#include "models.h" #include #include #include using namespace moveit::core; namespace { const std::string R_MODEL0 = "" "" "" " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " "" "" " " " " " " " " "" "" " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " "" "" " " " " " " "" "" " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " "" " " " " " " " " " " " " " " " " "" " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " "" " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " "" " " " " " " " " " " " " " " " " " " " " " " " " "" "" " " " " " " " " " " " " " " " " " " " " " " " " "" ""; const std::string S_MODEL0 = "" "" "" "" "" "" "" "" "" "" "" "" "" "" "" "" "" "" "" "" "" "" "" "" ""; } // namespace RobotModelPtr getModel() { urdf::ModelInterfaceSharedPtr urdf_model = urdf::parseURDF(R_MODEL0); srdf::ModelSharedPtr srdf_model(new srdf::Model()); srdf_model->initString(*urdf_model, S_MODEL0); return RobotModelPtr(new RobotModel(urdf_model, srdf_model)); } moveit::core::RobotModelPtr loadModel() { robot_model_loader::RobotModelLoader loader; return loader.getModel(); }