kdl_parser Namespace Reference

Enumerations
enum	ROBOT_MODEL_FORMAT { ROBOT_MODEL_AUTO, ROBOT_MODEL_URDF, ROBOT_MODEL_SDF }

Functions
bool	treeFromSdfString (const std::string &xml, KDL::Tree &tree)
bool	treeFromSdfFile (const std::string &path, KDL::Tree &tree)
Vector	toKdl (urdf::Vector3 v)
Rotation	toKdl (urdf::Rotation r)
Frame	toKdl (urdf::Pose p)
Joint	toKdl (urdf::JointSharedPtr jnt)
RigidBodyInertia	toKdl (urdf::InertialSharedPtr i)
bool	addChildrenToTree (urdf::LinkConstSharedPtr root, Tree &tree)
bool	treeFromFile (const string &path, Tree &tree, ROBOT_MODEL_FORMAT format)
bool	treeFromString (const string &xml, Tree &tree, ROBOT_MODEL_FORMAT format)
bool	treeFromUrdfModel (const urdf::ModelInterface &robot_model, Tree &tree)
bool	treeFromFile (const std::string &file, KDL::Tree &tree, ROBOT_MODEL_FORMAT format=ROBOT_MODEL_URDF)
bool	treeFromString (const std::string &xml, KDL::Tree &tree, ROBOT_MODEL_FORMAT format=ROBOT_MODEL_URDF)
bool	treeFromUrdfModel (const urdf::ModelInterface &robot_model, KDL::Tree &tree)
void	treeFromSdfModel (const sdf::ElementPtr &sdf_model, KDL::Tree &out)
ROBOT_MODEL_FORMAT	guessFormatFromFilename (const std::string &file)
const char *	formatNameFromID (int type)
std::pair< std::string, ROBOT_MODEL_FORMAT >	getRobotModelString (const std::string &model, ROBOT_MODEL_FORMAT format)
bool	treeFromSdfString (const string &xml, KDL::Tree &tree)
bool	treeFromSdfFile (const string &path, KDL::Tree &tree)

Enumeration Type Documentation

enum kdl_parser::ROBOT_MODEL_FORMAT

Enumerator
ROBOT_MODEL_AUTO	try to guess the format
ROBOT_MODEL_URDF	URDF model.
ROBOT_MODEL_SDF	SDF model.

Function Documentation

bool kdl_parser::addChildrenToTree	(	urdf::LinkConstSharedPtr	root,
		Tree &	tree
	)

const char * kdl_parser::formatNameFromID

(

int

type

)

Returns the name of one of the ROBOT_MODEL_* format IDs

std::pair<std::string, ROBOT_MODEL_FORMAT> kdl_parser::getRobotModelString	(	const std::string &	model,
		ROBOT_MODEL_FORMAT	format
	)

Resolve a string that is either a XML robot model or a path to a file into the full XML string and its format

Parameters

model	either a path to a model file, or the full XML model. In the latter case, it is expected to start with the XML preamble (<?xml ...?>).
format	the model format. ROBOT_MODEL_AUTO can only be used in the case of a path, the function does not know how to auto-detect the format of a XML string yet.

Returns

the XML string and its format

ROBOT_MODEL_FORMAT kdl_parser::guessFormatFromFilename

(

const std::string &

file

)

Returns the model format based on a filename's extension

Vector kdl_parser::toKdl

(

urdf::Vector3

v

)

Rotation kdl_parser::toKdl

(

urdf::Rotation

r

)

Frame kdl_parser::toKdl

(

urdf::Pose

p

)

Joint kdl_parser::toKdl

(

urdf::JointSharedPtr

jnt

)

RigidBodyInertia kdl_parser::toKdl

(

urdf::InertialSharedPtr

i

)

bool kdl_parser::treeFromFile	(	const std::string &	file,
		KDL::Tree &	tree,
		ROBOT_MODEL_FORMAT	format = ROBOT_MODEL_URDF
	)

Constructs a KDL tree from a file, given the file name

Parameters

file	The filename from where to read the xml
tree	The resulting KDL Tree returns true on success, false on failure

bool kdl_parser::treeFromFile	(	const string &	path,
		Tree &	tree,
		ROBOT_MODEL_FORMAT	format
	)

bool kdl_parser::treeFromSdfFile	(	const std::string &	path,
		KDL::Tree &	tree
	)

load kdl tree from sdf file

bool kdl_parser::treeFromSdfFile	(	const string &	path,
		KDL::Tree &	tree
	)

load kdl tree from sdf file

void kdl_parser::treeFromSdfModel	(	const sdf::ElementPtr &	sdf_model,
		KDL::Tree &	out
	)

Constructs a KDL tree from a SDF robot model

Parameters

robot_model	The SDF robot model
tree	The resulting KDL Tree

bool kdl_parser::treeFromSdfString	(	const std::string &	xml,
		KDL::Tree &	tree
	)

load kdl tree from sdf xml string

bool kdl_parser::treeFromSdfString	(	const string &	xml,
		KDL::Tree &	tree
	)

load kdl tree from sdf xml string

bool kdl_parser::treeFromString	(	const std::string &	xml,
		KDL::Tree &	tree,
		ROBOT_MODEL_FORMAT	format = ROBOT_MODEL_URDF
	)

Constructs a KDL tree from a string containing xml

Parameters

xml	A string containting the xml description of the robot
tree	The resulting KDL Tree returns true on success, false on failure

bool kdl_parser::treeFromString	(	const string &	xml,
		Tree &	tree,
		ROBOT_MODEL_FORMAT	format
	)

bool kdl_parser::treeFromUrdfModel	(	const urdf::ModelInterface &	robot_model,
		KDL::Tree &	tree
	)

Constructs a KDL tree from a URDF robot model

Parameters

robot_model	The URDF robot model
tree	The resulting KDL Tree returns true on success, false on failure

bool kdl_parser::treeFromUrdfModel	(	const urdf::ModelInterface &	robot_model,
		Tree &	tree
	)