#include <XBotCoreModel.h>

Inheritance diagram for XBot::XBotCoreModel:

Collaboration diagram for XBot::XBotCoreModel:

Public Member Functions
	XBotCoreModel (void)

urdf::ModelInterfaceSharedPtr	get_urdf_model (void) const
	getter for the URDF ModelInterface More...

KDL::Tree	get_robot_tree (void)
	getter for the KDL robot tree More...

const std::vector< std::string > &	get_chain_names (void) const
	getter for the chain names vector More...

const std::vector< std::string > &	get_ordered_chain_names (void) const
	getter for the alphabetically ordered chain names vector More...

bool	init (const std::string &urdf_filename, const std::string &srdf_filename, const std::string &joint_map_config)
	initialization function for the model: it loads the URDF and parses the SRDF More...

bool	init_from_string (const std::string &urdf, const std::string &srdf, const std::string &joint_map_config)
	initialization function for the model: it loads the URDF and parses the SRDF More...

bool	init (const std::string &urdf_filename, const std::string &srdf_filename)
	initialization function for the model: it loads the URDF and parses the SRDF More...

void	generate_robot (void)
	dynamically generate the robot as a map {chain_name} -> {vector of enabled joints} More...

virtual std::map< std::string, std::vector< int > >	get_robot (void) final

virtual std::map< std::string, int >	get_ft_sensors (void) final

virtual std::map< std::string, int >	get_imu_sensors () final

virtual std::map< std::string, int >	get_hands () final

virtual std::string	rid2Joint (int rId) final

virtual int	joint2Rid (std::string joint_name) final

bool	get_enabled_joints_in_chain (std::string chain_name, std::vector< std::string > &enabled_joints) const
	getter for the enabled joints vector in the chain More...

bool	get_disabled_joints_in_chain (std::string chain_name, std::vector< std::string > &disabled_joints) const
	getter for the disabled joints vector in the chain More...

void	get_enabled_joint_names (std::vector< std::string > &joint_names) const
	get the vector of the enabled joint names of the whole robot More...

void	get_enabled_joint_ids (std::vector< int > &joint_ids) const
	get the vector of the enabled joint ids of the whole robot More...

bool	get_enabled_joint_ids_in_chain (std::string chain_name, std::vector< int > &joint_ids) const
	get the vector of the joint ids of the requested chain More...

int	get_joint_num () const
	get the number of joint in the robot More...

int	get_joint_num (std::string chain_name) const
	get the number of joint of a requested chain More...

const std::string &	get_urdf_string () const
	Get the robot URDF as a string. More...

const std::string &	get_srdf_string () const
	Get the robot SRDF as a string. More...

const std::vector< std::string > &	get_legs_chain () const
	Get the legs chain names ordered as in the SRDF. More...

const std::vector< std::string > &	get_arms_chain () const
	Get the arms chain names ordered as in the SRDF. More...

bool	check_joint_limits () const

	~XBotCoreModel ()

Public Member Functions inherited from XBot::IXBotModel
virtual	~IXBotModel ()

Constructor & Destructor Documentation

◆ XBotCoreModel()

XBot::XBotCoreModel::XBotCoreModel ( void )

inline

◆ ~XBotCoreModel()

XBot::XBotCoreModel::~XBotCoreModel ( )

inline

Member Function Documentation

◆ check_joint_limits()

bool XBot::XBotCoreModel::check_joint_limits ( ) const

◆ generate_robot()

void XBot::XBotCoreModel::generate_robot ( void )

dynamically generate the robot as a map {chain_name} -> {vector of enabled joints}

Parameters

...

Returns: void

◆ get_arms_chain()

const std::vector< std::string > & XBot::XBotCoreModel::get_arms_chain ( ) const

Get the arms chain names ordered as in the SRDF.

Returns: the arms chain names ordered as in the SRDF

◆ get_chain_names()

const std::vector<std::string>& XBot::XBotCoreModel::get_chain_names ( void ) const

inline

getter for the chain names vector

Returns: std::vector< std::::string> the chain names vector

◆ get_disabled_joints_in_chain()

bool XBot::XBotCoreModel::get_disabled_joints_in_chain	(	std::string	chain_name,
		std::vector< std::string > &	disabled_joints
	)		const

getter for the disabled joints vector in the chain

Parameters

chain_name	the requested chain name
disabled_joints	vector that will be filled with the disabled joint names

Returns: bool true if the chain exists, false otherwise

◆ get_enabled_joint_ids()

void XBot::XBotCoreModel::get_enabled_joint_ids ( std::vector< int > & joint_ids ) const

get the vector of the enabled joint ids of the whole robot

Parameters

joint_names array of the joint ids filled by this function

Returns: void

◆ get_enabled_joint_ids_in_chain()

bool XBot::XBotCoreModel::get_enabled_joint_ids_in_chain	(	std::string	chain_name,
		std::vector< int > &	joint_ids
	)		const

get the vector of the joint ids of the requested chain

Parameters

chain_name	the requested chain
joint_names	array of the joint ids of the requested chain filled by this function

Returns: void

◆ get_enabled_joint_names()

void XBot::XBotCoreModel::get_enabled_joint_names ( std::vector< std::string > & joint_names ) const

get the vector of the enabled joint names of the whole robot

Parameters

joint_names array of the joint names filled by this function

Returns: void

◆ get_enabled_joints_in_chain()

bool XBot::XBotCoreModel::get_enabled_joints_in_chain	(	std::string	chain_name,
		std::vector< std::string > &	enabled_joints
	)		const

getter for the enabled joints vector in the chain

Parameters

chain_name	the requested chain name
enabled_joints	vector that will be filled with the enabled joint names

Returns: bool true if the chain exists, false otherwise

◆ get_ft_sensors()

virtual std::map<std::string,int> XBot::XBotCoreModel::get_ft_sensors ( void )

inlinefinalvirtual

Implements XBot::IXBotModel.

