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 77 of file urdf_geometry_parser.h.

Constructor & Destructor Documentation

UrdfGeometryParser()

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

Definition at line 126 of file urdf_geometry_parser.cpp.

Member Function Documentation

getDistanceBetweenJoints()

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_name	Name of the first joint
second_joint_name	Name of the second joint
distance	Distance in meter between first and second joint

Returns

true if the distance was found; false otherwise

Definition at line 177 of file urdf_geometry_parser.cpp.

getJointRadius()

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

Get joint radius from the URDF.

Parameters

joint_name	Name of the joint
distance	Distance in meter between first and second joint

Returns

true if the radius was found; false otherwise

Definition at line 195 of file urdf_geometry_parser.cpp.

getJointSteeringLimits()

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_name	Name of the joint
steering_limit	[rad]

Returns

true if the steering limit was found; false otherwise

Definition at line 213 of file urdf_geometry_parser.cpp.

getTransformVector()

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_name	Child joint_name from where to begin
[in]	parent_link_name	Name of link to find as parent of the joint
[out]	transform_vector	Distance vector between joint and parent_link [m]

Returns

true if the transform vector was found; false otherwise

Definition at line 145 of file urdf_geometry_parser.cpp.

Member Data Documentation

base_link_

std::string urdf_geometry_parser::UrdfGeometryParser::base_link_

private

Definition at line 155 of file urdf_geometry_parser.h.

model_

urdf::ModelInterfaceSharedPtr urdf_geometry_parser::UrdfGeometryParser::model_

private

Definition at line 157 of file urdf_geometry_parser.h.

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

• urdf_geometry_parser.h
• urdf_geometry_parser.cpp