robot_model_loader::RobotModelLoader Class Reference

#include <robot_model_loader.h>

Classes
struct	Options
	Structure that encodes the options to be passed to the RobotModelLoader constructor. More...

Public Member Functions
	RobotModelLoader (const rclcpp::Node::SharedPtr &node, const Options &opt=Options())
	Default constructor.
	RobotModelLoader (const rclcpp::Node::SharedPtr &node, const std::string &robot_description, bool load_kinematics_solvers=true)
	~RobotModelLoader ()
const moveit::core::RobotModelPtr &	getModel () const
	Get the constructed planning_models::RobotModel.
const std::string &	getRobotDescription () const
	Get the resolved parameter name for the robot description.
const urdf::ModelInterfaceSharedPtr &	getURDF () const
	Get the parsed URDF model.
const srdf::ModelSharedPtr &	getSRDF () const
	Get the parsed SRDF model.
const rdf_loader::RDFLoaderPtr &	getRDFLoader () const
	Get the instance of rdf_loader::RDFLoader that was used to load the robot description.
const kinematics_plugin_loader::KinematicsPluginLoaderPtr &	getKinematicsPluginLoader () const
	Get the kinematics solvers plugin loader.
void	loadKinematicsSolvers (const kinematics_plugin_loader::KinematicsPluginLoaderPtr &kloader=kinematics_plugin_loader::KinematicsPluginLoaderPtr())
	Load the kinematics solvers into the kinematic model. This is done by default, unless disabled explicitly by the options passed to the constructor.

Detailed Description

Definition at line 49 of file robot_model_loader.h.

Constructor & Destructor Documentation

RobotModelLoader() [1/2]

robot_model_loader::RobotModelLoader::RobotModelLoader	(	const rclcpp::Node::SharedPtr &	node,
		const Options &	opt = Options()
	)

Default constructor.

Definition at line 59 of file robot_model_loader.cpp.

RobotModelLoader() [2/2]

robot_model_loader::RobotModelLoader::RobotModelLoader	(	const rclcpp::Node::SharedPtr &	node,
		const std::string &	robot_description,
		bool	load_kinematics_solvers = true
	)

Definition at line 50 of file robot_model_loader.cpp.

~RobotModelLoader()

robot_model_loader::RobotModelLoader::~RobotModelLoader

(

)

Definition at line 65 of file robot_model_loader.cpp.

Member Function Documentation

getKinematicsPluginLoader()

const kinematics_plugin_loader::KinematicsPluginLoaderPtr & robot_model_loader::RobotModelLoader::getKinematicsPluginLoader ( ) const

inline

Get the kinematics solvers plugin loader.

Note

This instance needs to be kept in scope, otherwise kinematics solver plugins may get unloaded.

Definition at line 119 of file robot_model_loader.h.

getModel()

const moveit::core::RobotModelPtr & robot_model_loader::RobotModelLoader::getModel ( ) const

inline

Get the constructed planning_models::RobotModel.

Definition at line 88 of file robot_model_loader.h.

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getRDFLoader()

const rdf_loader::RDFLoaderPtr & robot_model_loader::RobotModelLoader::getRDFLoader ( ) const

inline

Get the instance of rdf_loader::RDFLoader that was used to load the robot description.

Definition at line 112 of file robot_model_loader.h.

getRobotDescription()

const std::string & robot_model_loader::RobotModelLoader::getRobotDescription ( ) const

inline

Get the resolved parameter name for the robot description.

Definition at line 94 of file robot_model_loader.h.

getSRDF()

const srdf::ModelSharedPtr & robot_model_loader::RobotModelLoader::getSRDF ( ) const

inline

Get the parsed SRDF model.

Definition at line 106 of file robot_model_loader.h.

getURDF()

const urdf::ModelInterfaceSharedPtr & robot_model_loader::RobotModelLoader::getURDF ( ) const

inline

Get the parsed URDF model.

Definition at line 100 of file robot_model_loader.h.

loadKinematicsSolvers()

void robot_model_loader::RobotModelLoader::loadKinematicsSolvers

(

const kinematics_plugin_loader::KinematicsPluginLoaderPtr &

kloader = kinematics_plugin_loader::KinematicsPluginLoaderPtr()

)

Load the kinematics solvers into the kinematic model. This is done by default, unless disabled explicitly by the options passed to the constructor.

Definition at line 256 of file robot_model_loader.cpp.

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

• moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
• moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp