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ImFusion SDK 4.3
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#include <RoboticsPlugin/Include/ImFusion/Robotics/Model/RobotTree.h>
Represents the tree information of a robot. More...
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 |