wbc::URDFTools Class Reference

#include <URDFTools.hpp>

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

Member Function Documentation

addFloatingBaseToURDF()

std::vector< std::string > wbc::URDFTools::addFloatingBaseToURDF ( urdf::ModelInterfaceSharedPtr & robot_urdf, const std::string & world_frame_id = "world" )

static

Create a 6 Dof virtual floating base URDF and add it to the robot model

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() [1/2]

void wbc::URDFTools::jointLimitsFromURDF ( const std::string & filename, base::JointLimits & limits )

static

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

jointLimitsFromURDF() [2/2]

void wbc::URDFTools::jointLimitsFromURDF ( const urdf::ModelInterfaceSharedPtr & urdf_model, base::JointLimits & limits )

static

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

jointNamesFromURDF() [1/2]

std::vector< std::string > wbc::URDFTools::jointNamesFromURDF ( const std::string & filename )

static

Return all non-fixed joints from the given URDF file

jointNamesFromURDF() [2/2]

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

static

Return all non-fixed joints from the given URDF file

printTree() [1/2]

void wbc::URDFTools::printTree ( const std::string & filename )

static

Print whole URDF tree

printTree() [2/2]

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

static

Print whole URDF tree

robotNameFromURDF()

const std::string wbc::URDFTools::robotNameFromURDF ( const std::string & filename )

static

Return robot name from given URDF file

rootLinkFromURDF()

const std::string wbc::URDFTools::rootLinkFromURDF ( const std::string & filename )

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