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alrobotmodel
2.5.7.1
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alrobotmodel
2.5.7.1
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Model is responsible of giving information of a physical robot. More...
#include <alrobotmodel.h>
Public Member Functions | |
| Model (const std::string &pathToModel) | |
| creates a Model with the file given. Throws if a problem occurs while parsing the file. More... | |
| ~Model () | |
| destructor. More... | |
| const std::string & | name () const |
| gives the robot name. Use this to identify the type of the robot More... | |
| std::string | prettyName (int verbosity=0) const |
| gives the displayable, beautiful robot name. More... | |
| const std::string & | configFile () const |
| returns the content of the file used to create the model. More... | |
| std::vector< const Joint * > | joints () const |
| returns a vector containing pointers to all joints of the current model. More... | |
| const Joint * | joint (const std::string &jointName) const |
| returns the joint named jointName, or a NULL pointer if the named joint has not been found. More... | |
| std::vector< const JointSymmetry * > | jointSymmetries () const |
| returns a vector containing pointers to all joint symmetries of current model. More... | |
| const JointSymmetry * | jointSymmetry (const std::string &jointName) const |
| returns the JointSymmetry involving the given Joint, or NULL pointer if the given Joint has not been found. More... | |
| std::vector< const JointGroup * > | jointGroups () const |
| returns a vector containing pointers to all predefined joint groups in the current model. More... | |
| const JointGroup * | jointGroup (const std::string &jointGroupName) const |
| returns the JointGroup named jointGroupName, or a NULL pointer if it has not been found. More... | |
| std::vector< const JointGroup * > | jointGroupsOfJoint (const std::string &jointName) const |
| returns a vector containing pointers to all predefined joint groups containing the joint named jointName. More... | |
| std::vector< const Link * > | links () const |
| returns a vector containing pointers to all links of the current model. More... | |
| const Link * | link (const std::string &linkName) const |
| returns the link named linkName, or a NULL pointer if the named link has not been found. More... | |
| const Link * | rootLink () const |
| returns a pointer to the root link of the model, the base link of the Model. More... | |
| std::vector< const Actuator * > | actuators () const |
| returns a vector containing pointers to all actuators of the current model. More... | |
| const Actuator * | actuator (const std::string &actuatorName) const |
| returns the actuator named actuatorName, or a NULL pointer if the named actuator has not been found. More... | |
| std::vector< const ActuatorGroup * > | actuatorGroups () const |
| returns a vector containing pointers to all predefined actuator groups in the current model. More... | |
| const ActuatorGroup * | actuatorGroup (const std::string &actuatorGroupName) const |
| returns the ActuatorGroup named actuatorGroupName, or a NULL pointer if it has not been found. More... | |
| std::vector< const ActuatorGroup * > | actuatorGroupsOfJoint (const std::string &jointName) const |
| returns a vector containing pointers to all predefined actuator groups containing the joint named jointName. More... | |
| std::vector< const AngleActuator * > | angleActuators () const |
| returns a vector containing pointers to all angle actuators of the current model. More... | |
| const AngleActuator * | angleActuator (const std::string &actuatorName) const |
| returns the angle actuator named actuatorName, or a NULL pointer if the named angle actuator has not been found. More... | |
| std::vector< const CoupledActuator * > | coupledActuators () const |
| returns a vector containing pointers to all coupled actuators of the current model. More... | |
| const CoupledActuator * | coupledActuator (const std::string &actuatorName) const |
| returns the coupled actuator named actuatorName, or a NULL pointer if the named coupled actuator has not been found. More... | |
| std::vector< const TorqueActuator * > | torqueActuators () const |
| returns a vector containing pointers to all torque actuators of the current model. More... | |
| const TorqueActuator * | torqueActuator (const std::string &actuatorName) const |
