ImFusion::Robotics::RobotTreeKDL Class Reference

Inheritance diagram for ImFusion::Robotics::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 ImFusion::Robotics::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 ImFusion::Robotics::RobotTreeImpl
static RobotItemComp	createComparer (std::unordered_map< std::string, int > ordering)
static RobotItemComp	createComparer (std::vector< std::string > names)
Protected Member Functions inherited from ImFusion::Robotics::RobotTreeImpl
std::optional< srdf::Model::Group >	getSrdfGroup (const std::string &name) const
Protected Attributes inherited from ImFusion::Robotics::RobotTreeImpl
std::shared_ptr< const urdf::ModelInterface >	m_urdf
std::shared_ptr< const srdf::Model >	m_srdf

Member Function Documentation

getChain()

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

overridevirtual

Implements ImFusion::Robotics::RobotTreeImpl.

getSegments()

const RobotSegmentMap * ImFusion::Robotics::RobotTreeKDL::getSegments ( ) const

overridevirtual

Implements ImFusion::Robotics::RobotTreeImpl.

getGroups()

const RobotGroupMap * ImFusion::Robotics::RobotTreeKDL::getGroups ( ) const

overridevirtual

Implements ImFusion::Robotics::RobotTreeImpl.

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

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