◆ get_hands()

virtual std::map<std::string, int> XBot::XBotCoreModel::get_hands ( )

inlinefinalvirtual

Implements XBot::IXBotModel.

◆ get_imu_sensors()

virtual std::map<std::string, int> XBot::XBotCoreModel::get_imu_sensors ( )

inlinefinalvirtual

Implements XBot::IXBotModel.

◆ get_joint_num() [1/2]

int XBot::XBotCoreModel::get_joint_num ( ) const

get the number of joint in the robot

Returns: the number of joint of the robot

◆ get_joint_num() [2/2]

int XBot::XBotCoreModel::get_joint_num ( std::string chain_name ) const

get the number of joint of a requested chain

Parameters

chain_name the requested chain

Returns: the number of joint of the requested chain

◆ get_legs_chain()

const std::vector< std::string > & XBot::XBotCoreModel::get_legs_chain ( ) const

Get the legs chain names ordered as in the SRDF.

Returns: the legs chain names ordered as in the SRDF

◆ get_ordered_chain_names()

const std::vector<std::string>& XBot::XBotCoreModel::get_ordered_chain_names ( void ) const

inline

getter for the alphabetically ordered chain names vector

Returns: std::vector< std::::string> the chain names vector

◆ get_robot()

virtual std::map<std::string, std::vector<int> > XBot::XBotCoreModel::get_robot ( void )

inlinefinalvirtual

Implements XBot::IXBotModel.

◆ get_robot_tree()

KDL::Tree XBot::XBotCoreModel::get_robot_tree ( void )

inline

getter for the KDL robot tree

Returns: KDL::Tree the KDL robot tree

◆ get_srdf_string()

const std::string & XBot::XBotCoreModel::get_srdf_string ( ) const

Get the robot SRDF as a string.

Returns: SRDF file as a const std::string&

◆ get_urdf_model()

urdf::ModelInterfaceSharedPtr XBot::XBotCoreModel::get_urdf_model ( void ) const

inline

getter for the URDF ModelInterface

Returns: std::shared_ptr< urdf::ModelInterface > the URDF ModelInterface

◆ get_urdf_string()

const std::string & XBot::XBotCoreModel::get_urdf_string ( ) const

Get the robot URDF as a string.

Returns: URDF file as a const std::string&

◆ init() [1/2]

bool XBot::XBotCoreModel::init	(	const std::string &	urdf_filename,
		const std::string &	srdf_filename
	)

initialization function for the model: it loads the URDF and parses the SRDF

Parameters

urdf_filename	URDF path
srdf_filename	SRDF path

Returns: bool true on success, false otherwise

◆ init() [2/2]

bool XBot::XBotCoreModel::init	(	const std::string &	urdf_filename,
		const std::string &	srdf_filename,
		const std::string &	joint_map_config
	)

initialization function for the model: it loads the URDF and parses the SRDF

Parameters

urdf_filename	URDF path
srdf_filename	SRDF path
joint_map_config	joint_map_config path

Returns: bool true on success, false otherwise

◆ init_from_string()

bool XBot::XBotCoreModel::init_from_string	(	const std::string &	urdf,
		const std::string &	srdf,
		const std::string &	joint_map_config
	)

initialization function for the model: it loads the URDF and parses the SRDF

Parameters

urdf	URDF as string
srdf	SRDF as string
joint_map_config	joint ID map as string

Returns: bool true on success, false otherwise

◆ joint2Rid()

virtual int XBot::XBotCoreModel::joint2Rid ( std::string joint_name )

inlinefinalvirtual

Implements XBot::IXBotModel.

◆ rid2Joint()

virtual std::string XBot::XBotCoreModel::rid2Joint ( int rId )

inlinefinalvirtual

Implements XBot::IXBotModel.

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

/home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/include/XBotCoreModel/XBotCoreModel.h
/home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/src/XBotCoreModel.cpp

Public Member Functions

Constructor & Destructor Documentation

◆ XBotCoreModel()

◆ ~XBotCoreModel()

Member Function Documentation

◆ check_joint_limits()

◆ generate_robot()

◆ get_arms_chain()

◆ get_chain_names()

◆ get_disabled_joints_in_chain()

◆ get_enabled_joint_ids()

◆ get_enabled_joint_ids_in_chain()

◆ get_enabled_joint_names()

◆ get_enabled_joints_in_chain()

◆ get_ft_sensors()

◆ get_hands()

◆ get_imu_sensors()

◆ get_joint_num() [1/2]

◆ get_joint_num() [2/2]

◆ get_legs_chain()

◆ get_ordered_chain_names()

◆ get_robot()

◆ get_robot_tree()

◆ get_srdf_string()

◆ get_urdf_model()

◆ get_urdf_string()

◆ init() [1/2]

◆ init() [2/2]

◆ init_from_string()

◆ joint2Rid()

◆ rid2Joint()