| returns the torque actuator named actuatorName, or a NULL pointer if the named torque actuator has not been found. More... | |
| std::vector< const AngleSpeedActuator * > | angleSpeedActuators () const |
| returns a vector containing pointers to all angle speed actuators of the current model. More... | |
| const AngleSpeedActuator * | angleSpeedActuator (const std::string &actuatorName) const |
| returns the angle speed actuator named actuatorName, or a NULL pointer if the named angle speed actuator has not been found. More... | |
| std::vector< const WheelTorqueActuator * > | wheelTorqueActuators () const |
| returns a vector containing pointers to all wheel torque actuators of the current model. More... | |
| const WheelTorqueActuator * | wheelTorqueActuator (const std::string &actuatorName) const |
| returns the wheel torque actuator named actuatorName, or a NULL pointer if the named wheel torque actuator has not been found. More... | |
| std::vector< const WheelVelocityActuator * > | wheelVelocityActuators () const |
| returns a vector containing pointers to all wheel velocity actuators of the current model. More... | |
| const WheelVelocityActuator * | wheelVelocityActuator (const std::string &actuatorName) const |
| returns the wheel velocity actuator named actuatorName, or a NULL pointer if the named wheel velocity actuator has not been found. More... | |
| std::vector< const LEDActuator * > | ledActuators (const std::string &groupName=std::string()) const |
| returns a vector containing pointers to all LED actuators of the current model if groupName is empty, and to the LED actuators belonging to the group groupName otherwise More... | |
| const LEDActuator * | ledActuator (const std::string &actuatorName) const |
| returns the LE actuator named actuatorName, or a NULL pointer if the named LED actuator has not been found. More... | |
| std::vector< const Sensor * > | sensors () const |
| returns a vector containing pointers to all sensors of the current model. More... | |
| const Sensor * | sensor (const std::string &sensorName) const |
| returns the sensor named sensorName, or a NULL pointer if the named sensor has not been found. More... | |
| std::vector< const AngleSensor * > | angleSensors () const |
| returns a vector containing pointers to all angle sensors of the current model. More... | |
| const AngleSensor * | angleSensor (const std::string &sensorName) const |
| returns the angle sensor named sensorName, or a NULL pointer if the named angle sensor has not been found. More... | |
| std::vector< const CoupledSensor * > | coupledSensors () const |
| returns a vector containing pointers to all coupled sensors of the current model. More... | |
| const CoupledSensor * | coupledSensor (const std::string &sensorName) const |
| returns the coupled sensor named sensorName, or a NULL pointer if the named coupled sensor has not been found. More... | |
| std::vector< const TorqueSensor * > | torqueSensors () const |
| returns a vector containing pointers to all torque sensors of the current model. More... | |
| const TorqueSensor * | torqueSensor (const std::string &sensorName) const |
| returns the torque sensor named sensorName, or a NULL pointer if the named torque sensor has not been found. More... | |
| std::vector< const AngleSpeedSensor * > | angleSpeedSensors () const |
| returns a vector containing pointers to all angle speed sensors of the current model. More... | |
| const AngleSpeedSensor * | angleSpeedSensor (const std::string &sensorName) const |
| returns the angle speed sensor named sensorName, or a NULL pointer if the named angle speed sensor has not been found. More... | |
| std::vector< const WheelVelocitySensor * > | wheelVelocitySensors () const |
| returns a vector containing pointers to all wheel velocity sensors of the current model. More... | |
| const WheelVelocitySensor * | wheelVelocitySensor (const std::string &sensorName) const |
| returns the wheel velocity sensor named sensorName, or a NULL pointer if the named wheel velocity sensor has not been found. More... | |
| std::vector< const CameraSensor * > | cameraSensors () const |
| returns a vector containing pointers to all camera sensors of the current model. More... | |
| const CameraSensor * | cameraSensor (const std::string &sensorName) const |
| returns the camera sensor named sensorName, or a NULL pointer if the named camera sensor has not been found. More... | |
