| Directory: | ./ |
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| File: | include/pinocchio/parsers/urdf.hpp |
| Date: | 2025-04-30 16:14:33 |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2021 CNRS INRIA | ||
| 3 | // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. | ||
| 4 | // | ||
| 5 | |||
| 6 | #ifndef __pinocchio_parsers_urdf_hpp__ | ||
| 7 | #define __pinocchio_parsers_urdf_hpp__ | ||
| 8 | |||
| 9 | #include "pinocchio/multibody/model.hpp" | ||
| 10 | #include "pinocchio/multibody/geometry.hpp" | ||
| 11 | #include "pinocchio/parsers/meshloader-fwd.hpp" | ||
| 12 | |||
| 13 | #include <memory> | ||
| 14 | |||
| 15 | /// \cond | ||
| 16 | // forward declaration of the unique type from urdfdom which is expose. | ||
| 17 | namespace urdf | ||
| 18 | { | ||
| 19 | class ModelInterface; | ||
| 20 | } | ||
| 21 | /// \endcond | ||
| 22 | |||
| 23 | namespace pinocchio | ||
| 24 | { | ||
| 25 | namespace urdf | ||
| 26 | { | ||
| 27 | |||
| 28 | /// | ||
| 29 | /// \brief Build the model from a URDF file with a particular joint as root of the model tree | ||
| 30 | /// inside the model given as reference argument. | ||
| 31 | /// | ||
| 32 | /// \param[in] filename The URDF complete file path. | ||
| 33 | /// \param[in] rootJoint The joint at the root of the model tree. | ||
| 34 | /// \param[in] rootJointName Name of the rootJoint. | ||
| 35 | /// \param[in] verbose Print parsing info. | ||
| 36 | /// \param[in] mimic Parsing joints as mimic or not. | ||
| 37 | /// \param[out] model Reference model where to put the parsed information. | ||
| 38 | /// \return Return the reference on argument model for convenience. | ||
| 39 | /// | ||
| 40 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 41 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | ||
| 42 | const std::string & filename, | ||
| 43 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 44 | const std::string & rootJointName, | ||
| 45 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 46 | const bool verbose = false, | ||
| 47 | const bool mimic = false); | ||
| 48 | |||
| 49 | /// | ||
| 50 | /// \brief Build the model from a URDF file with a particular joint as root of the model tree | ||
| 51 | /// inside the model given as reference argument. | ||
| 52 | /// | ||
| 53 | /// \param[in] filename The URDF complete file path. | ||
| 54 | /// \param[in] rootJoint The joint at the root of the model tree. | ||
| 55 | /// \param[in] mimic Parsing joints as mimic or not. | ||
| 56 | /// \param[in] verbose Print parsing info. | ||
| 57 | /// \param[out] model Reference model where to put the parsed information. | ||
| 58 | /// \return Return the reference on argument model for convenience. | ||
| 59 | /// | ||
| 60 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 61 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | ||
| 62 | const std::string & filename, | ||
| 63 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 64 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 65 | const bool verbose = false, | ||
| 66 | const bool mimic = false); | ||
| 67 | |||
| 68 | /// | ||
| 69 | /// \brief Build the model from a URDF file with a fixed joint as root of the model tree. | ||
| 70 | /// | ||
| 71 | /// \param[in] filename The URDF complete file path. | ||
| 72 | /// \param[in] mimic Parsing joints as mimic or not. | ||
| 73 | /// \param[in] verbose Print parsing info. | ||
| 74 | /// \param[out] model Reference model where to put the parsed information. | ||
| 75 | /// \return Return the reference on argument model for convenience. | ||
| 76 | /// | ||
| 77 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 78 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | ||
| 79 | const std::string & filename, | ||
| 80 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 81 | const bool verbose = false, | ||
| 82 | const bool mimic = false); | ||
| 83 | |||
| 84 | /// | ||
| 85 | /// \brief Build the model from a URDF model with a particular joint as root of the model tree | ||
| 86 | /// inside the model given as reference argument. | ||
| 87 | /// | ||
| 88 | /// \param[in] urdfTree the tree build from the URDF | ||
| 89 | /// \param[in] rootJoint The joint at the root of the model tree. | ||
| 90 | /// \param[in] mimic Parsing joints as mimic or not. | ||
| 91 | /// \param[in] verbose Print parsing info. | ||
| 92 | /// \param[out] model Reference model where to put the parsed information. | ||
