ImFusion SDK 4.3
RobotTree Class Reference

#include <RoboticsPlugin/Include/ImFusion/Robotics/Model/RobotTree.h>

Represents the tree information of a robot. More...

Detailed Description

Represents the tree information of a robot.

It contains the current geometrical model of the robot and returns robot elements as container of information as RobotSegment and RobotChain. These objects are mere holders of information of a current instance of the tree and are not guaranteed to be valid after their instantiation. To check the validity, the RobotTree class offers methods for each class.

Public Member Functions

 RobotTree (const std::string &urdf, const std::string &srdf)
 
std::optional< RobotChainPtr > getChain (const std::string &root, const std::string &tip) const
 Returns the corresponding chain if valid. By default it returns the chain from the root to the first leaf.
 
bool isChainValid (const RobotChainPtr &chain)
 
const RobotGroupMap * groups () const
 
std::optional< RobotGroupPtr > group (const std::string &name) const
 
RobotSegmentPtr root (bool skipWorld=true) const
 
std::vector< RobotSegmentPtr > leafs () const
 
std::optional< RobotSegmentPtr > segment (const std::string &name) const
 
const RobotSegmentMapsegments () const
 
unsigned int numSegments () const
 
unsigned int numJoints (bool onlyActive=true) const
 
const RobotTreeImplimpl () const
 
KDL::Tree * tree () const
 
const urdf::ModelInterface * getUrdf () const
 
const srdf::Model * getSrdf () const
 

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