robot_model_loader.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/rdf_loader/rdf_loader.h>
#include <moveit/kinematics_plugin_loader/kinematics_plugin_loader.h>
 
namespace robot_model_loader
{
MOVEIT_CLASS_FORWARD(RobotModelLoader);  // Defines RobotModelLoaderPtr, ConstPtr, WeakPtr... etc
 
class RobotModelLoader
{
public:
  struct Options
  {
    Options(const std::string& robot_description = "robot_description")
      : robot_description_(robot_description), load_kinematics_solvers_(true)
    {
    }
 
    Options(const std::string& urdf_string, const std::string& srdf_string)
      : urdf_string_(urdf_string), srdf_string_(srdf_string), load_kinematics_solvers_(true)
    {
    }
 
    std::string robot_description_;
 
    std::string urdf_string_, srdf_string_;
 
    bool load_kinematics_solvers_;
  };
 
  RobotModelLoader(const rclcpp::Node::SharedPtr& node, const Options& opt = Options());
 
  RobotModelLoader(const rclcpp::Node::SharedPtr& node, const std::string& robot_description,
                   bool load_kinematics_solvers = true);
 
  ~RobotModelLoader();
 
  const moveit::core::RobotModelPtr& getModel() const
  {
    return model_;
  }
 
  const std::string& getRobotDescription() const
  {
    return rdf_loader_->getRobotDescription();
  }
 
  const urdf::ModelInterfaceSharedPtr& getURDF() const
  {
    return rdf_loader_->getURDF();
  }
 
  const srdf::ModelSharedPtr& getSRDF() const
  {
    return rdf_loader_->getSRDF();
  }
 
  const rdf_loader::RDFLoaderPtr& getRDFLoader() const
  {
    return rdf_loader_;
  }
 
  const kinematics_plugin_loader::KinematicsPluginLoaderPtr& getKinematicsPluginLoader() const
  {
    return kinematics_loader_;
  }
 
  void loadKinematicsSolvers(const kinematics_plugin_loader::KinematicsPluginLoaderPtr& kloader =
                                 kinematics_plugin_loader::KinematicsPluginLoaderPtr());
 
private:
  void configure(const Options& opt);
 
  moveit::core::RobotModelPtr model_;
  rdf_loader::RDFLoaderPtr rdf_loader_;
  kinematics_plugin_loader::KinematicsPluginLoaderPtr kinematics_loader_;
  const rclcpp::Node::SharedPtr node_;
};
}  // namespace robot_model_loader