GCC Code Coverage Report

Directory: ./
File: src/parsers/urdf/model.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 115 157 73.2%
Branches: 183 471 38.9%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2020 CNRS
3 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5
6 #include "pinocchio/parsers/urdf.hpp"
7 #include "pinocchio/parsers/urdf/utils.hpp"
8 #include "pinocchio/parsers/urdf/model.hxx"
9
10 #include <urdf_model/model.h>
11 #include <urdf_parser/urdf_parser.h>
12
13 #include <sstream>
14 #include <boost/foreach.hpp>
15 #include <limits>
16
17 namespace pinocchio
18 {
19 namespace urdf
20 {
21 namespace details
22 {
23 ///
24 /// \brief Convert URDF Inertial quantity to Spatial Inertia.
25 ///
26 /// \param[in] Y The input URDF Inertia.
27 ///
28 /// \return The converted Spatial Inertia pinocchio::Inertia.
29 ///
30 2709 static Inertia convertFromUrdf(const ::urdf::Inertial & Y)
31 {
32 2709 const ::urdf::Vector3 & p = Y.origin.position;
33 2709 const ::urdf::Rotation & q = Y.origin.rotation;
34
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 2709 const Inertia::Vector3 com(p.x, p.y, p.z);
36 const Inertia::Matrix3 & R =
37
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 2709 Eigen::Quaterniond(q.w, q.x, q.y, q.z).cast<Inertia::Scalar>().matrix();
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 2709 Inertia::Matrix3 I;
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 2709 I << Y.ixx, Y.ixy, Y.ixz, Y.ixy, Y.iyy, Y.iyz, Y.ixz, Y.iyz, Y.izz;
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 2709 return Inertia(Y.mass, com, R * I * R.transpose());
42 }
43
44 3281 static Inertia convertFromUrdf(const ::urdf::InertialSharedPtr & Y)
45 {
46
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 3281 if (Y)
47 2709 return convertFromUrdf(*Y);
48 572 return Inertia::Zero();
49 }
50
51 static FrameIndex
52 3196 getParentLinkFrame(const ::urdf::LinkConstSharedPtr link, UrdfVisitorBase & model)
53 {
54
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 3196 PINOCCHIO_CHECK_INPUT_ARGUMENT(link && link->getParent());
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 3196 FrameIndex id = model.getBodyId(link->getParent()->name);
56 3196 return id;
57 }
58
59 ///
60 /// \brief Recursive procedure for reading the URDF tree.
61 /// The function returns an exception as soon as a necessary Inertia or Joint
62 /// information are missing.
63 ///
64 /// \param[in] link The current URDF link.
65 /// \param[in] model The model where the link must be added.
66 ///
67 3196 void parseTree(::urdf::LinkConstSharedPtr link, UrdfVisitorBase & model)
68 {
69 typedef UrdfVisitorBase::Scalar Scalar;
70 typedef UrdfVisitorBase::SE3 SE3;
71 typedef UrdfVisitorBase::Vector Vector;
72 typedef UrdfVisitorBase::Vector3 Vector3;
73 typedef Model::FrameIndex FrameIndex;
74
75 // Parent joint of the current body
76 const ::urdf::JointConstSharedPtr joint =
77 3196 ::urdf::const_pointer_cast<::urdf::Joint>(link->parent_joint);
78
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 3196 if (joint) // if the link is not the root of the tree
80 {
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 3196 PINOCCHIO_CHECK_INPUT_ARGUMENT(link->getParent());
82
83 3196 const std::string & joint_name = joint->name;
84 3196 const std::string & link_name = link->name;
85 3196 const std::string & parent_link_name = link->getParent()->name;
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 3196 std::ostringstream joint_info;
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 3196 FrameIndex parentFrameId = getParentLinkFrame(link, model);
89
90 // Transformation from the parent link to the joint origin
91 const SE3 jointPlacement =
92
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 3196 convertFromUrdf(joint->parent_to_joint_origin_transform).cast<Scalar>();
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 3196 const Inertia Y = convertFromUrdf(link->inertial).cast<Scalar>();
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 3196 Vector max_effort(1), max_velocity(1), min_config(1), max_config(1);
