Klamp't  0.9.0
Public Member Functions | Public Attributes | List of all members
urdf::ModelInterface Class Reference

Public Member Functions

std::shared_ptr< const LinkgetRoot (void) const
 
std::shared_ptr< const LinkgetLink (const std::string &name) const
 
std::shared_ptr< const JointgetJoint (const std::string &name) const
 
const std::string & getName () const
 
void getLinks (std::vector< std::shared_ptr< Link > > &links) const
 
void clear ()
 
void getLink (const std::string &name, std::shared_ptr< Link > &link) const
 non-const getLink() More...
 
std::shared_ptr< MaterialgetMaterial (const std::string &name) const
 non-const getMaterial() More...
 
void initTree (std::map< std::string, std::string > &parent_link_tree)
 Loop through all joints, for every link, assign children links and children joints. More...
 
void initRoot (const std::map< std::string, std::string > &parent_link_tree)
 

Public Attributes

std::map< std::string, std::shared_ptr< Link > > links_
 complete list of Links
 
std::map< std::string, std::shared_ptr< Joint > > joints_
 complete list of Joints
 
std::map< std::string, std::shared_ptr< Material > > materials_
 complete list of Materials
 
std::string name_
 
std::shared_ptr< Linkroot_link_
 

Member Function Documentation

void urdf::ModelInterface::clear ( )
inline
std::shared_ptr<const Joint> urdf::ModelInterface::getJoint ( const std::string &  name) const
inline

getJoint

References joints_.

std::shared_ptr<const Link> urdf::ModelInterface::getLink ( const std::string &  name) const
inline

getLink

References links_.

Referenced by initRoot(), and initTree().

void urdf::ModelInterface::getLink ( const std::string &  name,
std::shared_ptr< Link > &  link 
) const
inline

non-const getLink()

getLink()

References links_.

void urdf::ModelInterface::getLinks ( std::vector< std::shared_ptr< Link > > &  links) const
inline

getLinks()

References links_.

std::shared_ptr<Material> urdf::ModelInterface::getMaterial ( const std::string &  name) const
inline

non-const getMaterial()

getMaterial

References materials_.

const std::string& urdf::ModelInterface::getName ( ) const
inline

getName

std::shared_ptr<const Link> urdf::ModelInterface::getRoot ( void  ) const
inline

getRoot

References root_link_.

void urdf::ModelInterface::initRoot ( const std::map< std::string, std::string > &  parent_link_tree)
inline

initRoot

References getLink(), links_, and root_link_.

void urdf::ModelInterface::initTree ( std::map< std::string, std::string > &  parent_link_tree)
inline

Loop through all joints, for every link, assign children links and children joints.

initTree

References getLink(), and joints_.

Member Data Documentation

std::shared_ptr<Link> urdf::ModelInterface::root_link_

ModelInterface is restricted to a tree for now, which means there exists one root link typically, root link is the world(inertial). Where world is a special link or is the root_link_ the link attached to the world by PLANAR/FLOATING joint? hmm...

Referenced by clear(), getRoot(), and initRoot().


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