| std::vector< const CameraStereoSensor * > | cameraStereoSensors () const |
| returns a vector containing pointers to all camera stereo sensors of the current model. More... | |
| const CameraStereoSensor * | cameraStereoSensor (const std::string &sensorName) const |
| returns the camera stereo sensor named sensorName, or a NULL pointer if the named camera stereo sensor has not been found. More... | |
| std::vector< const CameraDepthSensor * > | cameraDepthSensors () const |
| returns a vector containing pointers to all camera depth sensors of the current model. More... | |
| const CameraDepthSensor * | cameraDepthSensor (const std::string &sensorName) const |
| returns the camera depth sensor named sensorName, or a NULL pointer if the named camera depth sensor has not been found. More... | |
| std::vector< const FSRSensor * > | fsrSensors () const |
| returns a vector containing pointers to all FSR sensors of the current model. More... | |
| const FSRSensor * | fsrSensor (const std::string &sensorName) const |
| returns the FSR sensor named sensorName, or a NULL pointer if the named FSR sensor has not been found. More... | |
| std::vector< const InertialSensor * > | inertialSensors () const |
| returns a vector containing pointers to all inertial sensors of the current model. More... | |
| const InertialSensor * | inertialSensor (const std::string &sensorName) const |
| returns the inertial sensor named sensorName, or a NULL pointer if the named inertial sensor has not been found. More... | |
| std::vector< const SonarSensor * > | sonarSensors () const |
| returns a vector containing pointers to all sonar sensors of the current model. More... | |
| const SonarSensor * | sonarSensor (const std::string &sensorName) const |
| returns the sonar sensor named sensorName, or a NULL pointer if the named sonar sensor has not been found. More... | |
| std::vector< const BumperSensor * > | bumperSensors () const |
| returns a vector containing pointers to all bumper sensors of the current model. More... | |
| const BumperSensor * | bumperSensor (const std::string &sensorName) const |
| returns the bumper sensor named sensorName, or a NULL pointer if the named bumper sensor has not been found. More... | |
| std::vector< const TactileSensor * > | tactileSensors () const |
| returns a vector containing pointers to all tactile sensors of the current model. More... | |
| const TactileSensor * | tactileSensor (const std::string &sensorName) const |
| returns the tactile sensor named sensorName, or a NULL pointer if the named tactile sensor has not been found. More... | |
| std::vector< const SingleDepthSensor * > | singleDepthSensors () const |
| returns a vector containing pointers to all the single depth sensors of the current model. More... | |
| const SingleDepthSensor * | singleDepthSensor (const std::string &sensorName) const |
| returns the single depth sensor named sensorName, or a NULL pointer if the named single depth sensor has not been found. More... | |
| std::vector< const ArrayDepthSensor * > | arrayDepthSensors () const |
| returns a vector containing pointers to all the array depth sensors of the current model. More... | |
| const ArrayDepthSensor * | arrayDepthSensor (const std::string &sensorName) const |
| returns the array depth sensor named sensorName, or a NULL pointer if the named array depth sensor has not been found. More... | |
| std::vector< const DepthInfraredSensor * > | depthInfraredSensors () const |
| returns a vector containing pointers to all depth infrared sensors of the current model. More... | |
| const DepthInfraredSensor * | depthInfraredSensor (const std::string &sensorName) const |
| returns the single depth sensor named sensorName, or a NULL pointer if single named depth infrared sensor has not been found. More... | |
| std::vector< const MicrophoneSensor * > | microphoneSensors () const |
| returns a vector containing pointers to all the microphone sensors of the current model. More... | |
| const MicrophoneSensor * | microphoneSensor (const std::string &sensorName) const |
| returns the microphone sensor named sensorName, or a NULL pointer if the named microphone sensor has not been found. More... | |
Public Attributes | |
| class ModelImpl * | a_impl |
| private implementation. More... | |
Model is responsible of giving information of a physical robot.
