#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

smurf::Robot::Robot ( )

smurf::Robot::~Robot ( )

Member Function Documentation

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

protected

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

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

inline

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

protected

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

inline

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

protected

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

inline

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

inline

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

inline

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

inline

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

inline

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.

void smurf::Robot::loadCollisions ( )

Loads the URDF collision objects in their correspondent frames

void smurf::Robot::loadFrames ( urdf::ModelInterfaceSharedPtr model )

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

void smurf::Robot::loadInertials ( )

Loads the SMURF Inertial objects in their correspondent frames

The smurf inertial object contains the urdf inertial object.

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.

void smurf::Robot::loadMotors ( )

void smurf::Robot::loadSensors ( )

void smurf::Robot::loadVisuals ( )

Member Data Documentation

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

protected

const bool smurf::Robot::debug = false

protected

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

protected

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

protected

urdf::ModelInterfaceSharedPtr smurf::Robot::model

protected

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

protected

std::string smurf::Robot::prefix

protected

Frame* smurf::Robot::rootFrame

protected

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

protected

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

protected

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

protected

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

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation