rdf_loader.h
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34 
35 /* Author: Ioan Sucan, Mathias L├╝dtke, Dave Coleman */
36 
37 #ifndef MOVEIT_PLANNING_RDF_LOADER_
38 #define MOVEIT_PLANNING_RDF_LOADER_
39 
41 #include <urdf/model.h>
42 #include <srdfdom/model.h>
43 
44 namespace rdf_loader
45 {
47 
51 class RDFLoader
52 {
53 public:
57  RDFLoader(const std::string& robot_description = "robot_description");
58 
60  RDFLoader(const std::string& urdf_string, const std::string& srdf_string);
61 
63  const std::string& getRobotDescription() const
64  {
65  return robot_description_;
66  }
67 
69  const urdf::ModelInterfaceSharedPtr& getURDF() const
70  {
71  return urdf_;
72  }
73 
76  {
77  return srdf_;
78  }
79 
81  static bool isXacroFile(const std::string& path);
82 
84  static bool loadFileToString(std::string& buffer, const std::string& path);
85 
87  static bool loadXacroFileToString(std::string& buffer, const std::string& path,
88  const std::vector<std::string>& xacro_args);
89 
92  static bool loadXmlFileToString(std::string& buffer, const std::string& path,
93  const std::vector<std::string>& xacro_args);
94 
96  static bool loadPkgFileToString(std::string& buffer, const std::string& package_name,
97  const std::string& relative_path, const std::vector<std::string>& xacro_args);
98 
99 private:
100  std::string robot_description_;
102  urdf::ModelInterfaceSharedPtr urdf_;
103 };
104 }
105 #endif
const std::string & getRobotDescription() const
Get the resolved parameter name for the robot description.
Definition: rdf_loader.h:63
Default constructor.
Definition: rdf_loader.h:51
static bool loadPkgFileToString(std::string &buffer, const std::string &package_name, const std::string &relative_path, const std::vector< std::string > &xacro_args)
helper that generates a file path based on package name and relative file path to package ...
Definition: rdf_loader.cpp:207
static bool isXacroFile(const std::string &path)
determine if given path points to a xacro file
Definition: rdf_loader.cpp:119
RDFLoader(const std::string &robot_description="robot_description")
Default constructor.
Definition: rdf_loader.cpp:53
static bool loadFileToString(std::string &buffer, const std::string &path)
load file from given path into buffer
Definition: rdf_loader.cpp:127
const srdf::ModelSharedPtr & getSRDF() const
Get the parsed SRDF model.
Definition: rdf_loader.h:75
const urdf::ModelInterfaceSharedPtr & getURDF() const
Get the parsed URDF model.
Definition: rdf_loader.h:69
srdf::ModelSharedPtr srdf_
Definition: rdf_loader.h:101
std::shared_ptr< Model > ModelSharedPtr
static bool loadXmlFileToString(std::string &buffer, const std::string &path, const std::vector< std::string > &xacro_args)
helper that branches between loadFileToString() and loadXacroFileToString() based on result of isXacr...
Definition: rdf_loader.cpp:196
urdf::ModelInterfaceSharedPtr urdf_
Definition: rdf_loader.h:102
MOVEIT_CLASS_FORWARD(RDFLoader)
std::string robot_description_
Definition: rdf_loader.h:100
static bool loadXacroFileToString(std::string &buffer, const std::string &path, const std::vector< std::string > &xacro_args)
run xacro with the given args on the file, return result in buffer
Definition: rdf_loader.cpp:158


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Fri Oct 11 2019 03:56:35