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

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

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

List of all members.

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.
typedef std::map< std::string,
UrdfJointPtrType
MapJointType
 Map of URDF joints.

Public Member Functions

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

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]