URDF parsing. More...

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	details

Functions
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const GeometryType type, GeometryModel &geomModel, const std::vector< std::string > &packageDirs=std::vector< std::string >(), ::hpp::fcl::MeshLoaderPtr meshLoader=::hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const GeometryType type, GeometryModel &geomModel, const std::string &packageDir, hpp::fcl::MeshLoaderPtr meshLoader=hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::istream &xmlStream, const GeometryType type, GeometryModel &geomModel, const std::vector< std::string > &packageDirs=std::vector< std::string >(), hpp::fcl::MeshLoaderPtr meshLoader=hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::istream &xmlStream, const GeometryType type, GeometryModel &geomModel, const std::string &packageDir, hpp::fcl::MeshLoaderPtr meshLoader=hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::string &filename, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF file with a particular joint as root of the model tree inside the model given as reference argument. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::string &filename, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF file with a fixed joint as root of the model tree. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const boost::shared_ptr< ::urdf::ModelInterface > urdfTree, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF model with a particular joint as root of the model tree inside the model given as reference argument. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const boost::shared_ptr< ::urdf::ModelInterface > urdfTree, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF model. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xmlStream, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from an XML stream with a particular joint as root of the model tree inside the model given as reference argument. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xmlStream, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from an XML stream. More...

Detailed Description

URDF parsing.

Function Documentation

◆ buildGeom() [1/4]

GeometryModel& pinocchio::urdf::buildGeom	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::string &	filename,
		const GeometryType	type,
		GeometryModel &	geomModel,
		const std::vector< std::string > &	packageDirs = `std::vector< std::string >()`,
		::hpp::fcl::MeshLoaderPtr	meshLoader = `::hpp::fcl::MeshLoaderPtr()`
	)

Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Parameters

[in]	model	The model of the robot, built with urdf::buildModel
[in]	filename	The URDF complete (absolute) file path
[in]	packageDirs	A vector containing the different directories where to search for models and meshes, typically obtained from calling pinocchio::rosPaths()
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	meshLoader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geomModel	Reference where to put the parsed information.

Returns: Returns the reference on geom model for convenience.

Warning: If hpp-fcl has not been found during compilation, COLLISION objects can not be loaded

◆ buildGeom() [2/4]

GeometryModel& pinocchio::urdf::buildGeom	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::string &	filename,
		const GeometryType	type,
		GeometryModel &	geomModel,
		const std::string &	packageDir,
		hpp::fcl::MeshLoaderPtr	meshLoader = `hpp::fcl::MeshLoaderPtr()`
	)

Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Parameters

[in]	model	The model of the robot, built with urdf::buildModel
[in]	filename	The URDF complete (absolute) file path
[in]	packageDir	A string containing the path to the directories of the meshes, typically obtained from calling pinocchio::rosPaths().
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	meshLoader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geomModel	Reference where to put the parsed information.

Returns: Returns the reference on geom model for convenience.

Warning: If hpp-fcl has not been found during compilation, COLLISION objects can not be loaded

Definition at line 207 of file urdf.hpp.

◆ buildGeom() [3/4]

GeometryModel& pinocchio::urdf::buildGeom	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::istream &	xmlStream,
		const GeometryType	type,
		GeometryModel &	geomModel,
		const std::vector< std::string > &	packageDirs = `std::vector< std::string >()`,
		hpp::fcl::MeshLoaderPtr	meshLoader = `hpp::fcl::MeshLoaderPtr()`
	)

Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Parameters

[in]	model	The model of the robot, built with urdf::buildModel
[in]	xmlStream	Stream containing the URDF model
[in]	packageDirs	A vector containing the different directories where to search for models and meshes, typically obtained from calling pinocchio::rosPaths()
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	meshLoader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geomModel	Reference where to put the parsed information.

Returns: Returns the reference on geom model for convenience.

Warning: If hpp-fcl has not been found during compilation, COLLISION objects cannot be loaded

◆ buildGeom() [4/4]

GeometryModel& pinocchio::urdf::buildGeom	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::istream &	xmlStream,
		const GeometryType	type,
		GeometryModel &	geomModel,
		const std::string &	packageDir,
		hpp::fcl::MeshLoaderPtr	meshLoader = `hpp::fcl::MeshLoaderPtr()`
	)

Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Parameters

[in]	model	The model of the robot, built with urdf::buildModel
[in]	xmlStream	Stream containing the URDF model
[in]	packageDir	A string containing the path to the directories of the meshes, typically obtained from calling pinocchio::rosPaths().
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	meshLoader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geomModel	Reference where to put the parsed information.

Returns: Returns the reference on geom model for convenience.

Warning: If hpp-fcl has not been found during compilation, COLLISION objects cannot be loaded

Definition at line 269 of file urdf.hpp.

◆ buildModel() [1/4]

ModelTpl<Scalar,Options,JointCollectionTpl>& pinocchio::urdf::buildModel	(	const std::string &	filename,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = `false`
	)

Build the model from a URDF file with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	filename	The URDF complete file path.
[in]	rootJoint	The joint at the root of the model tree.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns: Return the reference on argument model for convenience.

◆ buildModel() [2/4]

ModelTpl<Scalar,Options,JointCollectionTpl>& pinocchio::urdf::buildModel	(	const std::string &	filename,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = `false`
	)

Build the model from a URDF file with a fixed joint as root of the model tree.

Parameters

[in]	filename	The URDF complete file path.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns: Return the reference on argument model for convenience.

◆ buildModel() [3/4]

ModelTpl<Scalar,Options,JointCollectionTpl>& pinocchio::urdf::buildModel	(	const boost::shared_ptr< ::urdf::ModelInterface >	urdfTree,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = `false`
	)

Build the model from a URDF model with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	urdfTree	the tree build from the URDF
[in]	rootJoint	The joint at the root of the model tree.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns: Return the reference on argument model for convenience.

Note: urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

◆ buildModel() [4/4]

ModelTpl<Scalar,Options,JointCollectionTpl>& pinocchio::urdf::buildModel	(	const boost::shared_ptr< ::urdf::ModelInterface >	urdfTree,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = `false`
	)

Build the model from a URDF model.

Parameters

[in]	urdfTree	the tree build from the URDF
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns: Return the reference on argument model for convenience.

Note: urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

◆ buildModelFromXML() [1/2]

ModelTpl<Scalar,Options,JointCollectionTpl>& pinocchio::urdf::buildModelFromXML	(	const std::string &	xmlStream,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = `false`
	)

Build the model from an XML stream with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	xmlStream	stream containing the URDF model.
[in]	rootJoint	The joint at the root of the model tree.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns: Return the reference on argument model for convenience.

Note: urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

◆ buildModelFromXML() [2/2]

ModelTpl<Scalar,Options,JointCollectionTpl>& pinocchio::urdf::buildModelFromXML	(	const std::string &	xmlStream,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = `false`
	)

Build the model from an XML stream.

Parameters

[in]	xmlStream	stream containing the URDF model.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns: Return the reference on argument model for convenience.

Note: urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

Namespaces

Functions

Detailed Description

Function Documentation

◆ buildGeom() [1/4]

◆ buildGeom() [2/4]

◆ buildGeom() [3/4]

◆ buildGeom() [4/4]

◆ buildModel() [1/4]

◆ buildModel() [2/4]

◆ buildModel() [3/4]

◆ buildModel() [4/4]

◆ buildModelFromXML() [1/2]

◆ buildModelFromXML() [2/2]