object_utils.hh File Reference

Object related utilities. More...

#include <gazebo/gazebo_client.hh>
#include <gazebo/gazebo_config.h>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <fstream>
#include "yaml-cpp/yaml.h"
#include "debug.hh"

Go to the source code of this file.

Functions
void	spawnModelFromFile (gazebo::transport::PublisherPtr pub, const std::string &file)
	Spawns model from SDF description in file. More...
void	spawnModelFromFilename (gazebo::transport::PublisherPtr pub, ignition::math::Pose3d &pose, const std::string &filename)
	Spawns model from filename. More...
void	removeModel (gazebo::transport::PublisherPtr pub, const std::string &name)
	Removes model. More...
void	obtainRestPoses (const std::string &file_name, std::vector< std::string > &targets, std::vector< ignition::math::Pose3d > &poses)
	Obtains object rest poses from file. More...

Detailed Description

Object related utilities.

Author

João Borrego : jsbruglie

Function Documentation

void obtainRestPoses	(	const std::string &	file_name,
		std::vector< std::string > &	targets,
		std::vector< ignition::math::Pose3d > &	poses
	)

Obtains object rest poses from file.

Parameters

file_name	Input file name
targets	List of objects in dataset
poses	Output list of corresponding rest poses

void removeModel	(	gazebo::transport::PublisherPtr	pub,
		const std::string &	name
	)

Removes model.

Parameters

pub	Publisher to requests topic
name	Name of model to be removed

void spawnModelFromFile	(	gazebo::transport::PublisherPtr	pub,
		const std::string &	file
	)

Spawns model from SDF description in file.

Parameters

pub	Publisher to factory topic
file	File with model SDF description

void spawnModelFromFilename	(	gazebo::transport::PublisherPtr	pub,
		ignition::math::Pose3d &	pose,
		const std::string &	filename
	)

Spawns model from filename.

Parameters

pub	Publisher to factory topic
pose	Model initial pose
filename	Name of model file