Class SRDFWriter

Class Documentation

class SRDFWriter

Public Functions

SRDFWriter()

Constructor

~SRDFWriter()

Destructor

bool initString(const urdf::ModelInterface &robot_model, const std::string &srdf_string)

Initialize the SRDF writer with an exisiting SRDF file (optional)

Parameters:

  • urdf_model – a preloaded urdf model reference

  • srdf_string – the text contents of an SRDF file

Returns:

bool if initialization was successful

void initModel(const urdf::ModelInterface &robot_model, const srdf::Model &srdf_model)

Initialize the SRDF writer with an exisiting SRDF model (optional)

Parameters:

  • urdf_model – a preloaded urdf model reference

  • srdf_model – a preloaded srdf model reference

void updateSRDFModel(const urdf::ModelInterface &robot_model)

Update the SRDF Model class using a new SRDF string

Parameters:

robot_model – a loaded URDF model

bool writeSRDF(const std::string &file_path)

Generate SRDF XML of all contained data and save to file

Parameters:

file_path – - string path location to save SRDF

Returns:

bool - true if save was successful

std::string getSRDFString()

Get a string of a generated SRDF document

Returns:

string of XML of current SRDF contents

void generateSRDF(tinyxml2::XMLDocument &document)

Generate SRDF XML of all contained data

Returns:

TinyXML document that contains current SRDF data in this class

void createGroupsXML(tinyxml2::XMLElement *root)

Generate XML for SRDF groups

Parameters:

root – - TinyXML root element to attach sub elements to

void createLinkSphereApproximationsXML(tinyxml2::XMLElement *root)

Generate XML for SRDF link collision spheres

Parameters:

root – - TinyXML root element to attach sub elements to

void createCollisionDefaultsXML(tinyxml2::XMLElement *root)

Generate XML for SRDF collision defaults

Parameters:

root – - TinyXML root element to attach sub elements to

void createDisabledCollisionPairsXML(tinyxml2::XMLElement *root)

Generate XML for SRDF disabled collisions of robot link pairs

Parameters:

root – - TinyXML root element to attach sub elements to

void createGroupStatesXML(tinyxml2::XMLElement *root)

Generate XML for SRDF group states of each joint’s position

Parameters:

root – - TinyXML root element to attach sub elements to

void createEndEffectorsXML(tinyxml2::XMLElement *root)

Generate XML for SRDF end effectors

Parameters:

root – - TinyXML root element to attach sub elements to

void createVirtualJointsXML(tinyxml2::XMLElement *root)

Generate XML for SRDF virtual joints

Parameters:

root – - TinyXML root element to attach sub elements to

void createPassiveJointsXML(tinyxml2::XMLElement *root)

Generate XML for SRDF passive joints

Parameters:

root – - TinyXML root element to attach sub elements to

void createJointPropertiesXML(tinyxml2::XMLElement *root)

Generate XML for SRDF joint properties

Parameters:

root – - TinyXML root element to attach sub elements to

Public Members

std::vector<Model::Group> groups_
std::vector<Model::GroupState> group_states_
std::vector<Model::VirtualJoint> virtual_joints_
std::vector<Model::EndEffector> end_effectors_
std::vector<Model::LinkSpheres> link_sphere_approximations_
std::vector<std::string> no_default_collision_links_
std::vector<Model::CollisionPair> disabled_collision_pairs_
std::vector<Model::CollisionPair> enabled_collision_pairs_
std::vector<Model::PassiveJoint> passive_joints_
std::map<std::string, std::vector<srdf::Model::JointProperty>> joint_properties_
ModelSharedPtr srdf_model_
std::string robot_name_

Protected Functions

void createCollisionPairsXML(tinyxml2::XMLElement *root, const char *tag_name, const std::vector<Model::CollisionPair> &pairs)

Generate XML for SRDF disabled/enabled collisions of robot link pairs

Parameters:

root – - TinyXML root element to attach sub elements to