Classes |
| struct | EndEffector |
| | Representation of an end effector. More...
|
| struct | Group |
| | A group consists of a set of joints and the corresponding descendant links. There are multiple ways to specify a group. Directly specifying joints, links or chains, or referring to other defined groups. More...
|
| struct | GroupState |
| | A named state for a particular group. More...
|
| struct | VirtualJoint |
Public Member Functions |
| void | clear (void) |
| | Clear the model.
|
const std::vector< std::pair
< std::string, std::string > > & | getDisabledCollisions (void) const |
| | Get the list of pairs of links that need not be checked for collisions (because they can never touch given the geometry and kinematics of the robot)
|
| const std::vector< EndEffector > & | getEndEffectors (void) const |
| | Get the list of end effectors defined for this model.
|
| const std::vector< Group > & | getGroups (void) const |
| | Get the list of groups defined for this model.
|
| const std::vector< GroupState > & | getGroupStates (void) const |
| | Get the list of group states defined for this model.
|
| const std::string & | getName (void) const |
| | Get the name of this model.
|
| const std::vector< VirtualJoint > & | getVirtualJoints (void) const |
| | Get the list of virtual joints defined for this model.
|
| bool | initFile (const urdf::ModelInterface &urdf_model, const std::string &filename) |
| | Load Model given a filename.
|
| bool | initString (const urdf::ModelInterface &urdf_model, const std::string &xmlstring) |
| | Load Model from a XML-string.
|
| bool | initXml (const urdf::ModelInterface &urdf_model, TiXmlElement *xml) |
| | Load Model from TiXMLElement.
|
| bool | initXml (const urdf::ModelInterface &urdf_model, TiXmlDocument *xml) |
| | Load Model from TiXMLDocument.
|
| | Model (void) |
| | ~Model (void) |
Private Member Functions |
| void | loadDisabledCollisions (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml) |
| void | loadEndEffectors (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml) |
| void | loadGroups (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml) |
| void | loadGroupStates (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml) |
| void | loadVirtualJoints (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml) |
Private Attributes |
std::vector< std::pair
< std::string, std::string > > | disabled_collisions_ |
| std::vector< EndEffector > | end_effectors_ |
| std::vector< GroupState > | group_states_ |
| std::vector< Group > | groups_ |
| std::string | name_ |
| std::vector< VirtualJoint > | virtual_joints_ |
Representation of semantic information about the robot.
Definition at line 52 of file model.h.