97
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 3196 Vector friction(Vector::Constant(1, 0.)), damping(Vector::Constant(1, 0.));
98
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 3196 Vector3 axis(joint->axis.x, joint->axis.y, joint->axis.z);
99
100 3196 const Scalar infty = std::numeric_limits<Scalar>::infinity();
101
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 3196 switch (joint->type)
103 {
104 ✗ case ::urdf::Joint::FLOATING:
105 ✗ joint_info << "joint FreeFlyer";
106
107 ✗ max_effort = Vector::Constant(6, infty);
108 ✗ max_velocity = Vector::Constant(6, infty);
109 ✗ min_config = Vector::Constant(7, -infty);
110 ✗ max_config = Vector::Constant(7, infty);
111 ✗ min_config.tail<4>().setConstant(-1.01);
112 ✗ max_config.tail<4>().setConstant(1.01);
113
114 ✗ friction = Vector::Constant(6, 0.);
115 ✗ damping = Vector::Constant(6, 0.);
116
117 ✗ model.addJointAndBody(
118 ✗ UrdfVisitorBase::FLOATING, axis, parentFrameId, jointPlacement, joint->name, Y,
119 ✗ link->name, max_effort, max_velocity, min_config, max_config, friction, damping);
120 ✗ break;
121
122 2075 case ::urdf::Joint::REVOLUTE:
123
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 2075 joint_info << "joint REVOLUTE with axis";
124
125 // TODO I think the URDF standard forbids REVOLUTE with no limits.
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 2075 assert(joint->limits);
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 2075 if (joint->limits)
128 {
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 2075 max_effort << joint->limits->effort;
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 2075 max_velocity << joint->limits->velocity;
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 2075 min_config << joint->limits->lower;
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 2075 max_config << joint->limits->upper;
133 }
134
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 2075 if (joint->dynamics)
136 {
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 274 friction << joint->dynamics->friction;
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 274 damping << joint->dynamics->damping;
139 }
140
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 4150 model.addJointAndBody(
142
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 2075 UrdfVisitorBase::REVOLUTE, axis, parentFrameId, jointPlacement, joint->name, Y,
143 2075 link->name, max_effort, max_velocity, min_config, max_config, friction, damping);
144 2075 break;
145
146 1 case ::urdf::Joint::CONTINUOUS: // Revolute joint with no joint limits
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 1 joint_info << "joint CONTINUOUS with axis";
148
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 1 min_config.resize(2);
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 1 max_config.resize(2);
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 1 min_config << -1.01, -1.01;
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 1 max_config << 1.01, 1.01;
153
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 1 if (joint->limits)
155 {
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 1 max_effort << joint->limits->effort;
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 1 max_velocity << joint->limits->velocity;
158 }
159 else
160 {
161 ✗ max_effort << infty;
162 ✗ max_velocity << infty;
163 }
164
165
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 1 if (joint->dynamics)
166 {
167 ✗ friction << joint->dynamics->friction;
168 ✗ damping << joint->dynamics->damping;
169 }
170
171
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 2 model.addJointAndBody(
172
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 1 UrdfVisitorBase::CONTINUOUS, axis, parentFrameId, jointPlacement, joint->name, Y,
173 1 link->name, max_effort, max_velocity, min_config, max_config, friction, damping);
174 1 break;
175
176 28 case ::urdf::Joint::PRISMATIC:
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 28 joint_info << "joint PRISMATIC with axis";
178
179 // TODO I think the URDF standard forbids REVOLUTE with no limits.
