| Directory: | ./ |
|---|---|
| File: | include/pinocchio/parsers/urdf/geometry.hxx |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 12 | 19 | 63.2% |
| Branches: | 5 | 30 | 16.7% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2023 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_multibody_parsers_urdf_geometry_hxx__ | ||
| 6 | #define __pinocchio_multibody_parsers_urdf_geometry_hxx__ | ||
| 7 | |||
| 8 | #include "pinocchio/parsers/config.hpp" | ||
| 9 | #include "pinocchio/parsers/urdf.hpp" | ||
| 10 | |||
| 11 | #include <sstream> | ||
| 12 | #include <iomanip> | ||
| 13 | |||
| 14 | namespace pinocchio | ||
| 15 | { | ||
| 16 | namespace urdf | ||
| 17 | { | ||
| 18 | namespace details | ||
| 19 | { | ||
| 20 | struct UrdfGeomVisitorBase | ||
| 21 | { | ||
| 22 | typedef FrameTpl<urdf_scalar_type, 0> Frame; | ||
| 23 | |||
| 24 | virtual Frame getBodyFrame(const std::string & name, FrameIndex & fid) const = 0; | ||
| 25 | }; | ||
| 26 | |||
| 27 | template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl> | ||
| 28 | struct UrdfGeomVisitor : UrdfGeomVisitorBase | ||
| 29 | { | ||
| 30 | typedef ModelTpl<_Scalar, _Options, JointCollectionTpl> Model; | ||
| 31 | const Model & model; | ||
| 32 | |||
| 33 | 23 | UrdfGeomVisitor(const Model & model) | |
| 34 | 23 | : model(model) | |
| 35 | { | ||
| 36 | 23 | } | |
| 37 | |||
| 38 | 514 | Frame getBodyFrame(const std::string & link_name, FrameIndex & fid) const | |
| 39 | { | ||
| 40 |
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514 | if (!model.existFrame(link_name, BODY)) |
| 41 | { | ||
| 42 | ✗ | throw std::invalid_argument("No link " + link_name + " in model"); | |
| 43 | } | ||
| 44 |
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514 | fid = model.getFrameId(link_name, BODY); |
| 45 |
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514 | PINOCCHIO_CHECK_INPUT_ARGUMENT(model.frames[fid].type == BODY); |
| 46 | 514 | return model.frames[fid].template cast<urdf_scalar_type>(); | |
| 47 | } | ||
| 48 | }; | ||
| 49 | |||
| 50 | /** | ||
| 51 | * @brief Recursive procedure for reading the URDF tree, looking for geometries | ||
| 52 | * This function fill the geometric model whith geometry objects retrieved from | ||
| 53 | * the URDF tree | ||
| 54 | * | ||
| 55 | * @param[in] tree The URDF kinematic tree | ||
| 56 | * @param[in] meshLoader The FCL mesh loader to avoid duplications of already loaded | ||
| 57 | * geometries | ||
| 58 | * @param[in] link The current URDF link | ||
| 59 | * @param model The model to which is the GeometryModel associated | ||
| 60 | * @param geomModel The GeometryModel where the Collision Objects must be added | ||
| 61 | * @param[in] package_dirs A vector containing the different directories where to search | ||
| 62 | * for packages | ||
| 63 | * @param[in] type The type of objects that must be loaded ( can be VISUAL or | ||
| 64 | * COLLISION) | ||
| 65 | * | ||
| 66 | */ | ||
| 67 | PINOCCHIO_PARSERS_DLLAPI void parseTreeForGeom( | ||
| 68 | UrdfGeomVisitorBase & visitor, | ||
| 69 | const std::istream & xmlStream, | ||
| 70 | const GeometryType type, | ||
| 71 | GeometryModel & geomModel, | ||
| 72 | const std::vector<std::string> & package_dirs, | ||
| 73 | ::hpp::fcl::MeshLoaderPtr meshLoader); | ||
| 74 | |||
| 75 | } // namespace details | ||
| 76 | |||
| 77 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 78 | ✗ | GeometryModel & buildGeom( | |
| 79 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 80 | const std::string & filename, | ||
| 81 | const GeometryType type, | ||
| 82 | GeometryModel & geomModel, | ||
| 83 | const std::vector<std::string> & package_dirs, | ||
| 84 | ::hpp::fcl::MeshLoaderPtr meshLoader) | ||
| 85 | { | ||
| 86 | ✗ | std::ifstream xmlStream(filename.c_str()); | |
| 87 | ✗ | if (!xmlStream.is_open()) | |
| 88 | { | ||
| 89 | ✗ | const std::string exception_message(filename + " does not seem to be a valid file."); | |
| 90 | ✗ | throw std::invalid_argument(exception_message); | |
| 91 | } | ||
| 92 | ✗ | return buildGeom(model, xmlStream, type, geomModel, package_dirs, meshLoader); | |
| 93 | } | ||
| 94 | |||
| 95 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 96 | 23 | GeometryModel & buildGeom( | |
| 97 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 98 | const std::istream & xmlStream, | ||
| 99 | const GeometryType type, | ||
| 100 | GeometryModel & geomModel, | ||
| 101 | const std::vector<std::string> & package_dirs, | ||
| 102 | ::hpp::fcl::MeshLoaderPtr meshLoader) | ||
| 103 | { | ||
| 104 | 23 | details::UrdfGeomVisitor<Scalar, Options, JointCollectionTpl> visitor(model); | |
| 105 |
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23 | details::parseTreeForGeom(visitor, xmlStream, type, geomModel, package_dirs, meshLoader); |
| 106 | 23 | return geomModel; | |
| 107 | } | ||
| 108 | |||
| 109 | } // namespace urdf | ||
| 110 | } // namespace pinocchio | ||
| 111 | |||
| 112 | #endif // ifndef __pinocchio_multibody_parsers_urdf_geometry_hxx__ | ||
| 113 |