A class capable of loading a robot model from the parameter server. More...

#include <robot_models.h>

Inheritance diagram for planning_environment::RobotModels:

Public Member Functions
const std::string &	getDescription (void) const
	Return the name of the description.
const planning_models::KinematicModel *	getKinematicModel (void) const
	Return the instance of the constructed kinematic model.
const boost::shared_ptr < urdf::Model > &	getParsedDescription (void) const
	Return the instance of the parsed robot description.
const std::string &	getRobotFrameId (void) const
	Return the frame id of the state.
std::string	getRobotName (void) const
const std::string &	getWorldFrameId (void) const
	Return the world frame id.
bool	loadedModels (void) const
	Return true if models have been loaded.
virtual void	reload (void)
	Reload the robot description and recreate the model.
	RobotModels (const std::string &description)
	RobotModels (boost::shared_ptr< urdf::Model > urdf, planning_models::KinematicModel *kmodel)
virtual	~RobotModels (void)
Protected Member Functions
void	loadGroupConfigsFromParamServer (const std::vector< planning_models::KinematicModel::MultiDofConfig > &multi_dof_configs, std::vector< planning_models::KinematicModel::GroupConfig > &configs)
bool	loadMultiDofConfigsFromParamServer (std::vector< planning_models::KinematicModel::MultiDofConfig > &configs)
void	loadRobotFromParamServer (void)
Protected Attributes
std::string	description_
planning_models::KinematicModel *	kmodel_
bool	loaded_models_
ros::NodeHandle	nh_
ros::NodeHandle	priv_nh_
boost::shared_ptr< urdf::Model >	urdf_

Detailed Description

A class capable of loading a robot model from the parameter server.

Definition at line 53 of file robot_models.h.

Constructor & Destructor Documentation

planning_environment::RobotModels::RobotModels ( const std::string & description )

Author:: Ioan Sucan

Definition at line 43 of file robot_models.cpp.

planning_environment::RobotModels::RobotModels	(	boost::shared_ptr< urdf::Model >	urdf,
		planning_models::KinematicModel *	kmodel
	)

Definition at line 50 of file robot_models.cpp.

virtual planning_environment::RobotModels::~RobotModels ( void ) [inline, virtual]

Definition at line 62 of file robot_models.h.

Member Function Documentation

const std::string& planning_environment::RobotModels::getDescription ( void ) const [inline]

Return the name of the description.

Definition at line 68 of file robot_models.h.

const planning_models::KinematicModel* planning_environment::RobotModels::getKinematicModel ( void ) const [inline]

Return the instance of the constructed kinematic model.

Definition at line 74 of file robot_models.h.

const boost::shared_ptr<urdf::Model>& planning_environment::RobotModels::getParsedDescription ( void ) const [inline]

Return the instance of the parsed robot description.

Definition at line 80 of file robot_models.h.

const std::string& planning_environment::RobotModels::getRobotFrameId ( void ) const [inline]

Return the frame id of the state.

Definition at line 97 of file robot_models.h.

std::string planning_environment::RobotModels::getRobotName ( void ) const [inline]

Definition at line 108 of file robot_models.h.

const std::string& planning_environment::RobotModels::getWorldFrameId ( void ) const [inline]

Return the world frame id.

Definition at line 103 of file robot_models.h.

bool planning_environment::RobotModels::loadedModels ( void ) const [inline]

Return true if models have been loaded.

Definition at line 86 of file robot_models.h.

void planning_environment::RobotModels::loadGroupConfigsFromParamServer	(	const std::vector< planning_models::KinematicModel::MultiDofConfig > &	multi_dof_configs,
		std::vector< planning_models::KinematicModel::GroupConfig > &	configs
	)		`[protected]`

Definition at line 154 of file robot_models.cpp.

bool planning_environment::RobotModels::loadMultiDofConfigsFromParamServer ( std::vector< planning_models::KinematicModel::MultiDofConfig > & configs ) [protected]

Definition at line 94 of file robot_models.cpp.

void planning_environment::RobotModels::loadRobotFromParamServer ( void ) [protected]

Definition at line 65 of file robot_models.cpp.

void planning_environment::RobotModels::reload ( void ) [virtual]

Reload the robot description and recreate the model.

Definition at line 58 of file robot_models.cpp.