Definition at line 60 of file alrobotmodel.h.
| Sim::Model::Model | ( | const std::string & | pathToModel | ) |
creates a Model with the file given. Throws if a problem occurs while parsing the file.
| Sim::Model::~Model | ( | ) |
destructor.
| const Actuator* Sim::Model::actuator | ( | const std::string & | actuatorName | ) | const |
returns the actuator named actuatorName, or a NULL pointer if the named actuator has not been found.
| const ActuatorGroup* Sim::Model::actuatorGroup | ( | const std::string & | actuatorGroupName | ) | const |
returns the ActuatorGroup named actuatorGroupName, or a NULL pointer if it has not been found.
| std::vector<const ActuatorGroup*> Sim::Model::actuatorGroups | ( | ) | const |
returns a vector containing pointers to all predefined actuator groups in the current model.
| std::vector<const ActuatorGroup*> Sim::Model::actuatorGroupsOfJoint | ( | const std::string & | jointName | ) | const |
returns a vector containing pointers to all predefined actuator groups containing the joint named jointName.
| std::vector<const Actuator*> Sim::Model::actuators | ( | ) | const |
returns a vector containing pointers to all actuators of the current model.
| const AngleActuator* Sim::Model::angleActuator | ( | const std::string & | actuatorName | ) | const |
returns the angle actuator named actuatorName, or a NULL pointer if the named angle actuator has not been found.
| std::vector<const AngleActuator*> Sim::Model::angleActuators | ( | ) | const |
returns a vector containing pointers to all angle actuators of the current model.
| const AngleSensor* Sim::Model::angleSensor | ( | const std::string & | sensorName | ) | const |
returns the angle sensor named sensorName, or a NULL pointer if the named angle sensor has not been found.
| std::vector<const AngleSensor*> Sim::Model::angleSensors | ( | ) | const |
returns a vector containing pointers to all angle sensors of the current model.
| const AngleSpeedActuator* Sim::Model::angleSpeedActuator | ( | const std::string & | actuatorName | ) | const |
returns the angle speed actuator named actuatorName, or a NULL pointer if the named angle speed actuator has not been found.
| std::vector<const AngleSpeedActuator*> Sim::Model::angleSpeedActuators | ( | ) | const |
returns a vector containing pointers to all angle speed actuators of the current model.
| const AngleSpeedSensor* Sim::Model::angleSpeedSensor | ( | const std::string & | sensorName | ) | const |
returns the angle speed sensor named sensorName, or a NULL pointer if the named angle speed sensor has not been found.
| std::vector<const AngleSpeedSensor*> Sim::Model::angleSpeedSensors | ( | ) | const |
returns a vector containing pointers to all angle speed sensors of the current model.
| const ArrayDepthSensor* Sim::Model::arrayDepthSensor | ( | const std::string & | sensorName | ) | const |
returns the array depth sensor named sensorName, or a NULL pointer if the named array depth sensor has not been found.
| std::vector<const ArrayDepthSensor*> Sim::Model::arrayDepthSensors | ( | ) | const |
returns a vector containing pointers to all the array depth sensors of the current model.
| const BumperSensor* Sim::Model::bumperSensor | ( | const std::string & | sensorName | ) | const |
returns the bumper sensor named sensorName, or a NULL pointer if the named bumper sensor has not been found.
| std::vector<const BumperSensor*> Sim::Model::bumperSensors | ( | ) | const |
returns a vector containing pointers to all bumper sensors of the current model.
| const CameraDepthSensor* Sim::Model::cameraDepthSensor | ( | const std::string & | sensorName | ) | const |
returns the camera depth sensor named sensorName, or a NULL pointer if the named camera depth sensor has not been found.
| std::vector<const CameraDepthSensor*> Sim::Model::cameraDepthSensors | ( | ) | const |
returns a vector containing pointers to all camera depth sensors of the current model.
| const CameraSensor* Sim::Model::cameraSensor | ( | const std::string & | sensorName | ) | const |
returns the camera sensor named sensorName, or a NULL pointer if the named camera sensor has not been found.
| std::vector<const CameraSensor*> Sim::Model::cameraSensors | ( | ) | const |
returns a vector containing pointers to all camera sensors of the current model.
| const CameraStereoSensor* Sim::Model::cameraStereoSensor | ( | const std::string & | sensorName | ) | const |
returns the camera stereo sensor named sensorName, or a NULL pointer if the named camera stereo sensor has not been found.
| std::vector<const CameraStereoSensor*> Sim::Model::cameraStereoSensors | ( | ) | const |
returns a vector containing pointers to all camera stereo sensors of the current model.
