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std::shared_ptr< const Link > | getRoot (void) const |
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std::shared_ptr< const Link > | getLink (const std::string &name) const |
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std::shared_ptr< const Joint > | getJoint (const std::string &name) const |
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const std::string & | getName () const |
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void | getLinks (std::vector< std::shared_ptr< Link > > &links) const |
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void | clear () |
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void | getLink (const std::string &name, std::shared_ptr< Link > &link) const |
| non-const getLink() More...
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std::shared_ptr< Material > | getMaterial (const std::string &name) const |
| non-const getMaterial() More...
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void | initTree (std::map< std::string, std::string > &parent_link_tree) |
| Loop through all joints, for every link, assign children links and children joints. More...
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void | initRoot (const std::map< std::string, std::string > &parent_link_tree) |
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std::map< std::string, std::shared_ptr< Link > > | links_ |
| complete list of Links
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std::map< std::string, std::shared_ptr< Joint > > | joints_ |
| complete list of Joints
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std::map< std::string, std::shared_ptr< Material > > | materials_ |
| complete list of Materials
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std::string | name_ |
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std::shared_ptr< Link > | root_link_ |
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void urdf::ModelInterface::clear |
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std::shared_ptr<const Joint> urdf::ModelInterface::getJoint |
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const std::string & |
name | ) |
const |
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std::shared_ptr<const Link> urdf::ModelInterface::getLink |
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const std::string & |
name | ) |
const |
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void urdf::ModelInterface::getLink |
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const std::string & |
name, |
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std::shared_ptr< Link > & |
link |
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) |
| const |
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void urdf::ModelInterface::getLinks |
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std::vector< std::shared_ptr< Link > > & |
links | ) |
const |
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std::shared_ptr<Material> urdf::ModelInterface::getMaterial |
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const std::string & |
name | ) |
const |
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const std::string& urdf::ModelInterface::getName |
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const |
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std::shared_ptr<const Link> urdf::ModelInterface::getRoot |
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void |
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const |
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void urdf::ModelInterface::initRoot |
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const std::map< std::string, std::string > & |
parent_link_tree | ) |
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void urdf::ModelInterface::initTree |
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std::map< std::string, std::string > & |
parent_link_tree | ) |
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Loop through all joints, for every link, assign children links and children joints.
initTree
References getLink(), and joints_.
std::shared_ptr<Link> 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().
The documentation for this class was generated from the following file: