hpp::model::srdf::Parser Class Reference

Parse an SRDF file to add semantic information (special configurations, collision pairs) to an existing hpp::model::HumanoidRobotPtr_t. More...

#include <hpp/model/srdf/parser.hh>

Public Types
typedef ::srdf::Model::DisabledCollision	CollisionPairType
typedef std::vector < CollisionPairType >	CollisionPairsType
typedef std::map< std::string, std::vector< double > >	ConfigurationType
typedef ::srdf::Model::GroupState	SRDFGroupStateType
typedef std::vector < SRDFGroupStateType >	SRDFGroupStatesType
typedef urdf::Parser::BodyType	BodyType
typedef urdf::Parser::RobotPtrType	RobotPtrType

Public Member Functions
	Parser (urdf::Parser *parser)
	Default constructor. More...
virtual	~Parser ()
	Destructor. More...
void	displayDisabledCollisionPairs (std::ostream &os)
	Display in output stream list of disabled collision pairs. More...
void	parse (const std::string &semanticResourceName, RobotPtrType robot)
	Parse an URDF file and add semantic information to humanoid robot. More...
void	parseFromParameter (const std::string &srdfParameterName, RobotPtrType robot)
	Parse a ROS parameter containing a srdf robot description. More...
void	processSemanticDescription ()
	Process information parsed from a file or a parameter. More...
void	prefix (const std::string &prefix)
	Set the prefix of all joints. More...

Protected Member Functions
void	addCollisionPairs ()
	Add collision pairs to robot. More...
bool	isCollisionPairDisabled (const std::string &bodyName_1, const std::string &bodyName_2)
	Check if given body pair is disabled. More...
bool	areDofsInJoint (const std::vector< double > &dofs, const std::string &jointName, std::string &jointType)
	Check if dof vector is consistent with joint. More...

Detailed Description

Parse an SRDF file to add semantic information (special configurations, collision pairs) to an existing hpp::model::HumanoidRobotPtr_t.

Member Typedef Documentation

typedef urdf::Parser::BodyType hpp::model::srdf::Parser::BodyType

typedef std::vector<CollisionPairType> hpp::model::srdf::Parser::CollisionPairsType

typedef ::srdf::Model::DisabledCollision hpp::model::srdf::Parser::CollisionPairType

typedef std::map<std::string, std::vector<double> > hpp::model::srdf::Parser::ConfigurationType

typedef urdf::Parser::RobotPtrType hpp::model::srdf::Parser::RobotPtrType

typedef std::vector<SRDFGroupStateType> hpp::model::srdf::Parser::SRDFGroupStatesType

typedef ::srdf::Model::GroupState hpp::model::srdf::Parser::SRDFGroupStateType

Constructor & Destructor Documentation

hpp::model::srdf::Parser::Parser ( urdf::Parser *  parser )

explicit

Default constructor.

Parameters

parser

the corresponding URDF parse

Note

the parser will NOT be deleted by the destructor

virtual hpp::model::srdf::Parser::~Parser ( )

virtual

Destructor.

Member Function Documentation

void hpp::model::srdf::Parser::addCollisionPairs ( )

protected

Add collision pairs to robot.

bool hpp::model::srdf::Parser::areDofsInJoint ( const std::vector< double > &  dofs, const std::string &  jointName, std::string &  jointType  )

protected

Check if dof vector is consistent with joint.

void hpp::model::srdf::Parser::displayDisabledCollisionPairs

(

std::ostream &

os

)

Display in output stream list of disabled collision pairs.

bool hpp::model::srdf::Parser::isCollisionPairDisabled ( const std::string &  bodyName_1, const std::string &  bodyName_2  )

protected

Check if given body pair is disabled.

void hpp::model::srdf::Parser::parse	(	const std::string &	semanticResourceName,
		RobotPtrType	robot
	)

Parse an URDF file and add semantic information to humanoid robot.

The URDF and SRDF file location must use the resource retriever format.

For instance, the following strings are allowed:

• package://myPackage/robot.urdf
• file:///tmp/robot.urdf
• http://mywebsite.com/robot.urdf

See resource_retriever documentation for more information.

Parameters

semanticResourceName	SRDF resource name
robot	the robot being constructed.

Note

the inner URDF parser should have been updated before.

void hpp::model::srdf::Parser::parseFromParameter	(	const std::string &	srdfParameterName,
		RobotPtrType	robot
	)

Parse a ROS parameter containing a srdf robot description.

Parameters

srdfParameterName	name of the ROS parameter,
robot	the robot being constructed.

Note

the inner URDF parser should have been updated before.

void hpp::model::srdf::Parser::prefix ( const std::string &  prefix )

inline

Set the prefix of all joints.

void hpp::model::srdf::Parser::processSemanticDescription

(

)

Process information parsed from a file or a parameter.