Fawkes API
Fawkes Development Version
model.h
1
/***************************************************************************
2
* model.h - URDF Model
3
*
4
* Created: Fri Feb 14 17:35:15 2014
5
* Copyright 2014 Till Hofmann
6
*
7
****************************************************************************/
8
9
/* This program is free software; you can redistribute it and/or modify
10
* it under the terms of the GNU General Public License as published by
11
* the Free Software Foundation; either version 2 of the License, or
12
* (at your option) any later version.
13
*
14
* This program is distributed in the hope that it will be useful,
15
* but WITHOUT ANY WARRANTY; without even the implied warranty of
16
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17
* GNU Library General Public License for more details.
18
*
19
* Read the full text in the LICENSE.GPL file in the doc directory.
20
*/
21
22
/* This code is based on ROS robot_model with the following copyright and license:
23
* Software License Agreement (BSD License)
24
*
25
* Copyright (c) 2008, Willow Garage, Inc.
26
* All rights reserved.
27
*
28
* Redistribution and use in source and binary forms, with or without
29
* modification, are permitted provided that the following conditions
30
* are met:
31
*
32
* * Redistributions of source code must retain the above copyright
33
* notice, this list of conditions and the following disclaimer.
34
* * Redistributions in binary form must reproduce the above
35
* copyright notice, this list of conditions and the following
36
* disclaimer in the documentation and/or other materials provided
37
* with the distribution.
38
* * Neither the name of the Willow Garage nor the names of its
39
* contributors may be used to endorse or promote products derived
40
* from this software without specific prior written permission.
41
*
42
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
43
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
44
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
45
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
46
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
47
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
48
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
49
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
50
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
51
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
52
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
53
* POSSIBILITY OF SUCH DAMAGE.
54
*/
55
56
#ifndef URDF_MODEL_H
57
#define URDF_MODEL_H
58
59
#include <urdf_model/model.h>
60
61
#include <map>
62
#include <string>
63
#include <tinyxml.h>
64
65
#if !defined(HAVE_URDFDOM_TYPES_H)
66
namespace
urdf {
67
typedef
boost::shared_ptr<urdf::ModelInterface> ModelInterfaceSharedPtr;
68
}
69
#endif
70
71
namespace
urdf {
72
73
class
Model
:
public
ModelInterface
74
{
75
public
:
76
bool
initXml
(TiXmlElement *xml);
77
bool
initXml
(TiXmlDocument *xml);
78
bool
initFile
(
const
std::string &filename);
79
bool
initString
(
const
std::string &xmlstring);
80
};
81
82
}
// namespace urdf
83
84
#endif
urdf::Model
Definition:
model.h:73
urdf::Model::initFile
bool initFile(const std::string &filename)
Initialize the Model using a URDF file.
Definition:
model.cpp:89
urdf::Model::initString
bool initString(const std::string &xmlstring)
Initialize the model using an URDF string.
Definition:
model.cpp:146
urdf::Model::initXml
bool initXml(TiXmlElement *xml)
Initialize the model using a XML Element.
Definition:
model.cpp:129
src
libs
kdl_parser
model.h
Generated by
1.8.17