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... | |
Parse an SRDF file to add semantic information (special configurations, collision pairs) to an existing hpp::model::HumanoidRobotPtr_t.
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 std::vector<SRDFGroupStateType> hpp::model::srdf::Parser::SRDFGroupStatesType |
typedef ::srdf::Model::GroupState hpp::model::srdf::Parser::SRDFGroupStateType |
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explicit |
Default constructor.
parser | the corresponding URDF parse |
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virtual |
Destructor.
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protected |
Add collision pairs to robot.
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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.
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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:
See resource_retriever documentation for more information.
semanticResourceName | SRDF resource name |
robot | the robot being constructed. |
void hpp::model::srdf::Parser::parseFromParameter | ( | const std::string & | srdfParameterName, |
RobotPtrType | robot | ||
) |
Parse a ROS parameter containing a srdf robot description.
srdfParameterName | name of the ROS parameter, |
robot | the robot being constructed. |
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inline |
Set the prefix of all joints.
void hpp::model::srdf::Parser::processSemanticDescription | ( | ) |
Process information parsed from a file or a parameter.