urdf::Model Class Reference

#include <model.h>

List of all members.

Public Member Functions
boost::shared_ptr< const Joint >	getChildJoint (const std::string &name) const
	get child Joint of a Link given name
boost::shared_ptr< const Link >	getChildLink (const std::string &name) const
	get child Link of a Link given name
boost::shared_ptr< const Joint >	getJoint (const std::string &name) const
boost::shared_ptr< const Link >	getLink (const std::string &name) const
void	getLinks (std::vector< boost::shared_ptr< Link > > &links) const
const std::string &	getName () const
boost::shared_ptr< const Joint >	getParentJoint (const std::string &name) const
	get parent Joint of a Link given name
boost::shared_ptr< const Link >	getParentLink (const std::string &name) const
	get parent Link of a Link given name
boost::shared_ptr< const Link >	getRoot (void) const
bool	initFile (const std::string &filename)
	Load Model given a filename.
bool	initParam (const std::string &param)
	Load Model given the name of a parameter on the parameter server.
bool	initString (const std::string &xmlstring)
	Load Model from a XML-string.
bool	initXml (TiXmlDocument *xml)
	Load Model from TiXMLDocument.
bool	initXml (TiXmlElement *xml)
	Load Model from TiXMLElement.
	Model ()
Public Attributes
std::map< std::string, boost::shared_ptr< Joint > >	joints_
	complete list of Joints
std::map< std::string, boost::shared_ptr< Link > >	links_
	complete list of Links
std::map< std::string, boost::shared_ptr< Material > >	materials_
	complete list of Materials
Private Member Functions
void	clear ()
void	getLink (const std::string &name, boost::shared_ptr< Link > &link) const
	non-const getLink()
boost::shared_ptr< Material >	getMaterial (const std::string &name) const
	non-const getMaterial()
bool	initRoot (std::map< std::string, std::string > &parent_link_tree)
bool	initTree (std::map< std::string, std::string > &parent_link_tree)
Private Attributes
std::string	name_
boost::shared_ptr< Link >	root_link_

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Detailed Description

Definition at line 48 of file model.h.

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Constructor & Destructor Documentation

urdf::Model::Model

(

)

Definition at line 45 of file model.cpp.

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Member Function Documentation

void urdf::Model::clear

(

)

[private]

Definition at line 50 of file model.cpp.

boost::shared_ptr<const Joint> urdf::Model::getChildJoint

(

const std::string &

name

)

const

get child Joint of a Link given name

boost::shared_ptr<const Link> urdf::Model::getChildLink

(

const std::string &

name

)

const

get child Link of a Link given name

boost::shared_ptr< const Joint > urdf::Model::getJoint

(

const std::string &

name

)

const

Definition at line 397 of file model.cpp.

void urdf::Model::getLink	(	const std::string &	name,
		boost::shared_ptr< Link > &	link
	)			const [private]

non-const getLink()

Definition at line 387 of file model.cpp.

boost::shared_ptr< const Link > urdf::Model::getLink

(

const std::string &

name

)

const

Definition at line 369 of file model.cpp.

void urdf::Model::getLinks

(

std::vector< boost::shared_ptr< Link > > &

links

)

const

Definition at line 379 of file model.cpp.

boost::shared_ptr< Material > urdf::Model::getMaterial

(

const std::string &

name

)

const [private]

non-const getMaterial()

Definition at line 359 of file model.cpp.

const std::string& urdf::Model::getName

(

)

const [inline]

Definition at line 63 of file model.h.

boost::shared_ptr<const Joint> urdf::Model::getParentJoint

(

const std::string &

name

)

const

get parent Joint of a Link given name

boost::shared_ptr<const Link> urdf::Model::getParentLink

(

const std::string &

name

)

const

get parent Link of a Link given name

boost::shared_ptr<const Link> urdf::Model::getRoot

(

void

)

const [inline]

Definition at line 60 of file model.h.

bool urdf::Model::initFile

(

const std::string &

filename

)

Load Model given a filename.

Definition at line 60 of file model.cpp.

bool urdf::Model::initParam

(

const std::string &

param

)

Load Model given the name of a parameter on the parameter server.

Definition at line 69 of file model.cpp.

bool urdf::Model::initRoot

(

std::map< std::string, std::string > &

parent_link_tree

)

[private]

in initXml(), onece tree is built, it's time to find the root Link

Definition at line 326 of file model.cpp.

bool urdf::Model::initString

(

const std::string &

xmlstring

)

Load Model from a XML-string.

Definition at line 90 of file model.cpp.

bool urdf::Model::initTree

(

std::map< std::string, std::string > &

parent_link_tree

)

[private]

in initXml(), onece all links are loaded, it's time to build a tree

Definition at line 271 of file model.cpp.

bool urdf::Model::initXml

(

TiXmlDocument *

xml

)

Load Model from TiXMLDocument.

Definition at line 99 of file model.cpp.

bool urdf::Model::initXml

(

TiXmlElement *

xml

)

Load Model from TiXMLElement.

Definition at line 116 of file model.cpp.

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Member Data Documentation

std::map<std::string, boost::shared_ptr<Joint> > urdf::Model::joints_

complete list of Joints

Definition at line 79 of file model.h.

std::map<std::string, boost::shared_ptr<Link> > urdf::Model::links_

complete list of Links

Definition at line 77 of file model.h.

std::map<std::string, boost::shared_ptr<Material> > urdf::Model::materials_

complete list of Materials

Definition at line 81 of file model.h.

std::string urdf::Model::name_ [private]

Definition at line 86 of file model.h.

boost::shared_ptr<Link> urdf::Model::root_link_ [private]

Model is restricted to a tree for now, which means there exists one root link typically, root link is the world(inertial). Where world is a special link or is the root_link_ the link attached to the world by PLANAR/FLOATING joint? hmm...

Definition at line 107 of file model.h.

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

• model.h
• model.cpp