srdf_writer.h
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00034 
00035 /* Author: Dave Coleman */
00036 
00037 #ifndef _SRDFDOM_SRDF_WRITER_
00038 #define _SRDFDOM_SRDF_WRITER_
00039 
00040 #include <boost/shared_ptr.hpp>
00041 #include <srdfdom/model.h> // use their struct datastructures
00042 
00043 namespace srdf
00044 {
00045 
00046 // ******************************************************************************************
00047 // ******************************************************************************************
00048 // Class
00049 // ******************************************************************************************
00050 // ******************************************************************************************
00051 
00052 class SRDFWriter
00053 {
00054 public:
00055   // ******************************************************************************************
00056   // Public Functions
00057   // ******************************************************************************************
00061   SRDFWriter();
00062 
00066   ~SRDFWriter();
00067 
00076   bool initString( const urdf::ModelInterface &robot_model, const std::string &srdf_string );
00077 
00084   void initModel( const urdf::ModelInterface &robot_model, const srdf::Model &srdf_model );
00085 
00091   void updateSRDFModel( const urdf::ModelInterface &robot_model );
00092 
00099   bool writeSRDF( const std::string &file_path );
00100 
00106   std::string getSRDFString();
00107 
00113   TiXmlDocument generateSRDF();
00114 
00120   void createGroupsXML( TiXmlElement *root );
00121 
00127   void createLinkSphereApproximationsXML( TiXmlElement *root );
00128 
00134   void createDisabledCollisionsXML( TiXmlElement *root );
00135 
00141   void createGroupStatesXML( TiXmlElement *root );
00142 
00148   void createEndEffectorsXML( TiXmlElement *root );
00149 
00155   void createVirtualJointsXML( TiXmlElement *root );
00156 
00162   void createPassiveJointsXML( TiXmlElement *root );
00163 
00164   // ******************************************************************************************
00165   // Group Datastructures
00166   // ******************************************************************************************
00167 
00168   std::vector<srdf::Model::Group>             groups_;
00169   std::vector<srdf::Model::GroupState>        group_states_;
00170   std::vector<srdf::Model::VirtualJoint>      virtual_joints_;
00171   std::vector<srdf::Model::EndEffector>       end_effectors_;
00172   std::vector<srdf::Model::LinkSpheres>       link_sphere_approximations_;
00173   std::vector<srdf::Model::DisabledCollision> disabled_collisions_;
00174   std::vector<srdf::Model::PassiveJoint>      passive_joints_;
00175 
00176   // Store the SRDF Model for updating the kinematic_model
00177   srdf::ModelSharedPtr                        srdf_model_;
00178 
00179   // Robot name
00180   std::string robot_name_;
00181 
00182 };
00183 
00184 // ******************************************************************************************
00185 // Typedef
00186 // ******************************************************************************************
00187 typedef boost::shared_ptr<SRDFWriter> SRDFWriterPtr;
00188 
00189 
00190 }
00191 
00192 #endif


srdfdom
Author(s): Ioan Sucan , Guillaume Walck
autogenerated on Thu Feb 9 2017 03:50:57