| const std::string& Sim::Model::configFile | ( | ) | const |
returns the content of the file used to create the model.
| const CoupledActuator* Sim::Model::coupledActuator | ( | const std::string & | actuatorName | ) | const |
returns the coupled actuator named actuatorName, or a NULL pointer if the named coupled actuator has not been found.
| std::vector<const CoupledActuator*> Sim::Model::coupledActuators | ( | ) | const |
returns a vector containing pointers to all coupled actuators of the current model.
| const CoupledSensor* Sim::Model::coupledSensor | ( | const std::string & | sensorName | ) | const |
returns the coupled sensor named sensorName, or a NULL pointer if the named coupled sensor has not been found.
| std::vector<const CoupledSensor*> Sim::Model::coupledSensors | ( | ) | const |
returns a vector containing pointers to all coupled sensors of the current model.
| const DepthInfraredSensor* Sim::Model::depthInfraredSensor | ( | const std::string & | sensorName | ) | const |
returns the single depth sensor named sensorName, or a NULL pointer if single named depth infrared sensor has not been found.
| std::vector<const DepthInfraredSensor*> Sim::Model::depthInfraredSensors | ( | ) | const |
returns a vector containing pointers to all depth infrared sensors of the current model.
| const FSRSensor* Sim::Model::fsrSensor | ( | const std::string & | sensorName | ) | const |
returns the FSR sensor named sensorName, or a NULL pointer if the named FSR sensor has not been found.
| std::vector<const FSRSensor*> Sim::Model::fsrSensors | ( | ) | const |
returns a vector containing pointers to all FSR sensors of the current model.
| const InertialSensor* Sim::Model::inertialSensor | ( | const std::string & | sensorName | ) | const |
returns the inertial sensor named sensorName, or a NULL pointer if the named inertial sensor has not been found.
| std::vector<const InertialSensor*> Sim::Model::inertialSensors | ( | ) | const |
returns a vector containing pointers to all inertial sensors of the current model.
| const Joint* Sim::Model::joint | ( | const std::string & | jointName | ) | const |
returns the joint named jointName, or a NULL pointer if the named joint has not been found.
| const JointGroup* Sim::Model::jointGroup | ( | const std::string & | jointGroupName | ) | const |
returns the JointGroup named jointGroupName, or a NULL pointer if it has not been found.
| std::vector<const JointGroup*> Sim::Model::jointGroups | ( | ) | const |
returns a vector containing pointers to all predefined joint groups in the current model.
| std::vector<const JointGroup*> Sim::Model::jointGroupsOfJoint | ( | const std::string & | jointName | ) | const |
returns a vector containing pointers to all predefined joint groups containing the joint named jointName.
| std::vector<const Joint*> Sim::Model::joints | ( | ) | const |
returns a vector containing pointers to all joints of the current model.
| std::vector<const JointSymmetry*> Sim::Model::jointSymmetries | ( | ) | const |
returns a vector containing pointers to all joint symmetries of current model.
| const JointSymmetry* Sim::Model::jointSymmetry | ( | const std::string & | jointName | ) | const |
returns the JointSymmetry involving the given Joint, or NULL pointer if the given Joint has not been found.
| const LEDActuator* Sim::Model::ledActuator | ( | const std::string & | actuatorName | ) | const |
returns the LE actuator named actuatorName, or a NULL pointer if the named LED actuator has not been found.
| std::vector<const LEDActuator*> Sim::Model::ledActuators | ( | const std::string & | groupName = std::string() | ) | const |
returns a vector containing pointers to all LED actuators of the current model if groupName is empty, and to the LED actuators belonging to the group groupName otherwise
| const Link* Sim::Model::link | ( | const std::string & | linkName | ) | const |
returns the link named linkName, or a NULL pointer if the named link has not been found.
| std::vector<const Link*> Sim::Model::links | ( | ) | const |
returns a vector containing pointers to all links of the current model.
| const MicrophoneSensor* Sim::Model::microphoneSensor | ( | const std::string & | sensorName | ) | const |
returns the microphone sensor named sensorName, or a NULL pointer if the named microphone sensor has not been found.
