urdfreader.cpp File Reference

#include <fstream>
#include <stack>
#include <urdf_model/model.h>
#include <urdf_parser/urdf_parser.h>
#include <rdl_dynamics/Model.hpp>
#include <rdl_urdfreader/urdfreader.hpp>
#include <tinyxml.h>

Include dependency graph for urdfreader.cpp:

Namespaces
	RobotDynamics
	Namespace for all structures of the RobotDynamics library.
	RobotDynamics::Urdf

Typedefs
typedef vector< urdf::LinkSharedPtr >	RobotDynamics::Urdf::URDFLinkVector
typedef vector< urdf::JointSharedPtr >	RobotDynamics::Urdf::URDFJointVector
typedef map< string, urdf::LinkSharedPtr >	RobotDynamics::Urdf::URDFLinkMap
typedef map< string, urdf::JointSharedPtr >	RobotDynamics::Urdf::URDFJointMap

Functions
std::vector< double >	RobotDynamics::Urdf::xmlElementToVector (TiXmlElement *element)
	Helper method for getting xml elements like <origin> 1 2 3 </origin> into an stl container for further operations. More...
bool	RobotDynamics::Urdf::construct_model (ModelPtr rdl_model, urdf::ModelInterfaceSharedPtr urdf_model, bool floating_base, const std::map< std::string, hydro::BodyHydroData > &hydroData, JointType floating_base_rotation_joint_type, bool verbose)
bool	RobotDynamics::Urdf::parseJointBodyNameMapFromFile (const std::string &filename, std::map< std::string, std::string > &jointBodyMap)
	This will build a map of joint name to body name. More...
bool	RobotDynamics::Urdf::parseJointAndBodyNamesFromString (const std::string &model_xml_string, std::vector< std::string > &joint_names, std::vector< std::string > &body_names)
	This will build vectors of joint name and body name pairs. More...
bool	RobotDynamics::Urdf::parseJointBodyNameMapFromString (const std::string &model_xml_string, std::map< std::string, std::string > &jointBodyMap)
	This will build a map of joint name to body name. More...
bool	RobotDynamics::Urdf::parseJointAndQIndex (const RobotDynamics::Model &model, const std::vector< std::string > &body_names, std::vector< unsigned int > &q_indices)
	This will build a vector of joint indices in the same order as the list of joints. More...
bool	RobotDynamics::Urdf::parseJointAndQIndex (const std::string &model_xml_string, std::vector< unsigned int > &q_indices)
	This will build a vector of joint indices in the same order as the list of joints. More...
bool	RobotDynamics::Urdf::urdfReadFromFile (const std::string &filename, ModelPtr model, JointType floating_base_rotation_joint_type=JointTypeSpherical, bool verbose=false)
	Read urdf from file path. More...
bool	RobotDynamics::Urdf::urdfReadFromString (const std::string &model_xml_string, ModelPtr model, JointType floating_base_rotation_joint_type=JointTypeSpherical, bool verbose=false)
	Read urdf from string contents. More...