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>

List of all members.

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.
virtual	~Parser ()
	Destructor.
void	displayDisabledCollisionPairs (std::ostream &os)
	Display in output stream list of disabled collision pairs.
void	parse (const std::string &semanticResourceName, RobotPtrType robot)
	Parse an URDF file and add semantic information to humanoid robot.
void	parseFromParameter (const std::string &srdfParameterName, RobotPtrType robot)
	Parse a ROS parameter containing a srdf robot description.
void	processSemanticDescription ()
	Process information parsed from a file or a parameter.
void	prefix (const std::string &prefix)
	Set the prefix of all joints.
Protected Member Functions
void	addCollisionPairs ()
	Add collision pairs to robot.
bool	isCollisionPairDisabled (const std::string &bodyName_1, const std::string &bodyName_2)
	Check if given body pair is disabled.
bool	areDofsInJoint (const std::vector< double > &dofs, const std::string &jointName, std::string &jointType)
	Check if dof vector is consistent with joint.

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Detailed Description

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

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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

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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.

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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.