| 93 | /// \return Return the reference on argument model for convenience. | ||
| 94 | /// | ||
| 95 | /// \note urdfTree can be build from ::urdf::parseURDF | ||
| 96 | /// or ::urdf::parseURDFFile | ||
| 97 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 98 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | ||
| 99 | const std::shared_ptr<::urdf::ModelInterface> urdfTree, | ||
| 100 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 101 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 102 | const bool verbose = false, | ||
| 103 | const bool mimic = false); | ||
| 104 | |||
| 105 | /// | ||
| 106 | /// \brief Build the model from a URDF model with a particular joint as root of the model tree | ||
| 107 | /// inside the model given as reference argument. | ||
| 108 | /// | ||
| 109 | /// \param[in] urdfTree the tree build from the URDF | ||
| 110 | /// \param[in] mimic Parsing joints as mimic or not. | ||
| 111 | /// \param[in] rootJoint The joint at the root of the model tree. | ||
| 112 | /// \param[in] rootJointName Name of the rootJoint. | ||
| 113 | /// \param[in] verbose Print parsing info. | ||
| 114 | /// \param[out] model Reference model where to put the parsed information. | ||
| 115 | /// \return Return the reference on argument model for convenience. | ||
| 116 | /// | ||
| 117 | /// \note urdfTree can be build from ::urdf::parseURDF | ||
| 118 | /// or ::urdf::parseURDFFile | ||
| 119 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 120 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | ||
| 121 | const std::shared_ptr<::urdf::ModelInterface> urdfTree, | ||
| 122 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 123 | const std::string & rootJointName, | ||
| 124 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 125 | const bool verbose = false, | ||
| 126 | const bool mimic = false); | ||
| 127 | |||
| 128 | /// | ||
| 129 | /// \brief Build the model from a URDF model | ||
| 130 | /// | ||
| 131 | /// \param[in] urdfTree the tree build from the URDF | ||
| 132 | /// \param[in] mimic Parsing joints as mimic or not. | ||
| 133 | /// \param[in] verbose Print parsing info. | ||
| 134 | /// \param[out] model Reference model where to put the parsed information. | ||
| 135 | /// \return Return the reference on argument model for convenience. | ||
| 136 | /// | ||
| 137 | /// \note urdfTree can be build from ::urdf::parseURDF | ||
| 138 | /// or ::urdf::parseURDFFile | ||
| 139 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 140 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | ||
| 141 | const std::shared_ptr<::urdf::ModelInterface> urdfTree, | ||
| 142 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 143 | const bool verbose = false, | ||
| 144 | const bool mimic = false); | ||
| 145 | |||
| 146 | /// | ||
| 147 | /// \brief Build the model from an XML stream with a particular joint as root of the model tree | ||
| 148 | /// inside the model given as reference argument. | ||
| 149 | /// | ||
| 150 | /// \param[in] xml_stream stream containing the URDF model. | ||
| 151 | /// \param[in] rootJoint The joint at the root of the model tree. | ||
| 152 | /// \param[in] rootJointName Name of the rootJoint. | ||
| 153 | /// \param[in] mimic Parsing joints as mimic or not. | ||
| 154 | /// \param[in] verbose Print parsing info. | ||
| 155 | /// \param[out] model Reference model where to put the parsed information. | ||
| 156 | /// \return Return the reference on argument model for convenience. | ||
| 157 | /// | ||
| 158 | /// \note urdfTree can be build from ::urdf::parseURDF | ||
| 159 | /// or ::urdf::parseURDFFile | ||
| 160 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 161 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML( | ||
| 162 | const std::string & xml_stream, | ||
| 163 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 164 | const std::string & rootJointName, | ||
| 165 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 166 | const bool verbose = false, | ||
| 167 | const bool mimic = false); | ||
| 168 | |||
| 169 | /// | ||
| 170 | /// \brief Build the model from an XML stream with a particular joint as root of the model tree | ||
| 171 | /// inside the model given as reference argument. | ||
| 172 | /// | ||
| 173 | /// \param[in] xml_stream stream containing the URDF model. | ||
| 174 | /// \param[in] rootJoint The joint at the root of the model tree. | ||
| 175 | /// \param[in] verbose Print parsing info. | ||
| 176 | /// \param[in] mimic Parsing joints as mimic or not. | ||
