rdf_loader.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PLANNING_RDF_LOADER_
00038 #define MOVEIT_PLANNING_RDF_LOADER_
00039 
00040 #include <urdf/model.h>
00041 #include <srdfdom/model.h>
00042 #include <boost/shared_ptr.hpp>
00043 #include <tinyxml.h>
00044 
00045 namespace rdf_loader
00046 {
00050 class RDFLoader
00051 {
00052 public:
00055   RDFLoader(const std::string &robot_description = "robot_description");
00056 
00058   RDFLoader(const std::string &urdf_string, const std::string &srdf_string);
00059 
00061   RDFLoader(TiXmlDocument *urdf_doc, TiXmlDocument *srdf_doc);
00062 
00064   const std::string& getRobotDescription() const
00065   {
00066     return robot_description_;
00067   }
00068 
00070   const boost::shared_ptr<urdf::ModelInterface>& getURDF() const
00071   {
00072     return urdf_;
00073   }
00074 
00076   const boost::shared_ptr<srdf::Model>& getSRDF() const
00077   {
00078     return srdf_;
00079   }
00080 
00081 private:
00082 
00083   std::string                             robot_description_;
00084   boost::shared_ptr<srdf::Model>          srdf_;
00085   boost::shared_ptr<urdf::ModelInterface> urdf_;
00086 
00087 };
00088 
00089 typedef boost::shared_ptr<RDFLoader> RDFLoaderPtr;
00090 typedef boost::shared_ptr<const RDFLoader> RDFLoaderConstPtr;
00091 
00092 }
00093 #endif


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Aug 26 2015 12:43:30