JointParser Class Reference

generalized description of a joint: More...

#include <joint_parser.h>

Inheritance diagram for JointParser:

Collaboration diagram for JointParser:

Public Member Functions
	JointParser ()
void	parse (const tinyxml2::XMLElement *xml) override
const char *	getTypename () override
std::shared_ptr< Joint >	get () override
void	clear () override
bool	empty () const override
void	print (std::ostream &os) override
bool	isA (const char *name) override
	~JointParser ()
Public Member Functions inherited from ParserBase< Joint >
const char *	getNameOf (const tinyxml2::XMLElement *xml)
void	parse (const tinyxml2::XMLElement *xml)
void	parse (const tinyxml2::XMLElement *xml)

Additional Inherited Members
Protected Member Functions inherited from ParserBase< Joint >
	ParserBase ()
virtual	~ParserBase ()
Protected Member Functions inherited from ObjectBase
	ObjectBase ()
virtual	~ObjectBase ()
virtual ObjectBase *	getPointer ()
Protected Attributes inherited from ParserBase< Joint >
std::shared_ptr< Joint >	Tptr

Detailed Description

generalized description of a joint:

<joint name="my_joint" type="floating">
    <origin xyz="0 0 1" rpy="0 0 3.1416"    parent = "parent_link_1"/>
    <origin xyz="0 1.5 0.8" rpy="2.5 0 3.0" parent = "parent_link_2"/>
    ...
    <origin xyz="0 1.5 0.8" rpy="2.5 0 3.0" parent = "parent_link_n"/>
 
    <parent link = "parent_link_1" />
    <parent link = "parent_link_2" />
    ...
    <parent link = "parent_link_n" />
 
    <child link  = "child_link_1"/>
    <child link  = "child_link_2"/>
    ...
    <child link  = "child_link_n"/>
 
    <calibration rising="0.0" falling ="0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
    <axis  xyz = "0 1 0"/>                                            
    <limit effort="30" velocity="1.0" lower="-2.2" upper="0.7"/>
    <safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5"/>
</joint>

Note

given an xml elment with multiple joint it parses only the first elment an iteration using this parser is needed!

Constructor & Destructor Documentation

JointParser()

JointParser::JointParser

(

)

~JointParser()

JointParser::~JointParser

(

)

Member Function Documentation

clear()

void JointParser::clear ( )

overridevirtual

Implements ObjectBase.

empty()

bool JointParser::empty ( ) const

overridevirtual

Implements ObjectBase.

get()

std::shared_ptr< Joint > JointParser::get ( )

overridevirtual

Reimplemented from ParserBase< Joint >.

getTypename()

const char * JointParser::getTypename ( )

overridevirtual

Implements ObjectBase.

isA()

bool JointParser::isA ( const char *  name )

overridevirtual

Implements ObjectBase.

parse()

void JointParser::parse ( const tinyxml2::XMLElement *  xml )

overridevirtual

Reimplemented from ParserBase< Joint >.

print()

void JointParser::print ( std::ostream &  os )

overridevirtual

Implements ObjectBase.

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

• include/tinyurdf/joint_parser.h
• src/joint_parser.cc