hpp::pinocchio::urdf Namespace Reference

Functions
void	loadRobotModel (const DevicePtr_t &robot, const FrameIndex &baseFrame, const std::string &prefix, const std::string &rootJointType, const std::string &package, const std::string &modelName, const std::string &urdfSuffix, const std::string &srdfSuffix, const SE3 &bMr=SE3::Identity())
void	loadRobotModel (const DevicePtr_t &robot, const std::string &rootJointType, const std::string &package, const std::string &modelName, const std::string &urdfSuffix, const std::string &srdfSuffix)
void	setupHumanoidRobot (const HumanoidRobotPtr_t &robot, const std::string &prefix="")
void	loadUrdfModel (const DevicePtr_t &robot, const FrameIndex &baseFrame, const std::string &prefix, const std::string &rootJointType, const std::string &package, const std::string &filename, const SE3 &bMr=SE3::Identity())
void	loadUrdfModel (const DevicePtr_t &robot, const std::string &rootJointType, const std::string &package, const std::string &filename)
void	loadModel (const DevicePtr_t &robot, const FrameIndex &baseFrame, const std::string &prefix, const std::string &rootType, const std::string &urdfPath, const std::string &srdfPath, const SE3 &bMr=SE3::Identity())
void	loadModelFromString (const DevicePtr_t &robot, const FrameIndex &baseFrame, const std::string &prefix, const std::string &rootType, const std::string &urdfString, const std::string &srdfString, const SE3 &bMr=SE3::Identity())
void	loadSRDFModel (const DevicePtr_t &robot, std::string prefix, const std::string &srdfPath)
	Read SRDF file.
void	loadSRDFModelFromString (const DevicePtr_t &robot, std::string prefix, const std::string &srdfString)
	Read SRDF string.

Function Documentation

loadModel()

void hpp::pinocchio::urdf::loadModel	(	const DevicePtr_t &	robot,
		const FrameIndex &	baseFrame,
		const std::string &	prefix,
		const std::string &	rootType,
		const std::string &	urdfPath,
		const std::string &	srdfPath,
		const SE3 &	bMr = SE3::Identity()
	)

This is the base function which is called by the other function. It reads a URDF file, and optionnally a SRDF file, and build the robot.

Parameters

srdfPath

if empty, do not try to parse SRDF.

loadModelFromString()

void hpp::pinocchio::urdf::loadModelFromString	(	const DevicePtr_t &	robot,
		const FrameIndex &	baseFrame,
		const std::string &	prefix,
		const std::string &	rootType,
		const std::string &	urdfString,
		const std::string &	srdfString,
		const SE3 &	bMr = SE3::Identity()
	)

Read URDF and, optionnally SRDF, as XML string.

Parameters

srdfString

if empty, do not try to parse SRDF.

loadRobotModel() [1/2]

void hpp::pinocchio::urdf::loadRobotModel	(	const DevicePtr_t &	robot,
		const FrameIndex &	baseFrame,
		const std::string &	prefix,
		const std::string &	rootJointType,
		const std::string &	package,
		const std::string &	modelName,
		const std::string &	urdfSuffix,
		const std::string &	srdfSuffix,
		const SE3 &	bMr = SE3::Identity()
	)

Load robot model by name

Parameters

robot	Empty robot created before calling the function. Users can pass an instance of a class deriving from Device.
baseFrame	frame to which the joint tree is added.
prefix	string to insert before all names (joint, link, body names)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
package	ros package containing the model
modelName	robot model name
urdfSuffix	suffix for urdf file
srdfSuffix	suffix for srdf file
bMr	position of the root joint of the new model in the base frame.

Note

This function reads the following files:

• package://${package}/urdf/${modelName}${urdfSuffix}.urdf
• package://${package}/srdf/${modelName}${srdfSuffix}.srdf

loadRobotModel() [2/2]

void hpp::pinocchio::urdf::loadRobotModel	(	const DevicePtr_t &	robot,
		const std::string &	rootJointType,
		const std::string &	package,
		const std::string &	modelName,
		const std::string &	urdfSuffix,
		const std::string &	srdfSuffix
	)

loadSRDFModel()

void hpp::pinocchio::urdf::loadSRDFModel	(	const DevicePtr_t &	robot,
		std::string	prefix,
		const std::string &	srdfPath
	)

Read SRDF file.

loadSRDFModelFromString()

void hpp::pinocchio::urdf::loadSRDFModelFromString	(	const DevicePtr_t &	robot,
		std::string	prefix,
		const std::string &	srdfString
	)

Read SRDF string.

loadUrdfModel() [1/2]

void hpp::pinocchio::urdf::loadUrdfModel	(	const DevicePtr_t &	robot,
		const FrameIndex &	baseFrame,
		const std::string &	prefix,
		const std::string &	rootJointType,
		const std::string &	package,
		const std::string &	filename,
		const SE3 &	bMr = SE3::Identity()
	)

Load only urdf model file

Parameters

robot	Empty robot created before calling the function. Users can pass an instance of a class deriving from Device.
baseFrame	frame to which the joint tree is added.
prefix	string to insert before all names (joint, link, body names)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
package	ros package containing the model
filename	name of the file containing the model.

Note

This function reads the following file:

• package://${package}/urdf/${filename}.urdf

loadUrdfModel() [2/2]

void hpp::pinocchio::urdf::loadUrdfModel	(	const DevicePtr_t &	robot,
		const std::string &	rootJointType,
		const std::string &	package,
		const std::string &	filename
	)

setupHumanoidRobot()

void hpp::pinocchio::urdf::setupHumanoidRobot	(	const HumanoidRobotPtr_t &	robot,
		const std::string &	prefix = ""
	)

Set the special joints of the robot (chest, waist...) and initialize the gaze origin and direction