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.
	~Model ()
	destructor.
const std::string &	name () const
	gives the robot name. Use this to identify the type of the robot
std::string	prettyName (int verbosity=0) const
	gives the displayable, beautiful robot name.
const std::string &	configFile () const
	returns the content of the file used to create the model.
std::vector< const Joint * >	joints () const
	returns a vector containing pointers to all joints of the current model.
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.
std::vector< const JointSymmetry * >	jointSymmetries () const
	returns a vector containing pointers to all joint symmetries of current model.
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.
std::vector< const JointGroup * >	jointGroups () const
	returns a vector containing pointers to all predefined joint groups in the current model.
const JointGroup *	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 * >	jointGroupsOfJoint (const std::string &jointName) const
	returns a vector containing pointers to all predefined joint groups containing the joint named jointName.
std::vector< const Link * >	links () const
	returns a vector containing pointers to all links of the current model.
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.
const Link *	rootLink () const
	returns a pointer to the root link of the model, the base link of the Model.
std::vector< const Actuator * >	actuators () const
	returns a vector containing pointers to all actuators of the current model.
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.
std::vector< const ActuatorGroup * >	actuatorGroups () const
	returns a vector containing pointers to all predefined actuator groups in the current model.
const ActuatorGroup *	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 * >	actuatorGroupsOfJoint (const std::string &jointName) const
	returns a vector containing pointers to all predefined actuator groups containing the joint named jointName.
std::vector< const AngleActuator * >	angleActuators () const
	returns a vector containing pointers to all angle actuators of the current model.
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.
std::vector< const CoupledActuator * >	coupledActuators () const
	returns a vector containing pointers to all coupled actuators of the current model.
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.
std::vector< const TorqueActuator * >	torqueActuators () const
	returns a vector containing pointers to all torque actuators of the current model.
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.
std::vector< const AngleSpeedActuator * >	angleSpeedActuators () const
	returns a vector containing pointers to all angle speed actuators of the current model.
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.
std::vector< const WheelTorqueActuator * >	wheelTorqueActuators () const
	returns a vector containing pointers to all wheel torque actuators of the current model.
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.
std::vector< const WheelVelocityActuator * >	wheelVelocityActuators () const
	returns a vector containing pointers to all wheel velocity actuators of the current model.
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.
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
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.
std::vector< const Sensor * >	sensors () const
	returns a vector containing pointers to all sensors of the current model.
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.
std::vector< const AngleSensor * >	angleSensors () const
	returns a vector containing pointers to all angle sensors of the current model.
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.
std::vector< const CoupledSensor * >	coupledSensors () const
	returns a vector containing pointers to all coupled sensors of the current model.
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.
std::vector< const TorqueSensor * >	torqueSensors () const
	returns a vector containing pointers to all torque sensors of the current model.
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.
std::vector< const AngleSpeedSensor * >	angleSpeedSensors () const
	returns a vector containing pointers to all angle speed sensors of the current model.
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.
std::vector< const WheelVelocitySensor * >	wheelVelocitySensors () const
	returns a vector containing pointers to all wheel velocity sensors of the current model.
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.
std::vector< const CameraSensor * >	cameraSensors () const
	returns a vector containing pointers to all camera sensors of the current model.
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.
std::vector< const CameraDepthSensor * >	cameraDepthSensors () const
	returns a vector containing pointers to all camera depth sensors of the current model.
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.
std::vector< const FSRSensor * >	fsrSensors () const
	returns a vector containing pointers to all FSR sensors of the current model.
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.
std::vector< const InertialSensor * >	inertialSensors () const
	returns a vector containing pointers to all inertial sensors of the current model.
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.
std::vector< const SonarSensor * >	sonarSensors () const
	returns a vector containing pointers to all sonar sensors of the current model.
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.
std::vector< const BumperSensor * >	bumperSensors () const
	returns a vector containing pointers to all bumper sensors of the current model.
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.
std::vector< const TactileSensor * >	tactileSensors () const
	returns a vector containing pointers to all tactile sensors of the current model.
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.
std::vector< const SingleDepthSensor * >	singleDepthSensors () const
	returns a vector containing pointers to all the single depth sensors of the current model.
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.
std::vector< const ArrayDepthSensor * >	arrayDepthSensors () const
	returns a vector containing pointers to all the array depth sensors of the current model.
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.
std::vector< const DepthInfraredSensor * >	depthInfraredSensors () const
	returns a vector containing pointers to all depth infrared sensors of the current model.
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.
std::vector< const MicrophoneSensor * >	microphoneSensors () const
	returns a vector containing pointers to all the microphone sensors of the current model.
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.
Public Attributes
class ModelImpl *	a_impl
	private implementation.

Detailed Description

Model is responsible of giving information of a physical robot.

Definition at line 59 of file alrobotmodel.h.

Constructor & Destructor Documentation

Sim::Model::Model ( const std::string & pathToModel )

creates a Model with the file given. Throws if a problem occurs while parsing the file.

Remarks:: This lib comes with a set of xml files describing robots. The file given should be the path to one of those!

Member Function Documentation

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.

Remarks:: the returned vector will be empty if the Joint is not attached to an Actuator belonging to an ActuatorGroup or if the Joint does not exist.

const std::string& Sim::Model::configFile ( ) const

returns the content of the file used to create the model.

Remarks:: The file returned is an xml defining the 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.

Deprecated:: use singleDepthSensor instead.

std::vector<const DepthInfraredSensor*> Sim::Model::depthInfraredSensors ( ) const

returns a vector containing pointers to all depth infrared sensors of the current model.

Deprecated:: use singleDepthSensors instead.

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.

Remarks:: the returned vector will be empty if the Joint does not belong to a JointGroup, or if the Joint does not exist.

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

Remarks:: The group names can be retrieved in the documentation.

std::string Sim::Model::prettyName ( int verbosity = 0 ) const

gives the displayable, beautiful robot name.

verbosity from 0 (default) to 2, gives a more precise name of the robot i.e. including its model (verbosity = 1) and its version (verbosity = 2).

const Link* Sim::Model::rootLink ( ) const

returns a pointer to the root link of the model, the base link of the Model.

Remarks:: This link defines the global position of the model.

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

/home/opennao/work/master/simulation/alrobotmodel/libalrobotmodel/alrobotmodel/alrobotmodel.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation