fsb::urdf::UrdfNameMap Class Reference

Detailed Description

Name-index map of joints and bodies in rigid body tree.

#include <fsb_urdf_name_map.h>

Collaboration diagram for fsb::urdf::UrdfNameMap:

Public Member Functions
void	set_robot_name (const std::string &name)
	Set robot name.
NameMapError	add_body (const size_t index, const std::string &name)
NameMapError	add_joint (const size_t index, const std::string &name)
size_t	get_body_index (const std::string &name, NameMapError &err) const
	Get index of body in tree.
size_t	get_joint_index (const std::string &name, NameMapError &err) const
	Get index of joint in body tree.
bool	body_exists (const std::string &name) const
	Check if body name is set in map.
bool	joint_exists (const std::string &name) const
	Check if joint name is set in map.
size_t	get_num_bodies () const
	Get number of bodies in map.
size_t	get_num_joints () const
	Get number of joints in map.

Member Function Documentation

add_body()

NameMapError fsb::urdf::UrdfNameMap::add_body ( const size_t  index, const std::string &  name  )

inline

Parameters

index	Body index in tree
name	Body name

Returns

Error result of operation

add_joint()

NameMapError fsb::urdf::UrdfNameMap::add_joint ( const size_t  index, const std::string &  name  )

inline

Parameters

index	Joint index in tree
name	Joint name

Returns

Error result of operation

body_exists()

bool fsb::urdf::UrdfNameMap::body_exists ( const std::string &  name ) const

inline

Check if body name is set in map.

Parameters

name	Name of body to check

Returns

true if body exists in map

get_body_index()

size_t fsb::urdf::UrdfNameMap::get_body_index ( const std::string &  name, NameMapError &  err  ) const

inline

Get index of body in tree.

Parameters

name	Body name
err	Error status

Returns

Index of body in body tree

get_joint_index()

size_t fsb::urdf::UrdfNameMap::get_joint_index ( const std::string &  name, NameMapError &  err  ) const

inline

Get index of joint in body tree.

Parameters

name	Joint name
err	Error status

Returns

Index of joint in body tree

get_num_bodies()

size_t fsb::urdf::UrdfNameMap::get_num_bodies ( ) const

inline

Get number of bodies in map.

Returns

Number of bodies in map

get_num_joints()

size_t fsb::urdf::UrdfNameMap::get_num_joints ( ) const

inline

Get number of joints in map.

Returns

Number of joints in map

joint_exists()

bool fsb::urdf::UrdfNameMap::joint_exists ( const std::string &  name ) const

inline

Check if joint name is set in map.

Parameters

name	Name of joint to check

Returns

true if joint exists in map

set_robot_name()

void fsb::urdf::UrdfNameMap::set_robot_name ( const std::string &  name )

inline

Set robot name.

Parameters

name	Robot name

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

• fsb-urdf/include/fsb_urdf_name_map.h