| std::vector<const MicrophoneSensor*> Sim::Model::microphoneSensors | ( | ) | const |
returns a vector containing pointers to all the microphone sensors of the current model.
| const std::string& Sim::Model::name | ( | ) | const |
gives the robot name. Use this to identify the type of the robot
| std::string Sim::Model::prettyName | ( | int | verbosity = 0 | ) | const |
gives the displayable, beautiful robot name.
| const Link* Sim::Model::rootLink | ( | ) | const |
returns a pointer to the root link of the model, the base link of the Model.
| const Sensor* Sim::Model::sensor | ( | const std::string & | sensorName | ) | const |
returns the sensor named sensorName, or a NULL pointer if the named sensor has not been found.
| std::vector<const Sensor*> Sim::Model::sensors | ( | ) | const |
returns a vector containing pointers to all sensors of the current model.
| const SingleDepthSensor* Sim::Model::singleDepthSensor | ( | const std::string & | sensorName | ) | const |
returns the single depth sensor named sensorName, or a NULL pointer if the named single depth sensor has not been found.
| std::vector<const SingleDepthSensor*> Sim::Model::singleDepthSensors | ( | ) | const |
returns a vector containing pointers to all the single depth sensors of the current model.
| const SonarSensor* Sim::Model::sonarSensor | ( | const std::string & | sensorName | ) | const |
returns the sonar sensor named sensorName, or a NULL pointer if the named sonar sensor has not been found.
| std::vector<const SonarSensor*> Sim::Model::sonarSensors | ( | ) | const |
returns a vector containing pointers to all sonar sensors of the current model.
| const TactileSensor* Sim::Model::tactileSensor | ( | const std::string & | sensorName | ) | const |
returns the tactile sensor named sensorName, or a NULL pointer if the named tactile sensor has not been found.
| std::vector<const TactileSensor*> Sim::Model::tactileSensors | ( | ) | const |
returns a vector containing pointers to all tactile sensors of the current model.
| const TorqueActuator* Sim::Model::torqueActuator | ( | const std::string & | actuatorName | ) | const |
returns the torque actuator named actuatorName, or a NULL pointer if the named torque actuator has not been found.
| std::vector<const TorqueActuator*> Sim::Model::torqueActuators | ( | ) | const |
returns a vector containing pointers to all torque actuators of the current model.
| const TorqueSensor* Sim::Model::torqueSensor | ( | const std::string & | sensorName | ) | const |
returns the torque sensor named sensorName, or a NULL pointer if the named torque sensor has not been found.
| std::vector<const TorqueSensor*> Sim::Model::torqueSensors | ( | ) | const |
returns a vector containing pointers to all torque sensors of the current model.
| const WheelTorqueActuator* Sim::Model::wheelTorqueActuator | ( | const std::string & | actuatorName | ) | const |
returns the wheel torque actuator named actuatorName, or a NULL pointer if the named wheel torque actuator has not been found.
| std::vector<const WheelTorqueActuator*> Sim::Model::wheelTorqueActuators | ( | ) | const |
returns a vector containing pointers to all wheel torque actuators of the current model.
| const WheelVelocityActuator* Sim::Model::wheelVelocityActuator | ( | const std::string & | actuatorName | ) | const |
returns the wheel velocity actuator named actuatorName, or a NULL pointer if the named wheel velocity actuator has not been found.
| std::vector<const WheelVelocityActuator*> Sim::Model::wheelVelocityActuators | ( | ) | const |
returns a vector containing pointers to all wheel velocity actuators of the current model.
| const WheelVelocitySensor* Sim::Model::wheelVelocitySensor | ( | const std::string & | sensorName | ) | const |
returns the wheel velocity sensor named sensorName, or a NULL pointer if the named wheel velocity sensor has not been found.
| std::vector<const WheelVelocitySensor*> Sim::Model::wheelVelocitySensors | ( | ) | const |
returns a vector containing pointers to all wheel velocity sensors of the current model.
| class ModelImpl* Sim::Model::a_impl |
private implementation.
Definition at line 340 of file alrobotmodel.h.
