robot_model_loader.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PLANNING_MODELS_LOADER_ROBOT_MODEL_LOADER_
00038 #define MOVEIT_PLANNING_MODELS_LOADER_ROBOT_MODEL_LOADER_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/robot_model/robot_model.h>
00042 #include <moveit/rdf_loader/rdf_loader.h>
00043 #include <moveit/kinematics_plugin_loader/kinematics_plugin_loader.h>
00044 
00045 namespace robot_model_loader
00046 {
00047 MOVEIT_CLASS_FORWARD(RobotModelLoader);
00048 
00050 class RobotModelLoader
00051 {
00052 public:
00054   struct Options
00055   {
00056     Options(const std::string& robot_description = "robot_description")
00057       : robot_description_(robot_description), urdf_doc_(NULL), srdf_doc_(NULL), load_kinematics_solvers_(true)
00058     {
00059     }
00060 
00061     Options(const std::string& urdf_string, const std::string& srdf_string)
00062       : urdf_string_(urdf_string)
00063       , srdf_string_(srdf_string)
00064       , urdf_doc_(NULL)
00065       , srdf_doc_(NULL)
00066       , load_kinematics_solvers_(true)
00067     {
00068     }
00069 
00070     Options(TiXmlDocument* urdf_doc, TiXmlDocument* srdf_doc)
00071       : urdf_doc_(urdf_doc), srdf_doc_(srdf_doc), load_kinematics_solvers_(true)
00072     {
00073     }
00074 
00078     std::string robot_description_;
00079 
00082     std::string urdf_string_, srdf_string_;
00083 
00085     TiXmlDocument *urdf_doc_, *srdf_doc_;
00086 
00089     bool load_kinematics_solvers_;
00090   };
00091 
00093   RobotModelLoader(const Options& opt = Options());
00094 
00095   RobotModelLoader(const std::string& robot_description, bool load_kinematics_solvers = true);
00096 
00097   ~RobotModelLoader();
00098 
00100   const robot_model::RobotModelPtr& getModel() const
00101   {
00102     return model_;
00103   }
00104 
00106   const std::string& getRobotDescription() const
00107   {
00108     return rdf_loader_->getRobotDescription();
00109   }
00110 
00112   const boost::shared_ptr<urdf::ModelInterface>& getURDF() const
00113   {
00114     return rdf_loader_->getURDF();
00115   }
00116 
00118   const boost::shared_ptr<srdf::Model>& getSRDF() const
00119   {
00120     return rdf_loader_->getSRDF();
00121   }
00122 
00124   const rdf_loader::RDFLoaderPtr& getRDFLoader() const
00125   {
00126     return rdf_loader_;
00127   }
00128 
00131   const kinematics_plugin_loader::KinematicsPluginLoaderPtr& getKinematicsPluginLoader() const
00132   {
00133     return kinematics_loader_;
00134   }
00135 
00138   void loadKinematicsSolvers(const kinematics_plugin_loader::KinematicsPluginLoaderPtr& kloader =
00139                                  kinematics_plugin_loader::KinematicsPluginLoaderPtr());
00140 
00141 private:
00142   void configure(const Options& opt);
00143 
00144   robot_model::RobotModelPtr model_;
00145   rdf_loader::RDFLoaderPtr rdf_loader_;
00146   kinematics_plugin_loader::KinematicsPluginLoaderPtr kinematics_loader_;
00147 };
00148 }
00149 #endif


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Apr 23 2018 10:25:14