ImFusion::Robotics::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 RobotSegmentMap *	segments () const
unsigned int	numSegments () const
unsigned int	numJoints (bool onlyActive=true) const
const RobotTreeImpl *	impl () const
KDL::Tree *	tree () const
const urdf::ModelInterface *	getUrdf () const
const srdf::Model *	getSrdf () const

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

• RoboticsPlugin/Include/ImFusion/Robotics/Model/RobotTree.h