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 <moveit/macros/class_forward.h>
00041 #include <urdf/model.h>
00042 #include <srdfdom/model.h>
00043 #include <boost/shared_ptr.hpp>
00044 
00045 class TiXmlDocument;
00046 
00047 namespace rdf_loader
00048 {
00049 MOVEIT_CLASS_FORWARD(RDFLoader);
00050 
00054 class RDFLoader
00055 {
00056 public:
00060   RDFLoader(const std::string& robot_description = "robot_description");
00061 
00063   RDFLoader(const std::string& urdf_string, const std::string& srdf_string);
00064 
00066   RDFLoader(TiXmlDocument* urdf_doc, TiXmlDocument* srdf_doc);
00067 
00069   const std::string& getRobotDescription() const
00070   {
00071     return robot_description_;
00072   }
00073 
00075   const boost::shared_ptr<urdf::ModelInterface>& getURDF() const
00076   {
00077     return urdf_;
00078   }
00079 
00081   const boost::shared_ptr<srdf::Model>& getSRDF() const
00082   {
00083     return srdf_;
00084   }
00085 
00086 private:
00087   std::string robot_description_;
00088   boost::shared_ptr<srdf::Model> srdf_;
00089   boost::shared_ptr<urdf::ModelInterface> urdf_;
00090 };
00091 }
00092 #endif


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Dec 26 2017 03:33:56