Structure that encodes the options to be passed to the RobotModelLoader constructor. More...

#include <robot_model_loader.h>

Public Member Functions
	Options (const std::string &robot_description="robot_description")

	Options (const std::string &urdf_string, const std::string &srdf_string)

	Options (TiXmlDocument urdf_doc, TiXmlDocument srdf_doc)

Public Attributes
bool	load_kinematics_solvers_
	Flag indicating whether the kinematics solvers should be loaded as well, using specified ROS parameters. More...

std::string	robot_description_
	The string name corresponding to the ROS param where the URDF is loaded; Using the same parameter name plus the "_planning" suffix, additional configuration can be specified (e.g., additional joint limits). Loading from the param server is attempted only if loading from string fails. More...

TiXmlDocument *	srdf_doc_

std::string	srdf_string_

TiXmlDocument *	urdf_doc_
	The parsed XML content of the URDF and SRDF documents. More...

std::string	urdf_string_
	The string content of the URDF and SRDF documents. Loading from string is attempted only if loading from XML fails. More...

Detailed Description

Structure that encodes the options to be passed to the RobotModelLoader constructor.

Definition at line 54 of file robot_model_loader.h.

Constructor & Destructor Documentation

robot_model_loader::RobotModelLoader::Options::Options ( const std::string & robot_description = "robot_description" )

inline

Definition at line 56 of file robot_model_loader.h.

robot_model_loader::RobotModelLoader::Options::Options	(	const std::string &	urdf_string,
		const std::string &	srdf_string
	)

inline

Definition at line 61 of file robot_model_loader.h.

robot_model_loader::RobotModelLoader::Options::Options	(	TiXmlDocument *	urdf_doc,
		TiXmlDocument *	srdf_doc
	)

inline

Definition at line 70 of file robot_model_loader.h.

Member Data Documentation

bool robot_model_loader::RobotModelLoader::Options::load_kinematics_solvers_

Flag indicating whether the kinematics solvers should be loaded as well, using specified ROS parameters.

Definition at line 89 of file robot_model_loader.h.

std::string robot_model_loader::RobotModelLoader::Options::robot_description_

The string name corresponding to the ROS param where the URDF is loaded; Using the same parameter name plus the "_planning" suffix, additional configuration can be specified (e.g., additional joint limits). Loading from the param server is attempted only if loading from string fails.

Definition at line 78 of file robot_model_loader.h.

TiXmlDocument * robot_model_loader::RobotModelLoader::Options::srdf_doc_

Definition at line 85 of file robot_model_loader.h.

std::string robot_model_loader::RobotModelLoader::Options::srdf_string_

Definition at line 82 of file robot_model_loader.h.

TiXmlDocument* robot_model_loader::RobotModelLoader::Options::urdf_doc_

The parsed XML content of the URDF and SRDF documents.

Definition at line 85 of file robot_model_loader.h.

std::string robot_model_loader::RobotModelLoader::Options::urdf_string_

The string content of the URDF and SRDF documents. Loading from string is attempted only if loading from XML fails.

Definition at line 82 of file robot_model_loader.h.

The documentation for this struct was generated from the following file:

robot_model_loader.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Data Documentation