| 177 | /// \param[out] model Reference model where to put the parsed information. | ||
| 178 | /// \return Return the reference on argument model for convenience. | ||
| 179 | /// | ||
| 180 | /// \note urdfTree can be build from ::urdf::parseURDF | ||
| 181 | /// or ::urdf::parseURDFFile | ||
| 182 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 183 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML( | ||
| 184 | const std::string & xml_stream, | ||
| 185 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 186 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 187 | const bool verbose = false, | ||
| 188 | const bool mimic = false); | ||
| 189 | |||
| 190 | /// | ||
| 191 | /// \brief Build the model from an XML stream | ||
| 192 | /// | ||
| 193 | /// \param[in] xml_stream stream containing the URDF model. | ||
| 194 | /// \param[in] mimic Parsing joints as mimic or not. | ||
| 195 | /// \param[in] verbose Print parsing info. | ||
| 196 | /// \param[out] model Reference model where to put the parsed information. | ||
| 197 | /// \return Return the reference on argument model for convenience. | ||
| 198 | /// | ||
| 199 | /// \note urdfTree can be build from ::urdf::parseURDF | ||
| 200 | /// or ::urdf::parseURDFFile | ||
| 201 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 202 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML( | ||
| 203 | const std::string & xml_stream, | ||
| 204 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 205 | const bool verbose = false, | ||
| 206 | const bool mimic = false); | ||
| 207 | |||
| 208 | /** | ||
| 209 | * @brief Build The GeometryModel from a URDF file. Search for meshes | ||
| 210 | * in the directories specified by the user first and then in | ||
| 211 | * the environment variable ROS_PACKAGE_PATH | ||
| 212 | * | ||
| 213 | * @param[in] model The model of the robot, built with | ||
| 214 | * urdf::buildModel | ||
| 215 | * @param[in] filename The URDF complete (absolute) file path | ||
| 216 | * @param[in] package_paths A vector containing the different directories | ||
| 217 | * where to search for models and meshes, typically | ||
| 218 | * obtained from calling pinocchio::rosPaths() | ||
| 219 | * | ||
| 220 | * @param[in] type The type of objects that must be loaded (must be VISUAL or | ||
| 221 | * COLLISION) | ||
| 222 | * @param[in] mesh_loader object used to load meshes: hpp::fcl::MeshLoader [default] or | ||
| 223 | * hpp::fcl::CachedMeshLoader. | ||
| 224 | * @param[out] geom_model Reference where to put the parsed information. | ||
| 225 | * | ||
| 226 | * @return Returns the reference on geom model for convenience. | ||
| 227 | * | ||
| 228 | * \warning If hpp-fcl has not been found during compilation, COLLISION objects can not be | ||
| 229 | * loaded | ||
| 230 | * | ||
| 231 | */ | ||
| 232 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 233 | GeometryModel & buildGeom( | ||
| 234 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 235 | const std::string & filename, | ||
| 236 | const GeometryType type, | ||
| 237 | GeometryModel & geom_model, | ||
| 238 | const std::vector<std::string> & package_paths = std::vector<std::string>(), | ||
| 239 | ::hpp::fcl::MeshLoaderPtr mesh_loader = ::hpp::fcl::MeshLoaderPtr()); | ||
| 240 | |||
| 241 | /** | ||
| 242 | * @brief Build The GeometryModel from a URDF file. Search for meshes | ||
| 243 | * in the directories specified by the user first and then in | ||
| 244 | * the environment variable ROS_PACKAGE_PATH | ||
| 245 | * | ||
| 246 | * @param[in] model The model of the robot, built with | ||
| 247 | * urdf::buildModel | ||
| 248 | * @param[in] filename The URDF complete (absolute) file path | ||
| 249 | * @param[in] package_path A string containing the path to the directories of the meshes, | ||
| 250 | * typically obtained from calling pinocchio::rosPaths(). | ||
| 251 | * | ||
| 252 | * @param[in] type The type of objects that must be loaded (must be VISUAL or | ||
| 253 | * COLLISION) | ||
| 254 | * @param[in] mesh_loader object used to load meshes: hpp::fcl::MeshLoader [default] or | ||
| 255 | * hpp::fcl::CachedMeshLoader. | ||
| 256 | * @param[out] geom_model Reference where to put the parsed information. | ||
| 257 | * | ||
| 258 | * @return Returns the reference on geom model for convenience. | ||
| 259 | * | ||
| 260 | * \warning If hpp-fcl has not been found during compilation, COLLISION objects can not be | ||
| 261 | * loaded | ||
| 262 | * | ||
| 263 | */ | ||
