wbc::URDFTools Class Reference

#include <URDFTools.hpp>

Static Public Member Functions
static std::vector< std::string >	jointNamesFromURDF (const urdf::ModelInterfaceSharedPtr &urdf_model)
static void	jointLimitsFromURDF (const urdf::ModelInterfaceSharedPtr &urdf_model, types::JointLimits &limits, const std::vector< std::string > &joint_names)
static const std::string	rootLinkFromURDF (const urdf::ModelInterfaceSharedPtr &urdf_model)
static void	printTree (urdf::LinkConstSharedPtr link, int level=0)
static bool	applyJointBlacklist (urdf::ModelInterfaceSharedPtr &robot_urdf, const std::vector< std::string > &blacklist)

Member Function Documentation

applyJointBlacklist()

bool wbc::URDFTools::applyJointBlacklist ( urdf::ModelInterfaceSharedPtr & robot_urdf, const std::vector< std::string > & blacklist )

static

Set all blacklisted joints in robot model to fixed

jointLimitsFromURDF()

void wbc::URDFTools::jointLimitsFromURDF ( const urdf::ModelInterfaceSharedPtr & urdf_model, types::JointLimits & limits, const std::vector< std::string > & joint_names )

static

Return limits for all non-fixed joints from the given URDF model

jointNamesFromURDF()

std::vector< std::string > wbc::URDFTools::jointNamesFromURDF ( const urdf::ModelInterfaceSharedPtr & urdf_model )

static

Return all non-fixed joints from the given URDF file

printTree()

void wbc::URDFTools::printTree ( urdf::LinkConstSharedPtr link, int level = 0 )

static

Print whole URDF tree

rootLinkFromURDF()

const std::string wbc::URDFTools::rootLinkFromURDF ( const urdf::ModelInterfaceSharedPtr & urdf_model )

static

Return Root link from given URDF file

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

• src/tools/URDFTools.hpp
• src/tools/URDFTools.cpp