Public Member Functions | Public Attributes
moveit_setup_assistant::SRDFWriter Class Reference

#include <srdf_writer.h>

List of all members.

Public Member Functions

void createDisabledCollisionsXML (TiXmlElement *root)
void createEndEffectorsXML (TiXmlElement *root)
void createGroupStatesXML (TiXmlElement *root)
void createGroupsXML (TiXmlElement *root)
void createLinkSphereApproximationsXML (TiXmlElement *root)
void createPassiveJointsXML (TiXmlElement *root)
void createVirtualJointsXML (TiXmlElement *root)
TiXmlDocument generateSRDF ()
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
< srdf::Model::DisabledCollision
disabled_collisions_
std::vector
< srdf::Model::EndEffector
end_effectors_
std::vector
< srdf::Model::GroupState
group_states_
std::vector< srdf::Model::Groupgroups_
std::vector
< srdf::Model::LinkSpheres
link_sphere_approximations_
std::vector
< srdf::Model::PassiveJoint
passive_joints_
std::string robot_name_
boost::shared_ptr< srdf::Modelsrdf_model_
std::vector
< srdf::Model::VirtualJoint
virtual_joints_

Detailed Description

Definition at line 52 of file srdf_writer.h.


Constructor & Destructor Documentation

Constructor

Definition at line 47 of file srdf_writer.cpp.

Destructor

Definition at line 56 of file srdf_writer.cpp.


Member Function Documentation

Generate XML for SRDF disabled collisions of robot link pairs

Parameters:
root- TinyXML root element to attach sub elements to

Definition at line 303 of file srdf_writer.cpp.

Generate XML for SRDF end effectors

Parameters:
root- TinyXML root element to attach sub elements to

Definition at line 365 of file srdf_writer.cpp.

Generate XML for SRDF group states of each joint's position

Parameters:
root- TinyXML root element to attach sub elements to

Definition at line 329 of file srdf_writer.cpp.

Generate XML for SRDF groups

Parameters:
root- TinyXML root element to attach sub elements to

Definition at line 192 of file srdf_writer.cpp.

Generate XML for SRDF link collision spheres

Parameters:
root- TinyXML root element to attach sub elements to

Definition at line 263 of file srdf_writer.cpp.

Generate XML for SRDF passive joints

Parameters:
root- TinyXML root element to attach sub elements to

Definition at line 416 of file srdf_writer.cpp.

Generate XML for SRDF virtual joints

Parameters:
root- TinyXML root element to attach sub elements to

Definition at line 392 of file srdf_writer.cpp.

Generate SRDF XML of all contained data

Returns:
TinyXML document that contains current SRDF data in this class

Definition at line 149 of file srdf_writer.cpp.

Get a string of a generated SRDF document

Returns:
string of XML of current SRDF contents

Definition at line 132 of file srdf_writer.cpp.

void moveit_setup_assistant::SRDFWriter::initModel ( const urdf::ModelInterface &  robot_model,
const srdf::Model srdf_model 
)

Initialize the SRDF writer with an exisiting SRDF model (optional)

Parameters:
urdf_modela preloaded urdf model reference
srdf_modela preloaded srdf model reference

Definition at line 80 of file srdf_writer.cpp.

bool moveit_setup_assistant::SRDFWriter::initString ( const urdf::ModelInterface &  robot_model,
const std::string &  srdf_string 
)

Initialize the SRDF writer with an exisiting SRDF file (optional)

Parameters:
urdf_modela preloaded urdf model reference
srdf_stringthe text contents of an SRDF file
Returns:
bool if initialization was successful

Definition at line 63 of file srdf_writer.cpp.

void moveit_setup_assistant::SRDFWriter::updateSRDFModel ( const urdf::ModelInterface &  robot_model)

Update the SRDF Model class using a new SRDF string

Parameters:
robot_modela loaded URDF model

Definition at line 104 of file srdf_writer.cpp.

bool moveit_setup_assistant::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 120 of file srdf_writer.cpp.


Member Data Documentation

Definition at line 173 of file srdf_writer.h.

Definition at line 171 of file srdf_writer.h.

Definition at line 169 of file srdf_writer.h.

Definition at line 168 of file srdf_writer.h.

Definition at line 172 of file srdf_writer.h.

Definition at line 174 of file srdf_writer.h.

Definition at line 180 of file srdf_writer.h.

Definition at line 177 of file srdf_writer.h.

Definition at line 170 of file srdf_writer.h.


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


moveit_setup_assistant
Author(s): Dave Coleman
autogenerated on Mon Oct 6 2014 02:32:28