Classes | Public Member Functions | Private Member Functions | Private Attributes
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

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_

Detailed Description

Definition at line 50 of file robot_model_loader.h.


Constructor & Destructor Documentation

Default constructor.

Definition at line 50 of file robot_model_loader.cpp.

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

Definition at line 42 of file robot_model_loader.cpp.

Definition at line 55 of file robot_model_loader.cpp.


Member Function Documentation

Definition at line 85 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 131 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 100 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 124 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 106 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 118 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 112 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 168 of file robot_model_loader.cpp.


Member Data Documentation

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

Definition at line 146 of file robot_model_loader.h.

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

Definition at line 144 of file robot_model_loader.h.

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

Definition at line 145 of file robot_model_loader.h.


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


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Feb 20 2018 03:45:29