rdf_loader.h
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34 
35 /* Author: Ioan Sucan, Mathias L├╝dtke, Dave Coleman */
36 
37 #ifndef MOVEIT_PLANNING_RDF_LOADER_
38 #define MOVEIT_PLANNING_RDF_LOADER_
39 
41 #include <urdf/model.h>
42 #include <srdfdom/model.h>
43 
44 class TiXmlDocument;
45 
46 namespace rdf_loader
47 {
49 
53 class RDFLoader
54 {
55 public:
59  RDFLoader(const std::string& robot_description = "robot_description");
60 
62  RDFLoader(const std::string& urdf_string, const std::string& srdf_string);
63 
65  RDFLoader(TiXmlDocument* urdf_doc, TiXmlDocument* srdf_doc);
66 
68  const std::string& getRobotDescription() const
69  {
70  return robot_description_;
71  }
72 
74  const urdf::ModelInterfaceSharedPtr& getURDF() const
75  {
76  return urdf_;
77  }
78 
81  {
82  return srdf_;
83  }
84 
86  static bool isXacroFile(const std::string& path);
87 
89  static bool loadFileToString(std::string& buffer, const std::string& path);
90 
92  static bool loadXacroFileToString(std::string& buffer, const std::string& path,
93  const std::vector<std::string>& xacro_args);
94 
97  static bool loadXmlFileToString(std::string& buffer, const std::string& path,
98  const std::vector<std::string>& xacro_args);
99 
101  static bool loadPkgFileToString(std::string& buffer, const std::string& package_name,
102  const std::string& relative_path, const std::vector<std::string>& xacro_args);
103 
104 private:
105  std::string robot_description_;
107  urdf::ModelInterfaceSharedPtr urdf_;
108 };
109 }
110 #endif
Default constructor.
Definition: rdf_loader.h:53
const srdf::ModelSharedPtr & getSRDF() const
Get the parsed SRDF model.
Definition: rdf_loader.h:80
static bool loadPkgFileToString(std::string &buffer, const std::string &package_name, const std::string &relative_path, const std::vector< std::string > &xacro_args)
helper that generates a file path based on package name and relative file path to package ...
Definition: rdf_loader.cpp:230
static bool isXacroFile(const std::string &path)
determine if given path points to a xacro file
Definition: rdf_loader.cpp:142
RDFLoader(const std::string &robot_description="robot_description")
Default constructor.
Definition: rdf_loader.cpp:53
static bool loadFileToString(std::string &buffer, const std::string &path)
load file from given path into buffer
Definition: rdf_loader.cpp:150
const std::string & getRobotDescription() const
Get the resolved parameter name for the robot description.
Definition: rdf_loader.h:68
srdf::ModelSharedPtr srdf_
Definition: rdf_loader.h:106
static bool loadXmlFileToString(std::string &buffer, const std::string &path, const std::vector< std::string > &xacro_args)
helper that branches between loadFileToString() and loadXacroFileToString() based on result of isXacr...
Definition: rdf_loader.cpp:219
urdf::ModelInterfaceSharedPtr urdf_
Definition: rdf_loader.h:107
MOVEIT_CLASS_FORWARD(RDFLoader)
std::string robot_description_
Definition: rdf_loader.h:105
const urdf::ModelInterfaceSharedPtr & getURDF() const
Get the parsed URDF model.
Definition: rdf_loader.h:74
static bool loadXacroFileToString(std::string &buffer, const std::string &path, const std::vector< std::string > &xacro_args)
run xacro with the given args on the file, return result in buffer
Definition: rdf_loader.cpp:181


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sat Apr 21 2018 02:55:20