smurf::Robot Class Reference

#include <Robot.hpp>

Public Member Functions
	Robot ()
	~Robot ()
const std::vector< smurf::StaticTransformation * > &	getStaticTransforms () const
const std::vector< smurf::DynamicTransformation * > &	getDynamicTransforms () const
const std::vector< smurf::Joint * > &	getJoints () const
const std::vector< smurf::Motor * > &	getMotors () const
const std::vector< smurf::Sensor * > &	getSensors () const
const std::vector< smurf::Frame * > &	getFrames () const
const Frame *	getRootFrame () const
const ContactParams	getContactParams (const std::string &collisionName, const std::string &linkName)
void	loadCollidables ()
void	loadCollisions ()
void	loadInertials ()
void	loadJoints ()
void	loadMotors ()
void	loadSensors ()
void	loadVisuals ()
void	loadFrames (urdf::ModelInterfaceSharedPtr model)
void	loadFromSmurf (const std::string &path, std::string prefix="")

Protected Member Functions
Frame *	getFrameByName (const std::string &name)
configmaps::ConfigMap	getAnnotations (const urdf::JointSharedPtr &joint)
configmaps::ConfigMap	getJointConfigMap (const urdf::JointSharedPtr &joint)

Protected Attributes
Frame *	rootFrame
urdf::ModelInterfaceSharedPtr	model
configmaps::ConfigMap *	smurfMap
std::vector< smurf::Frame * >	availableFrames
std::vector< smurf::StaticTransformation * >	staticTransforms
std::vector< smurf::DynamicTransformation * >	dynamicTransforms
std::vector< smurf::Joint * >	joints
std::vector< smurf::Sensor * >	sensors
std::vector< smurf::Motor * >	motors
const bool	debug = false
std::string	prefix

Constructor & Destructor Documentation

Robot()

smurf::Robot::Robot

(

)

~Robot()

smurf::Robot::~Robot

(

)

Member Function Documentation

getAnnotations()

configmaps::ConfigMap smurf::Robot::getAnnotations ( const urdf::JointSharedPtr &  joint )

protected

getContactParams()

const smurf::ContactParams smurf::Robot::getContactParams	(	const std::string &	collisionName,
		const std::string &	linkName
	)

getDynamicTransforms()

const std::vector<smurf::DynamicTransformation *>& smurf::Robot::getDynamicTransforms ( ) const

inline

getFrameByName()

smurf::Frame * smurf::Robot::getFrameByName ( const std::string &  name )

protected

getFrames()

const std::vector<smurf::Frame *>& smurf::Robot::getFrames ( ) const

inline

getJointConfigMap()

configmaps::ConfigMap smurf::Robot::getJointConfigMap ( const urdf::JointSharedPtr &  joint )

protected

getJoints()

const std::vector<smurf::Joint *>& smurf::Robot::getJoints ( ) const

inline

getMotors()

const std::vector<smurf::Motor *>& smurf::Robot::getMotors ( ) const

inline

getRootFrame()

const Frame* smurf::Robot::getRootFrame ( ) const

inline

getSensors()

const std::vector<smurf::Sensor *>& smurf::Robot::getSensors ( ) const

inline

getStaticTransforms()

const std::vector<smurf::StaticTransformation *>& smurf::Robot::getStaticTransforms ( ) const

inline

loadCollidables()

void smurf::Robot::loadCollidables

(

)

Loads the SMURF Collidable objects in their correspondent frames

The smurf collidable contains the urdf collision object. Therefore if loadCollidables is executed, loadCollisions in no needed.

loadCollisions()

void smurf::Robot::loadCollisions

(

)

Loads the URDF collision objects in their correspondent frames

loadFrames()

void smurf::Robot::loadFrames

(

urdf::ModelInterfaceSharedPtr

model

)

loadFromSmurf()

void smurf::Robot::loadFromSmurf	(	const std::string &	path,
		std::string	prefix = ""
	)

Loads all the information from the Smurf model in the Robot object.

• Creates the frames (from the links and from the visuals)
• Loads the joints
• Loads the sensors
• Loads the collidables
• Loads the inertials

loadInertials()

void smurf::Robot::loadInertials

(

)

Loads the SMURF Inertial objects in their correspondent frames

The smurf inertial object contains the urdf inertial object.

loadJoints()

void smurf::Robot::loadJoints

(

)

Loads the different joints of the model in the correspondent frames.

• Fixed joints are loaded as staticTransforms
• Floating, revolute and prismatic joints as dynamicTransforms and as Joints.

loadMotors()

void smurf::Robot::loadMotors

(

)

loadSensors()

void smurf::Robot::loadSensors

(

)

loadVisuals()

void smurf::Robot::loadVisuals

(

)

Member Data Documentation

availableFrames

std::vector<smurf::Frame *> smurf::Robot::availableFrames

protected

debug

const bool smurf::Robot::debug = false

protected

dynamicTransforms

std::vector<smurf::DynamicTransformation *> smurf::Robot::dynamicTransforms

protected

joints

std::vector<smurf::Joint *> smurf::Robot::joints

protected

model

urdf::ModelInterfaceSharedPtr smurf::Robot::model

protected

motors

std::vector<smurf::Motor *> smurf::Robot::motors

protected

prefix

std::string smurf::Robot::prefix

protected

rootFrame

Frame* smurf::Robot::rootFrame

protected

sensors

std::vector<smurf::Sensor *> smurf::Robot::sensors

protected

smurfMap

configmaps::ConfigMap* smurf::Robot::smurfMap

protected

staticTransforms

std::vector<smurf::StaticTransformation *> smurf::Robot::staticTransforms

protected

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

• /build/rock-master-18.09-tools-smurf-0.20180405/src/Robot.hpp
• /build/rock-master-18.09-tools-smurf-0.20180405/src/Robot.cpp