urdf_geometry_parser.h
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34 
35 #ifndef URDF_GEOMETRY_PARSER_URDF_GEOMETRY_PARSER_H
36 #define URDF_GEOMETRY_PARSER_URDF_GEOMETRY_PARSER_H
37 
38 #include <ros/ros.h>
39 
40 #include <urdf/urdfdom_compatibility.h>
41 #include <urdf_parser/urdf_parser.h>
42 
44 
46 
47 public:
48  UrdfGeometryParser(ros::NodeHandle& root_nh, const std::string &base_link);
49 
57  bool getTransformVector(const std::string& joint_name,
58  const std::string& parent_link_name,
59  urdf::Vector3& transform_vector);
60 
68  bool getDistanceBetweenJoints(const std::string& first_joint_name,
69  const std::string& second_joint_name,
70  double& distance);
71 
78  bool getJointRadius(const std::string& joint_name,
79  double& radius);
80 
88  bool getJointSteeringLimits(const std::string& joint_name,
89  double& steering_limit);
90 private:
91  std::string base_link_;
92 
93  urdf::ModelInterfaceSharedPtr model_;
94 };
95 
96 } // urdf_geometry_parser
97 
98 #endif
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.
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...
UrdfGeometryParser(ros::NodeHandle &root_nh, const std::string &base_link)
bool getJointRadius(const std::string &joint_name, double &radius)
Get joint radius from the URDF.
bool getDistanceBetweenJoints(const std::string &first_joint_name, const std::string &second_joint_name, double &distance)
Get distance between two joints from the URDF.


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