moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | Public Attributes | List of all members
robot_model_loader::RobotModelLoader::Options Struct Reference

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

#include <robot_model_loader.h>

Public Member Functions

 Options (const std::string &robot_description="robot_description")
 
 Options (const std::string &urdf_string, const std::string &srdf_string)
 

Public Attributes

std::string robot_description
 The string name corresponding to the ROS param where the URDF is loaded; Using the same parameter name plus the "_planning" suffix, additional configuration can be specified (e.g., additional joint limits). Loading from the param server is attempted only if loading from string fails.
 
std::string urdf_string_
 The string content of the URDF and SRDF documents. Loading from string is attempted only if loading from XML fails.
 
std::string srdf_string
 
bool load_kinematics_solvers
 Flag indicating whether the kinematics solvers should be loaded as well, using specified ROS parameters.
 

Detailed Description

Structure that encodes the options to be passed to the RobotModelLoader constructor.

Definition at line 53 of file robot_model_loader.h.

Constructor & Destructor Documentation

◆ Options() [1/2]

robot_model_loader::RobotModelLoader::Options::Options ( const std::string &  robot_description = "robot_description")
inline

Definition at line 55 of file robot_model_loader.h.

◆ Options() [2/2]

robot_model_loader::RobotModelLoader::Options::Options ( const std::string &  urdf_string,
const std::string &  srdf_string 
)
inline

Definition at line 60 of file robot_model_loader.h.

Member Data Documentation

◆ load_kinematics_solvers

bool robot_model_loader::RobotModelLoader::Options::load_kinematics_solvers

Flag indicating whether the kinematics solvers should be loaded as well, using specified ROS parameters.

Definition at line 76 of file robot_model_loader.h.

◆ robot_description

std::string robot_model_loader::RobotModelLoader::Options::robot_description

The string name corresponding to the ROS param where the URDF is loaded; Using the same parameter name plus the "_planning" suffix, additional configuration can be specified (e.g., additional joint limits). Loading from the param server is attempted only if loading from string fails.

Definition at line 68 of file robot_model_loader.h.

◆ srdf_string

std::string robot_model_loader::RobotModelLoader::Options::srdf_string

Definition at line 72 of file robot_model_loader.h.

◆ urdf_string_

std::string robot_model_loader::RobotModelLoader::Options::urdf_string_

The string content of the URDF and SRDF documents. Loading from string is attempted only if loading from XML fails.

Definition at line 72 of file robot_model_loader.h.


The documentation for this struct was generated from the following file: