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hpp::model::urdf::Parser Class Reference

Parse an URDF file and return a hpp::model::HumanoidRobotPtr_t. More...

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

Public Types

typedef boost::shared_ptr
< ::urdf::Link > 
UrdfLinkPtrType
 
typedef boost::shared_ptr
< ::urdf::Joint > 
UrdfJointPtrType
 
typedef boost::shared_ptr
< ::urdf::JointLimits > 
UrdfJointLimitsPtrType
 
typedef boost::shared_ptr
< const ::urdf::Link > 
UrdfLinkConstPtrType
 
typedef boost::shared_ptr
< const ::urdf::Joint > 
UrdfJointConstPtrType
 
typedef DevicePtr_t RobotPtrType
 
typedef Joint JointType
 
typedef Body BodyType
 
typedef fcl::BVHModel
< fcl::OBBRSS > 
PolyhedronType
 
typedef boost::shared_ptr
< PolyhedronType
PolyhedronPtrType
 
typedef Transform3f MatrixHomogeneousType
 
typedef std::map< const
std::string, JointPtr_t > 
MapHppJointType
 Map of abstract robot dynamics compatible joints. More...
 
typedef std::map< std::string,
UrdfJointPtrType
MapJointType
 Map of URDF joints. More...
 

Public Member Functions

 Parser (const std::string &rootJointType, const RobotPtrType &robot, const JointPtr_t &baseJoint=JointPtr_t())
 Default constructor. More...
 
virtual ~Parser ()
 Destructor. More...
 
void parse (const std::string &resourceName)
 Parse an URDF file and return a robot. More...
 
void parseFromParameter (const std::string &parameterName)
 Parse a ROS parameter containing a urdf robot description. More...
 
void buildRobot ()
 Build the robot from the urdf description. More...
 
void setSpecialJoints ()
 Set special joints in robot. More...
 
void fillGaze ()
 Fill gaze. More...
 
void prefix (const std::string &prefix)
 Set the prefix of all joints. More...
 

Friends

class srdf::Parser
 

Detailed Description

Parse an URDF file and return a hpp::model::HumanoidRobotPtr_t.

Member Typedef Documentation

typedef std::map<const std::string, JointPtr_t> hpp::model::urdf::Parser::MapHppJointType

Map of abstract robot dynamics compatible joints.

Map of URDF joints.

typedef fcl::BVHModel< fcl::OBBRSS > hpp::model::urdf::Parser::PolyhedronType
typedef boost::shared_ptr<const ::urdf::Joint> hpp::model::urdf::Parser::UrdfJointConstPtrType
typedef boost::shared_ptr< ::urdf::JointLimits> hpp::model::urdf::Parser::UrdfJointLimitsPtrType
typedef boost::shared_ptr< ::urdf::Joint> hpp::model::urdf::Parser::UrdfJointPtrType
typedef boost::shared_ptr<const ::urdf::Link> hpp::model::urdf::Parser::UrdfLinkConstPtrType
typedef boost::shared_ptr< ::urdf::Link> hpp::model::urdf::Parser::UrdfLinkPtrType

Constructor & Destructor Documentation

hpp::model::urdf::Parser::Parser ( const std::string &  rootJointType,
const RobotPtrType robot,
const JointPtr_t &  baseJoint = JointPtr_t() 
)
explicit

Default constructor.

Parameters
rootJointTypetype of root joint among "anchor", "freeflyer", "planar",
[in,out]robotthe RobotPtrType to be filled,
[in,out]baseJointthe root of the joint tree is inserted as a child of baseJoint. If the pointer is NULL, the root of the joint tree is the robot root joint.
virtual hpp::model::urdf::Parser::~Parser ( )
virtual

Destructor.

Member Function Documentation

void hpp::model::urdf::Parser::buildRobot ( )

Build the robot from the urdf description.

void hpp::model::urdf::Parser::fillGaze ( )

Fill gaze.

void hpp::model::urdf::Parser::parse ( const std::string &  resourceName)

Parse an URDF file and return a robot.

The URDF file location must use the resource retriever format. For instance, the following strings are allowed:

See resource_retriever documentation for more information.

Parameters
resourceNameresource name using the resource_retriever format.
void hpp::model::urdf::Parser::parseFromParameter ( const std::string &  parameterName)

Parse a ROS parameter containing a urdf robot description.

Parameters
parameterNamename of the ROS parameter
void hpp::model::urdf::Parser::prefix ( const std::string &  prefix)
inline

Set the prefix of all joints.

void hpp::model::urdf::Parser::setSpecialJoints ( )

Set special joints in robot.

Friends And Related Function Documentation

friend class srdf::Parser
friend



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