Public Member Functions | Public Attributes | List of all members
srdf::SRDFWriter Class Reference

#include <srdf_writer.h>

Public Member Functions

void createDisabledCollisionsXML (TiXmlElement *root)
 
void createEndEffectorsXML (TiXmlElement *root)
 
void createGroupStatesXML (TiXmlElement *root)
 
void createGroupsXML (TiXmlElement *root)
 
void createLinkSphereApproximationsXML (TiXmlElement *root)
 
void createPassiveJointsXML (TiXmlElement *root)
 
void createVirtualJointsXML (TiXmlElement *root)
 
TiXmlDocument generateSRDF ()
 
std::string getSRDFString ()
 
void initModel (const urdf::ModelInterface &robot_model, const srdf::Model &srdf_model)
 
bool initString (const urdf::ModelInterface &robot_model, const std::string &srdf_string)
 
 SRDFWriter ()
 
void updateSRDFModel (const urdf::ModelInterface &robot_model)
 
bool writeSRDF (const std::string &file_path)
 
 ~SRDFWriter ()
 

Public Attributes

std::vector< srdf::Model::DisabledCollisiondisabled_collisions_
 
std::vector< srdf::Model::EndEffectorend_effectors_
 
std::vector< srdf::Model::GroupStategroup_states_
 
std::vector< srdf::Model::Groupgroups_
 
std::vector< srdf::Model::LinkSphereslink_sphere_approximations_
 
std::vector< srdf::Model::PassiveJointpassive_joints_
 
std::string robot_name_
 
srdf::ModelSharedPtr srdf_model_
 
std::vector< srdf::Model::VirtualJointvirtual_joints_
 

Detailed Description

Definition at line 52 of file srdf_writer.h.

Constructor & Destructor Documentation

srdf::SRDFWriter::SRDFWriter ( )

Constructor

Definition at line 46 of file srdf_writer.cpp.

srdf::SRDFWriter::~SRDFWriter ( )

Destructor

Definition at line 55 of file srdf_writer.cpp.

Member Function Documentation

void srdf::SRDFWriter::createDisabledCollisionsXML ( TiXmlElement *  root)

Generate XML for SRDF disabled collisions of robot link pairs

Parameters
root- TinyXML root element to attach sub elements to

Definition at line 301 of file srdf_writer.cpp.

void srdf::SRDFWriter::createEndEffectorsXML ( TiXmlElement *  root)

Generate XML for SRDF end effectors

Parameters
root- TinyXML root element to attach sub elements to

Definition at line 363 of file srdf_writer.cpp.

void srdf::SRDFWriter::createGroupStatesXML ( TiXmlElement *  root)

Generate XML for SRDF group states of each joint's position

Parameters
root- TinyXML root element to attach sub elements to

Definition at line 327 of file srdf_writer.cpp.

void srdf::SRDFWriter::createGroupsXML ( TiXmlElement *  root)

Generate XML for SRDF groups

Parameters
root- TinyXML root element to attach sub elements to

Definition at line 190 of file srdf_writer.cpp.

void srdf::SRDFWriter::createLinkSphereApproximationsXML ( TiXmlElement *  root)

Generate XML for SRDF link collision spheres

Parameters
root- TinyXML root element to attach sub elements to

Definition at line 261 of file srdf_writer.cpp.

void srdf::SRDFWriter::createPassiveJointsXML ( TiXmlElement *  root)

Generate XML for SRDF passive joints

Parameters
root- TinyXML root element to attach sub elements to

Definition at line 414 of file srdf_writer.cpp.

void srdf::SRDFWriter::createVirtualJointsXML ( TiXmlElement *  root)

Generate XML for SRDF virtual joints

Parameters
root- TinyXML root element to attach sub elements to

Definition at line 390 of file srdf_writer.cpp.

TiXmlDocument srdf::SRDFWriter::generateSRDF ( )

Generate SRDF XML of all contained data

Returns
TinyXML document that contains current SRDF data in this class

Definition at line 147 of file srdf_writer.cpp.

std::string srdf::SRDFWriter::getSRDFString ( )

Get a string of a generated SRDF document

Returns
string of XML of current SRDF contents

Definition at line 130 of file srdf_writer.cpp.

void srdf::SRDFWriter::initModel ( const urdf::ModelInterface &  robot_model,
const srdf::Model srdf_model 
)

Initialize the SRDF writer with an exisiting SRDF model (optional)

Parameters
urdf_modela preloaded urdf model reference
srdf_modela preloaded srdf model reference

Definition at line 79 of file srdf_writer.cpp.

bool srdf::SRDFWriter::initString ( const urdf::ModelInterface &  robot_model,
const std::string &  srdf_string 
)

Initialize the SRDF writer with an exisiting SRDF file (optional)

Parameters
urdf_modela preloaded urdf model reference
srdf_stringthe text contents of an SRDF file
Returns
bool if initialization was successful

Definition at line 62 of file srdf_writer.cpp.

void srdf::SRDFWriter::updateSRDFModel ( const urdf::ModelInterface &  robot_model)

Update the SRDF Model class using a new SRDF string

Parameters
robot_modela loaded URDF model

Definition at line 103 of file srdf_writer.cpp.

bool srdf::SRDFWriter::writeSRDF ( const std::string &  file_path)

Generate SRDF XML of all contained data and save to file

Parameters
file_path- string path location to save SRDF
Returns
bool - true if save was successful

Definition at line 118 of file srdf_writer.cpp.

Member Data Documentation

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

Definition at line 173 of file srdf_writer.h.

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

Definition at line 171 of file srdf_writer.h.

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

Definition at line 169 of file srdf_writer.h.

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

Definition at line 168 of file srdf_writer.h.

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

Definition at line 172 of file srdf_writer.h.

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

Definition at line 174 of file srdf_writer.h.

std::string srdf::SRDFWriter::robot_name_

Definition at line 180 of file srdf_writer.h.

srdf::ModelSharedPtr srdf::SRDFWriter::srdf_model_

Definition at line 177 of file srdf_writer.h.

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

Definition at line 170 of file srdf_writer.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