gcop_urdf::ModelInterface Class Reference

#include <urdfmodel.h>

List of all members.

Public Member Functions
boost::shared_ptr< const Link >	getRoot (void) const
boost::shared_ptr< const Link >	getLink (const std::string &name) const
boost::shared_ptr< const Joint >	getJoint (const std::string &name) const
const std::string &	getName () const
void	getLinks (std::vector< boost::shared_ptr< Link > > &links) const
void	clear ()
void	getLink (const std::string &name, boost::shared_ptr< Link > &link) const
	non-const getLink()
boost::shared_ptr< Material >	getMaterial (const std::string &name) const
	non-const getMaterial()
bool	initTree (std::map< std::string, std::string > &parent_link_tree)
bool	initRoot (std::map< std::string, std::string > &parent_link_tree)
Public Attributes
std::map< std::string, boost::shared_ptr< Link > >	links_
	complete list of Links
std::map< std::string, boost::shared_ptr< Joint > >	joints_
	complete list of Joints
std::map< std::string, boost::shared_ptr< Material > >	materials_
	complete list of Materials
std::string	name_
boost::shared_ptr< Link >	root_link_

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Member Function Documentation

void gcop_urdf::ModelInterface::clear

(

)

[inline]

References joints_, links_, materials_, name_, and root_link_.

boost::shared_ptr<const Joint> gcop_urdf::ModelInterface::getJoint

(

const std::string &

name

)

const [inline]

References joints_.

boost::shared_ptr<const Link> gcop_urdf::ModelInterface::getLink

(

const std::string &

name

)

const [inline]

References links_.

Referenced by initRoot(), and initTree().

void gcop_urdf::ModelInterface::getLink	(	const std::string &	name,
		boost::shared_ptr< Link > &	link
	)		const [inline]

non-const getLink()

References links_.

void gcop_urdf::ModelInterface::getLinks

(

std::vector< boost::shared_ptr< Link > > &

links

)

const [inline]

References links_.

boost::shared_ptr<Material> gcop_urdf::ModelInterface::getMaterial

(

const std::string &

name

)

const [inline]

non-const getMaterial()

References materials_.

const std::string& gcop_urdf::ModelInterface::getName

(

)

const [inline]

References name_.

boost::shared_ptr<const Link> gcop_urdf::ModelInterface::getRoot

(

void

)

const [inline]

References root_link_.

bool gcop_urdf::ModelInterface::initRoot

(

std::map< std::string, std::string > &

parent_link_tree

)

[inline]

in initXml(), onece tree is built, it's time to find the root Link

References getLink(), links_, and root_link_.

bool gcop_urdf::ModelInterface::initTree

(

std::map< std::string, std::string > &

parent_link_tree

)

[inline]

in initXml(), onece all links are loaded, it's time to build a tree

References getLink(), and joints_.

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Member Data Documentation

std::map<std::string, boost::shared_ptr<Joint> > gcop_urdf::ModelInterface::joints_

complete list of Joints

Referenced by clear(), getJoint(), and initTree().

std::map<std::string, boost::shared_ptr<Link> > gcop_urdf::ModelInterface::links_

complete list of Links

Referenced by clear(), getLink(), getLinks(), and initRoot().

std::map<std::string, boost::shared_ptr<Material> > gcop_urdf::ModelInterface::materials_

complete list of Materials

Referenced by clear(), and getMaterial().

std::string gcop_urdf::ModelInterface::name_

Referenced by clear(), and getName().

boost::shared_ptr<Link> gcop_urdf::ModelInterface::root_link_

ModelInterface is restricted to a tree for now, which means there exists one root link typically, root link is the world(inertial). Where world is a special link or is the root_link_ the link attached to the world by PLANAR/FLOATING joint? hmm...

Referenced by clear(), getRoot(), and initRoot().

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The documentation for this class was generated from the following file:

• lib/utils/urdfmodel.h