Public Member Functions | Private Attributes | List of all members
urdf_geometry_parser::UrdfGeometryParser Class Reference

#include <urdf_geometry_parser.h>

Public Member Functions

bool getDistanceBetweenJoints (const std::string &first_joint_name, const std::string &second_joint_name, double &distance)
 Get distance between two joints from the URDF. More...
 
bool getJointRadius (const std::string &joint_name, double &radius)
 Get joint radius from the URDF. More...
 
bool getJointSteeringLimits (const std::string &joint_name, double &steering_limit)
 Get joint steering limit from the URDF considering the upper and lower limit is the same. More...
 
bool getTransformVector (const std::string &joint_name, const std::string &parent_link_name, urdf::Vector3 &transform_vector)
 Get transform vector between the joint and parent_link. More...
 
 UrdfGeometryParser (ros::NodeHandle &root_nh, const std::string &base_link)
 

Private Attributes

std::string base_link_
 
urdf::ModelInterfaceSharedPtr model_
 

Detailed Description

Definition at line 45 of file urdf_geometry_parser.h.

Constructor & Destructor Documentation

urdf_geometry_parser::UrdfGeometryParser::UrdfGeometryParser ( ros::NodeHandle root_nh,
const std::string &  base_link 
)

Definition at line 94 of file urdf_geometry_parser.cpp.

Member Function Documentation

bool urdf_geometry_parser::UrdfGeometryParser::getDistanceBetweenJoints ( const std::string &  first_joint_name,
const std::string &  second_joint_name,
double &  distance 
)

Get distance between two joints from the URDF.

Parameters
first_joint_nameName of the first joint
second_joint_nameName of the second joint
distanceDistance in meter between first and second joint
Returns
true if the distance was found; false otherwise

Definition at line 145 of file urdf_geometry_parser.cpp.

bool urdf_geometry_parser::UrdfGeometryParser::getJointRadius ( const std::string &  joint_name,
double &  radius 
)

Get joint radius from the URDF.

Parameters
joint_nameName of the joint
distanceDistance in meter between first and second joint
Returns
true if the radius was found; false otherwise

Definition at line 165 of file urdf_geometry_parser.cpp.

bool urdf_geometry_parser::UrdfGeometryParser::getJointSteeringLimits ( const std::string &  joint_name,
double &  steering_limit 
)

Get joint steering limit from the URDF considering the upper and lower limit is the same.

Parameters
joint_nameName of the joint
steering_limit[rad]
Returns
true if the steering limit was found; false otherwise

Definition at line 183 of file urdf_geometry_parser.cpp.

bool urdf_geometry_parser::UrdfGeometryParser::getTransformVector ( const std::string &  joint_name,
const std::string &  parent_link_name,
urdf::Vector3 &  transform_vector 
)

Get transform vector between the joint and parent_link.

Parameters
[in]joint_nameChild joint_name from where to begin
[in]parent_link_nameName of link to find as parent of the joint
[out]transform_vectorDistance vector between joint and parent_link [m]
Returns
true if the transform vector was found; false otherwise

Definition at line 113 of file urdf_geometry_parser.cpp.

Member Data Documentation

std::string urdf_geometry_parser::UrdfGeometryParser::base_link_
private

Definition at line 91 of file urdf_geometry_parser.h.

urdf::ModelInterfaceSharedPtr urdf_geometry_parser::UrdfGeometryParser::model_
private

Definition at line 93 of file urdf_geometry_parser.h.


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


urdf_geometry_parser
Author(s): Vincent Rousseau
autogenerated on Thu Jun 6 2019 19:13:58