a configured instance of a kinematic solver.

Definition at line 244 of file robot_model_loader.cpp.

const kinematics_plugin_loader::KinematicsPluginLoaderPtr& robot_model_loader::RobotModelLoader::getKinematicsPluginLoader

(

)

const [inline]

Get the kinematics solvers plugin loader.

Note:

This instance needs to be kept in scope, otherwise kinematics solver plugins may get unloaded.

Definition at line 134 of file robot_model_loader.h.

const robot_model::RobotModelPtr& robot_model_loader::RobotModelLoader::getModel

(

)

const [inline]

Get the constructed planning_models::RobotModel.

Definition at line 103 of file robot_model_loader.h.

const rdf_loader::RDFLoaderPtr& robot_model_loader::RobotModelLoader::getRDFLoader

(

)

const [inline]

Get the instance of rdf_loader::RDFLoader that was used to load the robot description.

Definition at line 127 of file robot_model_loader.h.

const std::string& robot_model_loader::RobotModelLoader::getRobotDescription

(

)

const [inline]

Get the resolved parameter name for the robot description.

Definition at line 109 of file robot_model_loader.h.

const boost::shared_ptr<srdf::Model>& robot_model_loader::RobotModelLoader::getSRDF

(

)

const [inline]

Get the parsed SRDF model.

Definition at line 121 of file robot_model_loader.h.

const boost::shared_ptr<urdf::ModelInterface>& robot_model_loader::RobotModelLoader::getURDF

(

)

const [inline]

Get the parsed URDF model.

Definition at line 115 of file robot_model_loader.h.

void robot_model_loader::RobotModelLoader::loadKinematicsSolvers

(

const kinematics_plugin_loader::KinematicsPluginLoaderPtr &

kloader = kinematics_plugin_loader::KinematicsPluginLoaderPtr()

)

Load the kinematics solvers into the kinematic model. This is done by default, unless disabled explicitly by the options passed to the constructor.

Definition at line 193 of file robot_model_loader.cpp.

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Member Data Documentation

kinematics_plugin_loader::KinematicsPluginLoaderPtr robot_model_loader::RobotModelLoader::kinematics_loader_ [private]

Definition at line 151 of file robot_model_loader.h.

robot_model::RobotModelPtr robot_model_loader::RobotModelLoader::model_ [private]

Definition at line 149 of file robot_model_loader.h.

rdf_loader::RDFLoaderPtr robot_model_loader::RobotModelLoader::rdf_loader_ [private]

Definition at line 150 of file robot_model_loader.h.

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

• robot_model_loader.h
• robot_model_loader.cpp