ImFusion::Robotics::RobotTreeImpl Class Reference

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

Interface between RobotTree and the implementation/libraries used to hold the tree representation. More...

Inheritance diagram for ImFusion::Robotics::RobotTreeImpl:

Detailed Description

Interface between RobotTree and the implementation/libraries used to hold the tree representation.

Classes implementing should guarantee the order of the elements in the query respect to the three (dependent on the library representation). This class and its implementations should reduce the dependency of ImFusion classes as RobotChain, RobotSegment, RobotGroup and use fundamental types as arguments for the queries.

Public Member Functions
	RobotTreeImpl (const std::string &urdf, const std::string &srdf)
virtual std::optional< RobotChainPtr >	getChain (const std::pair< std::string, std::string > &bounds) const =0
virtual const RobotSegmentMap *	getSegments () const =0
virtual const RobotGroupMap *	getGroups () const =0
const urdf::ModelInterface *	urdf () const
const srdf::Model *	srdf () const

Static Public Member Functions
static RobotItemComp	createComparer (std::unordered_map< std::string, int > ordering)
static RobotItemComp	createComparer (std::vector< std::string > names)

Protected Member Functions
std::optional< srdf::Model::Group >	getSrdfGroup (const std::string &name) const

Protected Attributes
std::shared_ptr< const urdf::ModelInterface >	m_urdf
std::shared_ptr< const srdf::Model >	m_srdf

---

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

• RoboticsPlugin/Include/ImFusion/Robotics/Model/Impl/RobotTreeImpl.h