update doxygen.
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@ -52,9 +52,13 @@ class Model
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public:
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Model();
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/// \brief Load Model from TiXMLElement
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bool initXml(TiXmlElement *xml);
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/// \brief Load Model from TiXMLDocument
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bool initXml(TiXmlDocument *xml);
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/// \brief Load Model given a filename
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bool initFile(const std::string& filename);
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/// \brief Load Model from a XML-string
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bool initString(const std::string& xmlstring);
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boost::shared_ptr<const Link> getRoot(void) const{return this->root_link_;};
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@ -64,18 +68,20 @@ public:
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void getLinks(std::vector<boost::shared_ptr<Link> >& links) const;
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/// Some accessor functions
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/// \brief get parent Link of a Link given name
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boost::shared_ptr<const Link> getParentLink(const std::string& name) const;
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/// \brief get parent Joint of a Link given name
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boost::shared_ptr<const Joint> getParentJoint(const std::string& name) const;
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/// \brief get child Link of a Link given name
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boost::shared_ptr<const Link> getChildLink(const std::string& name) const;
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/// \brief get child Joint of a Link given name
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boost::shared_ptr<const Joint> getChildJoint(const std::string& name) const;
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/// Every Robot Description File can be described as a
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/// list of Links and Joints
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/// The connection between links(nodes) and joints(edges)
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/// should define a tree (i.e. 1 parent link, 0+ children links)
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/// \brief complete list of Links
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std::map<std::string, boost::shared_ptr<Link> > links_;
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/// \brief complete list of Joints
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std::map<std::string, boost::shared_ptr<Joint> > joints_;
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/// \brief complete list of Materials
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std::map<std::string, boost::shared_ptr<Material> > materials_;
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private:
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@ -2,58 +2,11 @@
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\mainpage
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\htmlinclude manifest.html
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\b robot_model is ...
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<!--
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In addition to providing an overview of your package,
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this is the section where the specification and design/architecture
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should be detailed. While the original specification may be done on the
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wiki, it should be transferred here once your package starts to take shape.
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You can then link to this documentation page from the Wiki.
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-->
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\li RobotModel is a class containing robot model data structure.
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\li Below is an example Robot Description Describing a Parent Link "P", a Child Link "C", and a Joint "J"
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\li OLD URDF:
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@verbatim
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<link name="C">
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<inertial>
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<mass value="10"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="1.01 1.01 1.01"/>
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</geometry>
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</collision>
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<parent name="P"/> <!-- name of the parent link. in new RobotModel, this is in <link><joint>, not here -->
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<!-- <origin> is the transform from parent Link to this Joint in parent Link frame -->
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<origin xyz="0 0 0" rpy="0 0 0"/> <!-- in new RobotModel, this is in <joint><parent>, not here -->
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<joint name="J" type="revolute">
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<!-- joint properties -->
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<axis xyz="0 1 0"/>
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<joint_properties damping="1" friction="0"/>
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<limit min="0" max="1" effort="1000" velocity="1"/>
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<!-- OPTIONAL: transform from this Joint in child Link frame to child Link (equivalent to <child> in new RobotModel) -->
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<anchor xyz="0 0 0"/>
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</joint>
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</link>
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@endverbatim
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\li NEW URDF XML that corresponds to the current RobotModel data structure:
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URDF is a class containing robot model data structure.
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Every Robot Description File can be described as a list of Links and Joints.
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The connection between links(nodes) and joints(edges) should define a tree (i.e. 1 parent link, 0+ children links).
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Below is an example Robot Description Describing a Parent Link 'P', a Child Link 'C', and a Joint 'J'
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\li NEW URDF XML that corresponds to the current URDF data structure:
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@verbatim
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<joint name="J" type="revolute">
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<dynamics damping="1" friction="0"/>
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@ -105,20 +58,19 @@ You can then link to this documentation page from the Wiki.
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\section codeapi Code API
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The URDF parser API contains the following methods:
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\li Parse from XML: urdf::Model::initXml
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\li Parse from File: urdf::Model::initFile
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\li Parse from String: urdf::Model::initString
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\li Get Root Link: urdf::Model::getRoot
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\li Get Link by name urdf::Model::getLink
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\li Get all Link's urdf::Model::getLinks
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\li Get Joint by name urdf::Model::getJoint
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\li etc.
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<!--
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Provide links to specific auto-generated API documentation within your
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package that is of particular interest to a reader. Doxygen will
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document pretty much every part of your code, so do your best here to
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point the reader to the actual API.
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If your codebase is fairly large or has different sets of APIs, you
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should use the doxygen 'group' tag to keep these APIs together. For
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example, the roscpp documentation has 'libros' group.
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-->
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\section rosapi ROS API
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<!--
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Names are very important in ROS because they can be remapped on the
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command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY
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APPEAR IN THE CODE. You should list names of every topic, service and
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