Representation of semantic information about the robot. More...

#include <model.h>

Classes
struct	DisabledCollision
	The definition of a disabled collision between two links. More...

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	LinkSpheres
	The definition of a list of spheres for a link. More...

struct	PassiveJoint

struct	Sphere
	The definition of a sphere. More...

struct	VirtualJoint

Public Member Functions
void	clear ()
	Clear the model. More...

const std::vector< DisabledCollision > &	getDisabledCollisionPairs () 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) More...

const std::vector< EndEffector > &	getEndEffectors () const
	Get the list of end effectors defined for this model. More...

__attribute__((deprecated)) std const std::vector< Group > &	getGroups () const
	Get the list of groups defined for this model. More...

const std::vector< GroupState > &	getGroupStates () const
	Get the list of group states defined for this model. More...

const std::vector< LinkSpheres > &	getLinkSphereApproximations () const
	Get the collision spheres list. More...

const std::string &	getName () const
	Get the name of this model. More...

const std::vector< PassiveJoint > &	getPassiveJoints () const
	Get the list of known passive joints. More...

const std::vector< VirtualJoint > &	getVirtualJoints () const
	Get the list of virtual joints defined for this model. More...

bool	initFile (const urdf::ModelInterface &urdf_model, const std::string &filename)
	Load Model given a filename. More...

bool	initString (const urdf::ModelInterface &urdf_model, const std::string &xmlstring)
	Load Model from a XML-string. More...

bool	initXml (const urdf::ModelInterface &urdf_model, TiXmlElement *xml)
	Load Model from TiXMLElement. More...

bool	initXml (const urdf::ModelInterface &urdf_model, TiXmlDocument *xml)
	Load Model from TiXMLDocument. More...

	Model ()

	~Model ()

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	loadLinkSphereApproximations (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml)

void	loadPassiveJoints (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml)

void	loadVirtualJoints (const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml)

Private Attributes
std::vector< DisabledCollision >	disabled_collisions_

std::vector< EndEffector >	end_effectors_

std::vector< GroupState >	group_states_

std::vector< Group >	groups_

std::vector< LinkSpheres >	link_sphere_approximations_

std::string	name_

std::vector< PassiveJoint >	passive_joints_

std::vector< VirtualJoint >	virtual_joints_

Detailed Description

Representation of semantic information about the robot.

Definition at line 53 of file model.h.

Constructor & Destructor Documentation

srdf::Model::Model ( )

inline

Definition at line 57 of file model.h.

srdf::Model::~Model ( )

inline

Definition at line 61 of file model.h.

Member Function Documentation

void srdf::Model::clear ( )

Clear the model.

Definition at line 627 of file model.cpp.

const std::vector<DisabledCollision>& srdf::Model::getDisabledCollisionPairs ( ) const

inline

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)

Definition at line 206 of file model.h.

const std::vector<EndEffector>& srdf::Model::getEndEffectors ( ) const

inline

Get the list of end effectors defined for this model.

Definition at line 228 of file model.h.

__attribute__ ((deprecated)) std const std::vector<Group>& srdf::Model::getGroups ( ) const

inline

Get the list of groups defined for this model.

Deprecated:: { Use the version returning DisabledCollision }

Definition at line 216 of file model.h.

const std::vector<GroupState>& srdf::Model::getGroupStates ( ) const

inline

Get the list of group states defined for this model.

Definition at line 234 of file model.h.

const std::vector<LinkSpheres>& srdf::Model::getLinkSphereApproximations ( ) const

inline

Get the collision spheres list.

Definition at line 246 of file model.h.

const std::string& srdf::Model::getName ( ) const

inline

Get the name of this model.

Definition at line 200 of file model.h.

const std::vector<PassiveJoint>& srdf::Model::getPassiveJoints ( ) const

inline

Get the list of known passive joints.

Definition at line 240 of file model.h.

const std::vector<VirtualJoint>& srdf::Model::getVirtualJoints ( ) const

inline

Get the list of virtual joints defined for this model.

Definition at line 222 of file model.h.

bool srdf::Model::initFile	(	const urdf::ModelInterface &	urdf_model,
		const std::string &	filename
	)

Load Model given a filename.

Definition at line 596 of file model.cpp.

bool srdf::Model::initString	(	const urdf::ModelInterface &	urdf_model,
		const std::string &	xmlstring
	)

Load Model from a XML-string.

Definition at line 619 of file model.cpp.

bool srdf::Model::initXml	(	const urdf::ModelInterface &	urdf_model,
		TiXmlElement *	xml
	)

Load Model from TiXMLElement.

Definition at line 553 of file model.cpp.

bool srdf::Model::initXml	(	const urdf::ModelInterface &	urdf_model,
		TiXmlDocument *	xml
	)

Load Model from TiXMLDocument.

Definition at line 584 of file model.cpp.

void srdf::Model::loadDisabledCollisions	(	const urdf::ModelInterface &	urdf_model,
		TiXmlElement *	robot_xml
	)

private

Definition at line 494 of file model.cpp.

void srdf::Model::loadEndEffectors	(	const urdf::ModelInterface &	urdf_model,
		TiXmlElement *	robot_xml
	)

private

Definition at line 355 of file model.cpp.

void srdf::Model::loadGroups	(	const urdf::ModelInterface &	urdf_model,
		TiXmlElement *	robot_xml
	)

private

Definition at line 95 of file model.cpp.

void srdf::Model::loadGroupStates	(	const urdf::ModelInterface &	urdf_model,
		TiXmlElement *	robot_xml
	)

private

Definition at line 268 of file model.cpp.

void srdf::Model::loadLinkSphereApproximations	(	const urdf::ModelInterface &	urdf_model,
		TiXmlElement *	robot_xml
	)

private

Definition at line 407 of file model.cpp.

void srdf::Model::loadPassiveJoints	(	const urdf::ModelInterface &	urdf_model,
		TiXmlElement *	robot_xml
	)

private

Definition at line 525 of file model.cpp.

void srdf::Model::loadVirtualJoints	(	const urdf::ModelInterface &	urdf_model,
		TiXmlElement *	robot_xml
	)

private

Definition at line 47 of file model.cpp.

Member Data Documentation

std::vector<DisabledCollision> srdf::Model::disabled_collisions_

private

Definition at line 270 of file model.h.

std::vector<EndEffector> srdf::Model::end_effectors_

private

Definition at line 268 of file model.h.

std::vector<GroupState> srdf::Model::group_states_

private

Definition at line 266 of file model.h.

std::vector<Group> srdf::Model::groups_

private

Definition at line 265 of file model.h.

std::vector<LinkSpheres> srdf::Model::link_sphere_approximations_

private

Definition at line 269 of file model.h.

std::string srdf::Model::name_

private

Definition at line 264 of file model.h.

std::vector<PassiveJoint> srdf::Model::passive_joints_

private

Definition at line 271 of file model.h.

std::vector<VirtualJoint> srdf::Model::virtual_joints_

private

Definition at line 267 of file model.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation