transmission_interface Namespace Reference

Classes
class	ActuatorHandle
class	DifferentialTransmission
	Implementation of a differential transmission. More...
class	Exception
class	FourBarLinkageTransmission
	Implementation of a four-bar-linkage transmission. More...
class	JointHandle
class	SimpleTransmission
	Implementation of a simple reducer transmission. More...
class	Transmission
	Abstract base class for representing mechanical transmissions. More...

Typedefs
typedef std::shared_ptr< Transmission >	TransmissionSharedPtr

Functions
template<typename T >
std::string	to_string (const std::vector< T > &list)
template<class T >
std::vector< std::string >	get_names (const std::vector< T > &handles)
template<typename T >
std::vector< T >	get_ordered_handles (const std::vector< T > &unordered_handles, const std::vector< std::string > &names, const std::string &interface_type)
template<class HandleType >
HandleType	get_by_interface (const std::vector< HandleType > &handles, const std::string &interface_name)
template<class T >
bool	are_names_identical (const std::vector< T > &handles)
TRANSMISSION_INTERFACE_PUBLIC std::vector< JointInfo >	parse_joints (tinyxml2::XMLElement *trans_it)
	Parses the joint elements within transmission elements of a URDF.
TRANSMISSION_INTERFACE_PUBLIC std::vector< ActuatorInfo >	parse_actuators (tinyxml2::XMLElement *trans_it)
	Parses the actuator elements within transmission elements of a URDF.
TRANSMISSION_INTERFACE_PUBLIC std::vector< TransmissionInfo >	parse_transmissions_from_urdf (const std::string &urdf)
	Parse transmission information from a URDF.

Detailed Description

Author

Adolfo Rodriguez Tsouroukdissian

Function Documentation

parse_actuators()

TRANSMISSION_INTERFACE_PUBLIC std::vector< ActuatorInfo > transmission_interface::parse_actuators

(

tinyxml2::XMLElement *

trans_it

)

Parses the actuator elements within transmission elements of a URDF.

If parse errors occur a std::runtime_error will be thrown with a description of the problem.

Parameters

[in]	trans_it	pointer to the current XML element being parsed
[out]	actuators	resulting list of actuators in the transmission

Returns

true if actuator information for a transmission was successfully parsed.

parse_joints()

TRANSMISSION_INTERFACE_PUBLIC std::vector< JointInfo > transmission_interface::parse_joints

(

tinyxml2::XMLElement *

trans_it

)

Parses the joint elements within transmission elements of a URDF.

If parse errors occur a std::runtime_error will be thrown with a description of the problem.

Parameters

[in]	trans_it	pointer to the current XML element being parsed
[out]	joints	resulting list of joints in the transmission

Returns

true if joint information for a transmission was successfully parsed.

parse_transmissions_from_urdf()

TRANSMISSION_INTERFACE_PUBLIC std::vector< TransmissionInfo > transmission_interface::parse_transmissions_from_urdf

(

const std::string &

urdf

)

Parse transmission information from a URDF.

Parameters

[in]

urdf

A string containing the URDF xml

Returns

parsed transmission information

Exceptions

std::runtime_error

on malformed or empty xml