Classes |
| struct | DisabledCollision |
| | The definition of a disabled collision between two links. More...
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| struct | EndEffector |
| | Representation of an end effector. More...
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| struct | Group |
| | A group consists of a set of joints and the corresponding descendant links. There are multiple ways to specify a group. Directly specifying joints, links or chains, or referring to other defined groups. More...
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| struct | GroupState |
| | A named state for a particular group. More...
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| struct | LinkSpheres |
| | The definition of a list of spheres for a link. More...
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| struct | PassiveJoint |
| struct | Sphere |
| | The definition of a sphere. More...
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| struct | VirtualJoint |
Public Member Functions |
| void | clear () |
| | Clear the model.
|
const std::vector
< DisabledCollision > & | getDisabledCollisionPairs () const |
| | Get the list of pairs of links that need not be checked for collisions (because they can never touch given the geometry and kinematics of the robot)
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| const std::vector< EndEffector > & | getEndEffectors () const |
| | Get the list of end effectors defined for this model.
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__attribute__((deprecated))
std const std::vector< Group > & | getGroups () const |
| | Get the list of groups defined for this model.
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| const std::vector< GroupState > & | getGroupStates () const |
| | Get the list of group states defined for this model.
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| const std::vector< LinkSpheres > & | getLinkSphereApproximations () const |
| | Get the collision spheres list.
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| const std::string & | getName () const |
| | Get the name of this model.
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| const std::vector< PassiveJoint > & | getPassiveJoints () const |
| | Get the list of known passive joints.
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| const std::vector< VirtualJoint > & | getVirtualJoints () const |
| | Get the list of virtual joints defined for this model.
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| bool | initFile (const urdf::ModelInterface &urdf_model, const std::string &filename) |
| | Load Model given a filename.
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| bool | initString (const urdf::ModelInterface &urdf_model, const std::string &xmlstring) |
| | Load Model from a XML-string.
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| bool | initXml (const urdf::ModelInterface &urdf_model, TiXmlElement *xml) |
| | Load Model from TiXMLElement.
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| bool | initXml (const urdf::ModelInterface &urdf_model, TiXmlDocument *xml) |
| | Load Model from TiXMLDocument.
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| | Model () |
| | ~Model () |
Private Member Functions |
| void | loadDisabledCollisions (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml) |
| void | loadEndEffectors (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml) |
| void | loadGroups (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml) |
| void | loadGroupStates (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml) |
| void | loadLinkSphereApproximations (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml) |
| void | loadPassiveJoints (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml) |
| void | loadVirtualJoints (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml) |
Private Attributes |
| std::vector< DisabledCollision > | disabled_collisions_ |
| std::vector< EndEffector > | end_effectors_ |
| std::vector< GroupState > | group_states_ |
| std::vector< Group > | groups_ |
| std::vector< LinkSpheres > | link_sphere_approximations_ |
| std::string | name_ |
| std::vector< PassiveJoint > | passive_joints_ |
| std::vector< VirtualJoint > | virtual_joints_ |
Representation of semantic information about the robot.
Definition at line 58 of file model.h.