Inheritance diagram for RobotTreeKDL:

Public Member Functions
	RobotTreeKDL (const std::string &urdf, const std::string &srdf)

KDL::Tree *	tree () const
	Returns group states defined in the srdf which groups are still valid.

KDL::Segment	root () const

std::optional< KDL::Chain >	getKDLChain (const std::string &root, const std::string &tip) const

std::optional< RobotChainPtr >	getChain (const std::pair< std::string, std::string > &bounds) const override

const RobotSegmentMap *	getSegments () const override

const RobotGroupMap *	getGroups () const override

Public Member Functions inherited from RobotTreeImpl
	RobotTreeImpl (const std::string &urdf, const std::string &srdf)

const urdf::ModelInterface *	urdf () const

const srdf::Model *	srdf () const

Additional Inherited Members
Static Public Member Functions inherited from RobotTreeImpl
static RobotItemComp	createComparer (std::unordered_map< std::string, int > ordering)

static RobotItemComp	createComparer (std::vector< std::string > names)

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

Protected Attributes inherited from RobotTreeImpl
std::shared_ptr< const urdf::ModelInterface >	m_urdf

std::shared_ptr< const srdf::Model >	m_srdf

Member Function Documentation

◆ getChain()

std::optional< RobotChainPtr > getChain ( const std::pair< std::string, std::string > & bounds ) const

overridevirtual

const RobotSegmentMap * getSegments ( ) const

overridevirtual

const RobotGroupMap * getGroups ( ) const

overridevirtual

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