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Public Member Functions | Public Attributes
Sim::Model Class Reference

Model is responsible of giving information of a physical robot. More...

#include <alrobotmodel.h>

List of all members.

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.
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 Jointjoint (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 Link * > links () const
 returns a vector containing pointers to all links of the current model.
const Linklink (const std::string &linkName) const
 returns the link named linkName, or a NULL pointer if the named link has not been found.
const LinkrootLink () 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 Actuatoractuator (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
AngleActuator * > 
angleActuators () const
 returns a vector containing pointers to all angle actuators of the current model.
const AngleActuatorangleActuator (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 CoupledActuatorcoupledActuator (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 TorqueActuatortorqueActuator (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 AngleSpeedActuatorangleSpeedActuator (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 WheelTorqueActuatorwheelTorqueActuator (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 WheelVelocityActuatorwheelVelocityActuator (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
 returns a vector containing pointers to all LED actuators of the current model.
const LEDActuatorledActuator (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 Sensorsensor (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 AngleSensorangleSensor (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 CoupledSensorcoupledSensor (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 TorqueSensortorqueSensor (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 AngleSpeedSensorangleSpeedSensor (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 WheelVelocitySensorwheelVelocitySensor (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 CameraSensorcameraSensor (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 FSRSensor * > fsrSensors () const
 returns a vector containing pointers to all FSR sensors of the current model.
const FSRSensorfsrSensor (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 InertialSensorinertialSensor (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 SonarSensorsonarSensor (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 BumperSensorbumperSensor (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 TactileSensortactileSensor (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
DepthInfraredSensor * > 
depthInfraredSensors () const
 returns a vector containing pointers to all depth infrared sensors of the current model.
const DepthInfraredSensordepthInfraredSensor (const std::string &sensorName) const
 returns the tactile sensor named sensorName, or a NULL pointer if the named depth infrared 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 52 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

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 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: