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.