| 264 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 265 | 9 | GeometryModel & buildGeom( | |
| 266 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 267 | const std::string & filename, | ||
| 268 | const GeometryType type, | ||
| 269 | GeometryModel & geom_model, | ||
| 270 | const std::string & package_path, | ||
| 271 | hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr()) | ||
| 272 | |||
| 273 | { | ||
| 274 |
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9 | const std::vector<std::string> dirs(1, package_path); |
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18 | return buildGeom(model, filename, type, geom_model, dirs, mesh_loader); |
| 276 | 9 | } | |
| 277 | |||
| 278 | /** | ||
| 279 | * @brief Build The GeometryModel from a URDF model. Search for meshes | ||
| 280 | * in the directories specified by the user first and then in | ||
| 281 | * the environment variable ROS_PACKAGE_PATH | ||
| 282 | * | ||
| 283 | * @param[in] model The model of the robot, built with | ||
| 284 | * urdf::buildModel | ||
| 285 | * @param[in] xml_stream Stream containing the URDF model | ||
| 286 | * @param[in] package_paths A vector containing the different directories | ||
| 287 | * where to search for models and meshes, typically | ||
| 288 | * obtained from calling pinocchio::rosPaths() | ||
| 289 | * | ||
| 290 | * @param[in] type The type of objects that must be loaded (must be VISUAL or | ||
| 291 | * COLLISION) | ||
| 292 | * @param[in] mesh_loader object used to load meshes: hpp::fcl::MeshLoader [default] or | ||
| 293 | * hpp::fcl::CachedMeshLoader. | ||
| 294 | * @param[out] geom_model Reference where to put the parsed information. | ||
| 295 | * | ||
| 296 | * @return Returns the reference on geom model for convenience. | ||
| 297 | * | ||
| 298 | * \warning If hpp-fcl has not been found during compilation, COLLISION objects cannot be | ||
| 299 | * loaded | ||
| 300 | * | ||
| 301 | */ | ||
| 302 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 303 | GeometryModel & buildGeom( | ||
| 304 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 305 | const std::istream & xml_stream, | ||
| 306 | const GeometryType type, | ||
| 307 | GeometryModel & geom_model, | ||
| 308 | const std::vector<std::string> & package_paths = std::vector<std::string>(), | ||
| 309 | hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr()); | ||
| 310 | |||
| 311 | /** | ||
| 312 | * @brief Build The GeometryModel from a URDF model. Search for meshes | ||
| 313 | * in the directories specified by the user first and then in | ||
| 314 | * the environment variable ROS_PACKAGE_PATH | ||
| 315 | * | ||
| 316 | * @param[in] model The model of the robot, built with | ||
| 317 | * urdf::buildModel | ||
| 318 | * @param[in] xml_stream Stream containing the URDF model | ||
| 319 | * @param[in] package_path A string containing the path to the directories of the meshes, | ||
| 320 | * typically obtained from calling pinocchio::rosPaths(). | ||
| 321 | * | ||
| 322 | * @param[in] type The type of objects that must be loaded (must be VISUAL or | ||
| 323 | * COLLISION) | ||
| 324 | * @param[in] mesh_loader object used to load meshes: hpp::fcl::MeshLoader [default] or | ||
| 325 | * hpp::fcl::CachedMeshLoader. | ||
| 326 | * @param[out] geom_model Reference where to put the parsed information. | ||
| 327 | * | ||
| 328 | * @return Returns the reference on geom model for convenience. | ||
| 329 | * | ||
| 330 | * \warning If hpp-fcl has not been found during compilation, COLLISION objects cannot be | ||
| 331 | * loaded | ||
| 332 | * | ||
| 333 | */ | ||
| 334 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 335 | GeometryModel & buildGeom( | ||
| 336 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 337 | const std::istream & xml_stream, | ||
| 338 | const GeometryType type, | ||
| 339 | GeometryModel & geom_model, | ||
| 340 | const std::string & package_path, | ||
| 341 | hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr()) | ||
| 342 | |||
| 343 | { | ||
| 344 | const std::vector<std::string> dirs(1, package_path); | ||
| 345 | return buildGeom(model, xml_stream, type, geom_model, dirs, mesh_loader); | ||
| 346 | } | ||
| 347 | |||
| 348 | } // namespace urdf | ||
| 349 | } // namespace pinocchio | ||
| 350 | |||
| 351 | #include "pinocchio/parsers/urdf/model.hxx" | ||
| 352 | #include "pinocchio/parsers/urdf/geometry.hxx" | ||
| 353 | |||
| 354 | #endif // ifndef __pinocchio_parsers_urdf_hpp__ | ||
| 355 |