180
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 28 assert(joint->limits);
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 28 if (joint->limits)
182 {
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 28 max_effort << joint->limits->effort;
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 28 max_velocity << joint->limits->velocity;
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 28 min_config << joint->limits->lower;
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 28 max_config << joint->limits->upper;
187 }
188
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 28 if (joint->dynamics)
190 {
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 6 friction << joint->dynamics->friction;
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 6 damping << joint->dynamics->damping;
193 }
194
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 56 model.addJointAndBody(
196
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 28 UrdfVisitorBase::PRISMATIC, axis, parentFrameId, jointPlacement, joint->name, Y,
197 28 link->name, max_effort, max_velocity, min_config, max_config, friction, damping);
198 28 break;
199
200 ✗ case ::urdf::Joint::PLANAR:
201 ✗ joint_info << "joint PLANAR with normal axis along Z";
202
203 ✗ max_effort = Vector::Constant(3, infty);
204 ✗ max_velocity = Vector::Constant(3, infty);
205 ✗ min_config = Vector::Constant(4, -infty);
206 ✗ max_config = Vector::Constant(4, infty);
207 ✗ min_config.tail<2>().setConstant(-1.01);
208 ✗ max_config.tail<2>().setConstant(1.01);
209
210 ✗ friction = Vector::Constant(3, 0.);
211 ✗ damping = Vector::Constant(3, 0.);
212
213 ✗ model.addJointAndBody(
214 ✗ UrdfVisitorBase::PLANAR, axis, parentFrameId, jointPlacement, joint->name, Y,
215 ✗ link->name, max_effort, max_velocity, min_config, max_config, friction, damping);
216 ✗ break;
217
218 1092 case ::urdf::Joint::FIXED:
219 // In case of fixed joint, if link has inertial tag:
220 // -add the inertia of the link to his parent in the model
221 // Otherwise do nothing.
222 // In all cases:
223 // -let all the children become children of parent
224 // -inform the parser of the offset to apply
225 // -add fixed body in model to display it in gepetto-viewer
226
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 1092 joint_info << "fixed joint";
228
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 1092 model.addFixedJointAndBody(parentFrameId, jointPlacement, joint_name, Y, link_name);
229 1092 break;
230
231 ✗ default:
232 ✗ throw std::invalid_argument("The type of joint " + joint_name + " is not supported.");
233 break;
234 }
235
236
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 3196 model << "Adding Body" << '\n'
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 3196 << '\"' << link_name << "\" connected to \"" << parent_link_name
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 3196 << "\" through joint \"" << joint_name << "\"\n"
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 3196 << "joint type: " << joint_info.str() << '\n'
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 3196 << "joint placement:\n"
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 3196 << jointPlacement << '\n'
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 3196 << "body info: " << '\n'
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 3196 << " mass: " << Y.mass() << '\n'
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 3196 << " lever: " << Y.lever().transpose() << '\n'
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 3196 << " inertia elements (Ixx,Iyx,Iyy,Izx,Izy,Izz): "
246
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 3196 << Y.inertia().data().transpose() << '\n'
247
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 3196 << '\n';
248 3196 }
249 ✗ else if (link->getParent())
250 ✗ throw std::invalid_argument(link->name + " - joint information missing.");
251
252
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 9324 BOOST_FOREACH (::urdf::LinkConstSharedPtr child, link->child_links)
253 {
254
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 3064 parseTree(child, model);
255 3064 }
256 3196 }
257
258 ///
259 /// \brief Parse a tree with a specific root joint linking the model to the environment.
260 /// The function returns an exception as soon as a necessary Inertia or Joint
261 /// information are missing.
262 ///
263 /// \param[in] link The current URDF link.
264 /// \param[in] model The model where the link must be added.
265 ///
266 85 void parseRootTree(const ::urdf::ModelInterface * urdfTree, UrdfVisitorBase & model)
267 {
268
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 85 model.setName(urdfTree->getName());
269
270 85 ::urdf::LinkConstSharedPtr root_link = urdfTree->getRoot();
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 85 model.addRootJoint(convertFromUrdf(root_link->inertial).cast<double>(), root_link->name);
272
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 348 BOOST_FOREACH (::urdf::LinkConstSharedPtr child, root_link->child_links)
274 {
275
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 132 parseTree(child, model);
276 132 }
277 85 }
278
279 74 void parseRootTree(const std::string & filename, UrdfVisitorBase & model)
280 {
281
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 74 ::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
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 74 if (urdfTree)
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 148 return parseRootTree(urdfTree.get(), model);
284 else
285 ✗ throw std::invalid_argument(
286 ✗ "The file " + filename
287 ✗ + " does not "
288 ✗ "contain a valid URDF model.");
289 74 }
290
291 9 void parseRootTreeFromXML(const std::string & xmlString, UrdfVisitorBase & model)
292 {
293
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 9 ::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDF(xmlString);
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 9 if (urdfTree)
295
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 17 return parseRootTree(urdfTree.get(), model);
296 else
297 ✗ throw std::invalid_argument("The XML stream does not contain a valid "
298 ✗ "URDF model.");
299 9 }
300 } // namespace details
301 } // namespace urdf
302 } // namespace pinocchio
303