[02242](classGazeboROSNode.html#a3895043c9355e3e2a23f84efe0060736)     boost::mutex [lock_](classGazeboROSNode.html#a3895043c9355e3e2a23f84efe0060736 "A mutex to lock access to fields that are used in ROS message callbacks.");
    02243 
    [02245](classGazeboROSNode.html#a56a97753f6fc5e55f80bc9dd4365cf9f)     std::string [xmlPrefix_](classGazeboROSNode.html#a56a97753f6fc5e55f80bc9dd4365cf9f "prefix and suffix used for conversion from URDF to Gazebo XML");
    [02246](classGazeboROSNode.html#a82f7515450366bb2ed7701429eaba99b)     std::string [xmlSuffix_](classGazeboROSNode.html#a82f7515450366bb2ed7701429eaba99b);
    02247 
    [02249](classGazeboROSNode.html#af3cdc74804e479ef28bd36824eee13fc)     void [SetupTransform](classGazeboROSNode.html#af3cdc74804e479ef28bd36824eee13fc "utility for transforming in SetModelConfiguration")(btTransform &transform, [urdf::Pose](../../../api/urdf_interface/html/classurdf_1_1Pose.html) pose)
    02250     {
    02251         btMatrix3x3 mat;
    02252         mat.setRotation(btQuaternion(pose.[rotation](../../../api/urdf_interface/html/classurdf_1_1Pose.html#add014150a280a0b4af28acb89e6dd9ab).x,pose.[rotation](../../../api/urdf_interface/html/classurdf_1_1Pose.html#add014150a280a0b4af28acb89e6dd9ab).y,pose.[rotation](../../../api/urdf_interface/html/classurdf_1_1Pose.html#add014150a280a0b4af28acb89e6dd9ab).z,pose.[rotation](../../../api/urdf_interface/html/classurdf_1_1Pose.html#add014150a280a0b4af28acb89e6dd9ab).w));
    02253         transform = btTransform(mat,btVector3(pose.[position](../../../api/urdf_interface/html/classurdf_1_1Pose.html#adbee6f421be42f2a33e75e9d25085669).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#abf9dabaf651196aee50fd14bf3b643be),pose.[position](../../../api/urdf_interface/html/classurdf_1_1Pose.html#adbee6f421be42f2a33e75e9d25085669).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#aaea58ad929c43960a06f728d97132404),pose.[position](../../../api/urdf_interface/html/classurdf_1_1Pose.html#adbee6f421be42f2a33e75e9d25085669).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#a4cde719326e6c3688ab50b51ab4708b1)));
    02254     }
    [02255](classGazeboROSNode.html#a5decfaa0265816cc009e97c89daa6235)     void [SetupTransform](classGazeboROSNode.html#af3cdc74804e479ef28bd36824eee13fc "utility for transforming in SetModelConfiguration")(btTransform &transform, [geometry_msgs::Pose](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html) pose)
    02256     {
    02257         btMatrix3x3 mat;
    02258         mat.setRotation(btQuaternion(pose.[orientation](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#af8c1d34a44a7628ea9c3e571339f5a28).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Quaternion__.html#a11f3b4e2df587ce516fd2a8140c1c7c5),pose.[orientation](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#af8c1d34a44a7628ea9c3e571339f5a28).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Quaternion__.html#a601c978178311ce3a618afb38c0b6b98),pose.[orientation](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#af8c1d34a44a7628ea9c3e571339f5a28).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Quaternion__.html#ae2caceb9fc4b2fd01acd8419aa7ebc2e),pose.[orientation](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#af8c1d34a44a7628ea9c3e571339f5a28).[w](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Quaternion__.html#a440791d268a65607ecbac21e0ed153cf)));
    02259         transform = btTransform(mat,btVector3(pose.[position](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#a27067d1772d85a856b0e4ed4690a80b4).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Point__.html#acd9420e6916084b2a9c09019bfda1708),pose.[position](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#a27067d1772d85a856b0e4ed4690a80b4).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Point__.html#a46a84ff5a3e5817ab5693abda66fccb0),pose.[position](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#a27067d1772d85a856b0e4ed4690a80b4).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Point__.html#a061f0093e927a95998f35ceceb5cebda)));
    02260     }
    02261 
    02262 
    02263 
    02264 
    [02266](classGazeboROSNode.html#a44e27d338cc6fef752fcc039a6daa3ec)     bool [IsURDF](classGazeboROSNode.html#a44e27d338cc6fef752fcc039a6daa3ec "utilites for checking incoming string URDF/XML/Param")(std::string model_xml)
    02267     {
    02268       TiXmlDocument doc_in;
    02269       doc_in.Parse(model_xml.c_str());
    02270       if (doc_in.FirstChild("robot"))
    02271         return true;
    02272       else
    02273         return false;
    02274     }
    [02275](classGazeboROSNode.html#a476d9e8af3d9ad6b6a9385fe94455ced)     bool [IsColladaData](classGazeboROSNode.html#a476d9e8af3d9ad6b6a9385fe94455ced)(const std::string& data) // copied from urdf/src/model.cpp
    02276     {
    02277       return data.find("<COLLADA") != std::string::npos;
    02278     }
    [02279](classGazeboROSNode.html#a681015bd9c7255d627902263a5b1b17b)     bool [IsGazeboModelXML](classGazeboROSNode.html#a681015bd9c7255d627902263a5b1b17b)(std::string model_xml)
    02280     {
    02281       TiXmlDocument doc_in;
    02282       doc_in.Parse(model_xml.c_str());
    02283       if (doc_in.FirstChild("model:physical"))
    02284         return true;