Functions
kdl_parser Namespace Reference

Functions

bool addChildrenToTree (urdf::LinkConstSharedPtr root, KDL::Tree &tree)
 
KDL::Vector toKdl (urdf::Vector3 v)
 
KDL::Rotation toKdl (urdf::Rotation r)
 
KDL::Frame toKdl (urdf::Pose p)
 
KDL::Joint toKdl (urdf::JointSharedPtr jnt)
 
KDL::RigidBodyInertia toKdl (urdf::InertialSharedPtr i)
 
KDL_PARSER_PUBLIC bool treeFromFile (const std::string &file, KDL::Tree &tree)
 
KDL_PARSER_PUBLIC bool treeFromParam (const std::string &param, KDL::Tree &tree)
 
KDL_PARSER_PUBLIC bool treeFromString (const std::string &xml, KDL::Tree &tree)
 
KDL_PARSER_PUBLIC bool treeFromUrdfModel (const urdf::ModelInterface &robot_model, KDL::Tree &tree)
 
KDL_PARSER_PUBLIC bool treeFromXml (TiXmlDocument *xml_doc, KDL::Tree &tree)
 

Function Documentation

bool kdl_parser::addChildrenToTree ( urdf::LinkConstSharedPtr  root,
KDL::Tree tree 
)

Definition at line 130 of file kdl_parser.cpp.

KDL::Vector kdl_parser::toKdl ( urdf::Vector3  v)

Definition at line 51 of file kdl_parser.cpp.

KDL::Rotation kdl_parser::toKdl ( urdf::Rotation  r)

Definition at line 57 of file kdl_parser.cpp.

KDL::Frame kdl_parser::toKdl ( urdf::Pose  p)

Definition at line 63 of file kdl_parser.cpp.

KDL::Joint kdl_parser::toKdl ( urdf::JointSharedPtr  jnt)

Definition at line 69 of file kdl_parser.cpp.

KDL::RigidBodyInertia kdl_parser::toKdl ( urdf::InertialSharedPtr  i)

Definition at line 99 of file kdl_parser.cpp.

bool kdl_parser::treeFromFile ( const std::string &  file,
KDL::Tree tree 
)

Constructs a KDL tree from a file, given the file name

Parameters
fileThe filename from where to read the xml
treeThe resulting KDL Tree returns true on success, false on failure

Definition at line 161 of file kdl_parser.cpp.

bool kdl_parser::treeFromParam ( const std::string &  param,
KDL::Tree tree 
)

Constructs a KDL tree from the parameter server, given the parameter name

Parameters
paramthe name of the parameter on the parameter server
treeThe resulting KDL Tree returns true on success, false on failure

Definition at line 168 of file kdl_parser.cpp.

bool kdl_parser::treeFromString ( const std::string &  xml,
KDL::Tree tree 
)

Constructs a KDL tree from a string containing xml

Parameters
xmlA string containting the xml description of the robot
treeThe resulting KDL Tree returns true on success, false on failure

Definition at line 178 of file kdl_parser.cpp.

bool kdl_parser::treeFromUrdfModel ( const urdf::ModelInterface &  robot_model,
KDL::Tree tree 
)

Constructs a KDL tree from a URDF robot model

Parameters
robot_modelThe URDF robot model
treeThe resulting KDL Tree returns true on success, false on failure

Definition at line 196 of file kdl_parser.cpp.

bool kdl_parser::treeFromXml ( TiXmlDocument *  xml_doc,
KDL::Tree tree 
)

Constructs a KDL tree from a TiXmlDocument

Parameters
xml_docThe TiXmlDocument containting the xml description of the robot
treeThe resulting KDL Tree returns true on success, false on failure

Definition at line 185 of file kdl_parser.cpp.



kdl_parser
Author(s): Wim Meeussen , Ioan Sucan , Jackie Kay
autogenerated on Thu Jul 26 2018 02:36:29