CreateRobotFromString

virtual PRobot ITopController::CreateRobotFromString(const std::string &urdf) = 0

Create a robot from the model contained in the specified URDF string.

Parameters

urdf – String containing the URDF robot model.

Returns

PRobot – Created robot.

Throws

• CCommunicationErrorException – Protocol error.

• CConnectionLostException – Connection to controller lost.

• CObjectDestroyedException – Object is destroyed.

• CRebootedException – Controller has been rebooted since this object reference was retrieved, invalidating this reference.

• CIncompatibleException – Incompatible firmware version loaded.

• CInvalidFormatException – URDF string is invalid (e.g. not schema compliant).

• COutOfResourcesException – Out of memory while creating robot.