Classes | Public Member Functions | Private Member Functions | Private Attributes | List of all members
srdf::Model Class Reference

Representation of semantic information about the robot. More...

#include <model.h>

Classes

struct  DisabledCollision
 The definition of a disabled collision between two links. More...
 
struct  EndEffector
 Representation of an end effector. More...
 
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...
 
struct  GroupState
 A named state for a particular group. More...
 
struct  LinkSpheres
 The definition of a list of spheres for a link. More...
 
struct  PassiveJoint
 
struct  Sphere
 The definition of a sphere. More...
 
struct  VirtualJoint
 

Public Member Functions

void clear ()
 Clear the model. More...
 
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) More...
 
const std::vector< EndEffector > & getEndEffectors () const
 Get the list of end effectors defined for this model. More...
 
__attribute__((deprecated)) std const std::vector< Group > & getGroups () const
 Get the list of groups defined for this model. More...
 
const std::vector< GroupState > & getGroupStates () const
 Get the list of group states defined for this model. More...
 
const std::vector< LinkSpheres > & getLinkSphereApproximations () const
 Get the collision spheres list. More...
 
const std::string & getName () const
 Get the name of this model. More...
 
const std::vector< PassiveJoint > & getPassiveJoints () const
 Get the list of known passive joints. More...
 
const std::vector< VirtualJoint > & getVirtualJoints () const
 Get the list of virtual joints defined for this model. More...
 
bool initFile (const urdf::ModelInterface &urdf_model, const std::string &filename)
 Load Model given a filename. More...
 
bool initString (const urdf::ModelInterface &urdf_model, const std::string &xmlstring)
 Load Model from a XML-string. More...
 
bool initXml (const urdf::ModelInterface &urdf_model, TiXmlElement *xml)
 Load Model from TiXMLElement. More...
 
bool initXml (const urdf::ModelInterface &urdf_model, TiXmlDocument *xml)
 Load Model from TiXMLDocument. More...
 
 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< DisabledCollisiondisabled_collisions_
 
std::vector< EndEffectorend_effectors_
 
std::vector< GroupStategroup_states_
 
std::vector< Groupgroups_
 
std::vector< LinkSphereslink_sphere_approximations_
 
std::string name_
 
std::vector< PassiveJointpassive_joints_
 
std::vector< VirtualJointvirtual_joints_
 

Detailed Description

Representation of semantic information about the robot.

Definition at line 53 of file model.h.

Constructor & Destructor Documentation

srdf::Model::Model ( )
inline

Definition at line 57 of file model.h.

srdf::Model::~Model ( )
inline

Definition at line 61 of file model.h.

Member Function Documentation

void srdf::Model::clear ( )

Clear the model.

Definition at line 627 of file model.cpp.

const std::vector<DisabledCollision>& srdf::Model::getDisabledCollisionPairs ( ) const
inline

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)

Definition at line 206 of file model.h.

const std::vector<EndEffector>& srdf::Model::getEndEffectors ( ) const
inline

Get the list of end effectors defined for this model.

Definition at line 228 of file model.h.

__attribute__ ((deprecated)) std const std::vector<Group>& srdf::Model::getGroups ( ) const
inline

Get the list of groups defined for this model.

Deprecated:
{ Use the version returning DisabledCollision }

Definition at line 216 of file model.h.

const std::vector<GroupState>& srdf::Model::getGroupStates ( ) const
inline

Get the list of group states defined for this model.

Definition at line 234 of file model.h.

const std::vector<LinkSpheres>& srdf::Model::getLinkSphereApproximations ( ) const
inline

Get the collision spheres list.

Definition at line 246 of file model.h.

const std::string& srdf::Model::getName ( ) const
inline

Get the name of this model.

Definition at line 200 of file model.h.

const std::vector<PassiveJoint>& srdf::Model::getPassiveJoints ( ) const
inline

Get the list of known passive joints.

Definition at line 240 of file model.h.

const std::vector<VirtualJoint>& srdf::Model::getVirtualJoints ( ) const
inline

Get the list of virtual joints defined for this model.

Definition at line 222 of file model.h.

bool srdf::Model::initFile ( const urdf::ModelInterface &  urdf_model,
const std::string &  filename 
)

Load Model given a filename.

Definition at line 596 of file model.cpp.

bool srdf::Model::initString ( const urdf::ModelInterface &  urdf_model,
const std::string &  xmlstring 
)

Load Model from a XML-string.

Definition at line 619 of file model.cpp.

bool srdf::Model::initXml ( const urdf::ModelInterface &  urdf_model,
TiXmlElement *  xml 
)

Load Model from TiXMLElement.

Definition at line 553 of file model.cpp.

bool srdf::Model::initXml ( const urdf::ModelInterface &  urdf_model,
TiXmlDocument *  xml 
)

Load Model from TiXMLDocument.

Definition at line 584 of file model.cpp.

void srdf::Model::loadDisabledCollisions ( const urdf::ModelInterface &  urdf_model,
TiXmlElement *  robot_xml 
)
private

Definition at line 494 of file model.cpp.

void srdf::Model::loadEndEffectors ( const urdf::ModelInterface &  urdf_model,
TiXmlElement *  robot_xml 
)
private

Definition at line 355 of file model.cpp.

void srdf::Model::loadGroups ( const urdf::ModelInterface &  urdf_model,
TiXmlElement *  robot_xml 
)
private

Definition at line 95 of file model.cpp.

void srdf::Model::loadGroupStates ( const urdf::ModelInterface &  urdf_model,
TiXmlElement *  robot_xml 
)
private

Definition at line 268 of file model.cpp.

void srdf::Model::loadLinkSphereApproximations ( const urdf::ModelInterface &  urdf_model,
TiXmlElement *  robot_xml 
)
private

Definition at line 407 of file model.cpp.

void srdf::Model::loadPassiveJoints ( const urdf::ModelInterface &  urdf_model,
TiXmlElement *  robot_xml 
)
private

Definition at line 525 of file model.cpp.

void srdf::Model::loadVirtualJoints ( const urdf::ModelInterface &  urdf_model,
TiXmlElement *  robot_xml 
)
private

Definition at line 47 of file model.cpp.

Member Data Documentation

std::vector<DisabledCollision> srdf::Model::disabled_collisions_
private

Definition at line 270 of file model.h.

std::vector<EndEffector> srdf::Model::end_effectors_
private

Definition at line 268 of file model.h.

std::vector<GroupState> srdf::Model::group_states_
private

Definition at line 266 of file model.h.

std::vector<Group> srdf::Model::groups_
private

Definition at line 265 of file model.h.

std::vector<LinkSpheres> srdf::Model::link_sphere_approximations_
private

Definition at line 269 of file model.h.

std::string srdf::Model::name_
private

Definition at line 264 of file model.h.

std::vector<PassiveJoint> srdf::Model::passive_joints_
private

Definition at line 271 of file model.h.

std::vector<VirtualJoint> srdf::Model::virtual_joints_
private

Definition at line 267 of file model.h.


The documentation for this class was generated from the following files:


srdfdom
Author(s): Ioan Sucan , Guillaume Walck
autogenerated on Mon Jun 10 2019 15:06:25