Structure that encodes the options to be passed to the RobotModelLoader constructor. More...

#include <robot_model_loader.h>

Public Member Functions
	Options (const std::string &robot_description="robot_description")

	Options (const std::string &urdf_string, const std::string &srdf_string)

Public Attributes
bool	load_kinematics_solvers_
	Flag indicating whether the kinematics solvers should be loaded as well, using specified ROS parameters. More...

std::string	robot_description_
	The string name corresponding to the ROS param where the URDF is loaded; Using the same parameter name plus the "_planning" suffix, additional configuration can be specified (e.g., additional joint limits). Loading from the param server is attempted only if loading from string fails. More...

std::string	srdf_string_

std::string	urdf_string_
	The string content of the URDF and SRDF documents. Loading from string is attempted only if loading from XML fails. More...

Detailed Description

Structure that encodes the options to be passed to the RobotModelLoader constructor.

Definition at line 84 of file robot_model_loader.h.

Constructor & Destructor Documentation

◆ Options() [1/2]

robot_model_loader::RobotModelLoader::Options::Options ( const std::string & robot_description = "robot_description" )

inline

Definition at line 86 of file robot_model_loader.h.

◆ Options() [2/2]

robot_model_loader::RobotModelLoader::Options::Options	(	const std::string &	urdf_string,
		const std::string &	srdf_string
	)

inline

Definition at line 91 of file robot_model_loader.h.

Member Data Documentation

◆ load_kinematics_solvers_

bool robot_model_loader::RobotModelLoader::Options::load_kinematics_solvers_

Flag indicating whether the kinematics solvers should be loaded as well, using specified ROS parameters.

Definition at line 107 of file robot_model_loader.h.

◆ robot_description_

std::string robot_model_loader::RobotModelLoader::Options::robot_description_

The string name corresponding to the ROS param where the URDF is loaded; Using the same parameter name plus the "_planning" suffix, additional configuration can be specified (e.g., additional joint limits). Loading from the param server is attempted only if loading from string fails.

Definition at line 99 of file robot_model_loader.h.

◆ srdf_string_

std::string robot_model_loader::RobotModelLoader::Options::srdf_string_

Definition at line 103 of file robot_model_loader.h.

◆ urdf_string_

std::string robot_model_loader::RobotModelLoader::Options::urdf_string_

The string content of the URDF and SRDF documents. Loading from string is attempted only if loading from XML fails.