A urdf parser for tesseract. More...

#include <tesseract/common/macros.h>
#include <string>
#include <memory>
#include <tesseract/scene_graph/fwd.h>
#include <tesseract/common/fwd.h>

Functions
std::unique_ptr< tesseract::scene_graph::SceneGraph >	tesseract::urdf::parseURDFString (const std::string &urdf_xml_string, const tesseract::common::ResourceLocator &locator)
	Parse a URDF string into a Tesseract Scene Graph.

std::unique_ptr< tesseract::scene_graph::SceneGraph >	tesseract::urdf::parseURDFFile (const std::string &path, const tesseract::common::ResourceLocator &locator)
	Parse a URDF file into a Tesseract Scene Graph.

void	tesseract::urdf::writeURDFFile (const std::shared_ptr< const tesseract::scene_graph::SceneGraph > &sg, const std::string &package_path, const std::string &urdf_name="")

Detailed Description

A urdf parser for tesseract.

Author: Levi Armstrong

Date: September 1, 2019

Copyright: Copyright (c) 2019, Southwest Research Institute

License: Software License Agreement (Apache License)

: Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

: Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Function Documentation

◆ parseURDFString()

std::unique_ptr< tesseract::scene_graph::SceneGraph > tesseract::urdf::parseURDFString	(	const std::string &	urdf_xml_string,
		const tesseract::common::ResourceLocator &	locator
	)

Parse a URDF string into a Tesseract Scene Graph.

Parameters

urdf_xml_string	URDF xml string
locator	The resource locator function

Exceptions

std::nested_exception Thrown if error occurs during parsing. Use printNestedException to print contents of the nested exception.

Returns: Tesseract Scene Graph, nullptr if failed to parse URDF

◆ parseURDFFile()

std::unique_ptr< tesseract::scene_graph::SceneGraph > tesseract::urdf::parseURDFFile	(	const std::string &	path,
		const tesseract::common::ResourceLocator &	locator
	)

Parse a URDF file into a Tesseract Scene Graph.