AL::urdf Namespace Reference

Namespaces
	detail
	robot

Classes
class	RobotTree
struct	ScalarArrayTranslator
class	Pose
class	Mimic
class	Joint
class	Inertial
class	Box
class	Cylinder
class	Sphere
class	Mesh
class	Visual
class	Link
class	UrdfDotPrinterVisitor

Typedefs
typedef boost::property_tree::ptree	ptree
typedef std::array< double, 3 >	Array3d
typedef RobotTree::JointConstVisitor	JointConstVisitor
typedef RobotTree::JointVisitor	JointVisitor
using	Array3dTranslator = ScalarArrayTranslator< double, 3 >
using	Geometry = boost::variant< Box, Cylinder, Sphere, Mesh >

Functions
bool	is_zero (const Array3d &a)
bool	is_ones (const Array3d &a)
ALMATH_API std::string	name (const ptree &pt)
ALMATH_API std::string	parent_link (const ptree &pt)
ALMATH_API std::string	child_link (const ptree &pt)
bool	operator== (const Pose &lhs, const Pose &rhs)
bool	operator!= (const Pose &lhs, const Pose &rhs)
bool	is_identity (const Pose &p)
ALMATH_API void	makeJointFixed (RobotTree &parser, const std::string &name)
ALMATH_API void	makeJointFloating (RobotTree &parser, const std::string &name)
ALMATH_API std::vector < std::string >	makeContinuousJointsFixed (RobotTree &parser)
ALMATH_API void	squashJointMass (RobotTree &parser, const std::string &name)
ALMATH_API void	squashFixedJointsMass (RobotTree &parser)
ALMATH_API std::vector < std::string >	makeMasslessJointsFixed (RobotTree &parser)
ALMATH_API std::vector < std::string >	removeSubTreeIfJoint (RobotTree &parser, std::function< bool(const ptree &joint)> pred)
ALMATH_API void	put_name (ptree &pt, const std::string &name)

Typedef Documentation

typedef std::array<double, 3> AL::urdf::Array3d

Definition at line 66 of file urdf.h.

using AL::urdf::Array3dTranslator = typedef ScalarArrayTranslator<double, 3>

Definition at line 316 of file urdf.h.

using AL::urdf::Geometry = typedef boost::variant<Box, Cylinder, Sphere, Mesh>

Definition at line 431 of file urdf.h.

typedef RobotTree::JointConstVisitor AL::urdf::JointConstVisitor

Definition at line 265 of file urdf.h.

typedef RobotTree::JointVisitor AL::urdf::JointVisitor

Definition at line 266 of file urdf.h.

typedef boost::property_tree::ptree AL::urdf::ptree

Definition at line 60 of file urdf.h.

Function Documentation

ALMATH_API std::string AL::urdf::child_link

(

const ptree &

pt

)

bool AL::urdf::is_identity ( const Pose &  p )

inline

Definition at line 344 of file urdf.h.

bool AL::urdf::is_ones ( const Array3d &  a )

inline

Definition at line 72 of file urdf.h.

bool AL::urdf::is_zero ( const Array3d &  a )

inline

Definition at line 68 of file urdf.h.

ALMATH_API std::vector<std::string> AL::urdf::makeContinuousJointsFixed

(

RobotTree &

parser

)

ALMATH_API void AL::urdf::makeJointFixed	(	RobotTree &	parser,
		const std::string &	name
	)

ALMATH_API void AL::urdf::makeJointFloating	(	RobotTree &	parser,
		const std::string &	name
	)

ALMATH_API std::vector<std::string> AL::urdf::makeMasslessJointsFixed

(

RobotTree &

parser

)

ALMATH_API std::string AL::urdf::name

(

const ptree &

pt

)

bool AL::urdf::operator!= ( const Pose &  lhs, const Pose &  rhs  )

inline

Definition at line 340 of file urdf.h.

bool AL::urdf::operator== ( const Pose &  lhs, const Pose &  rhs  )

inline

Definition at line 337 of file urdf.h.

ALMATH_API std::string AL::urdf::parent_link

(

const ptree &

pt

)

ALMATH_API void AL::urdf::put_name	(	ptree &	pt,
		const std::string &	name
	)

ALMATH_API std::vector<std::string> AL::urdf::removeSubTreeIfJoint	(	RobotTree &	parser,
		std::function< bool(const ptree &joint)>	pred
	)

ALMATH_API void AL::urdf::squashFixedJointsMass

(

RobotTree &

parser

)

ALMATH_API void AL::urdf::squashJointMass	(	RobotTree &	parser,
		const std::string &	name
	)