#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::DisabledCollision > | disabled_collisions_ |
std::vector< srdf::Model::EndEffector > | end_effectors_ |
std::vector< srdf::Model::GroupState > | group_states_ |
std::vector< srdf::Model::Group > | groups_ |
std::vector< srdf::Model::LinkSpheres > | link_sphere_approximations_ |
std::vector< srdf::Model::PassiveJoint > | passive_joints_ |
std::string | robot_name_ |
srdf::ModelSharedPtr | srdf_model_ |
std::vector< srdf::Model::VirtualJoint > | virtual_joints_ |
Definition at line 52 of file srdf_writer.h.
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.
void srdf::SRDFWriter::createDisabledCollisionsXML | ( | TiXmlElement * | root | ) |
Generate XML for SRDF disabled collisions of robot link pairs
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
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
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
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
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
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
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
Definition at line 147 of file srdf_writer.cpp.
std::string srdf::SRDFWriter::getSRDFString | ( | ) |
Get a string of a generated SRDF document
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)
urdf_model | a preloaded urdf model reference |
srdf_model | a 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)
urdf_model | a preloaded urdf model reference |
srdf_string | the text contents of an SRDF file |
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
robot_model | a 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
file_path | - string path location to save SRDF |
Definition at line 118 of file srdf_writer.cpp.
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.