| Directory: | ./ |
|---|---|
| File: | examples/overview-urdf.cpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 14 | 14 | 100.0% |
| Branches: | 30 | 66 | 45.5% |
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| 1 | #include "pinocchio/parsers/urdf.hpp" | ||
| 2 | |||
| 3 | #include "pinocchio/algorithm/joint-configuration.hpp" | ||
| 4 | #include "pinocchio/algorithm/kinematics.hpp" | ||
| 5 | |||
| 6 | #include <iostream> | ||
| 7 | |||
| 8 | // PINOCCHIO_MODEL_DIR is defined by the CMake but you can define your own directory here. | ||
| 9 | #ifndef PINOCCHIO_MODEL_DIR | ||
| 10 | #define PINOCCHIO_MODEL_DIR "path_to_the_model_dir" | ||
| 11 | #endif | ||
| 12 | |||
| 13 | 1 | int main(int argc, char ** argv) | |
| 14 | { | ||
| 15 | using namespace pinocchio; | ||
| 16 | |||
| 17 | // You should change here to set up your own URDF file or just pass it as an argument of this | ||
| 18 | // example. | ||
| 19 | const std::string urdf_filename = | ||
| 20 | (argc <= 1) ? PINOCCHIO_MODEL_DIR | ||
| 21 |
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2 | + std::string("/example-robot-data/robots/ur_description/urdf/ur5_robot.urdf") |
| 22 |
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2 | : argv[1]; |
| 23 | |||
| 24 | // Load the urdf model | ||
| 25 |
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1 | Model model; |
| 26 |
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1 | pinocchio::urdf::buildModel(urdf_filename, model); |
| 27 |
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1 | std::cout << "model name: " << model.name << std::endl; |
| 28 | |||
| 29 | // Create data required by the algorithms | ||
| 30 |
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1 | Data data(model); |
| 31 | |||
| 32 | // Sample a random configuration | ||
| 33 |
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1 | Eigen::VectorXd q = randomConfiguration(model); |
| 34 |
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1 | std::cout << "q: " << q.transpose() << std::endl; |
| 35 | |||
| 36 | // Perform the forward kinematics over the kinematic tree | ||
| 37 |
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1 | forwardKinematics(model, data, q); |
| 38 | |||
| 39 | // Print out the placement of each joint of the kinematic tree | ||
| 40 |
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8 | for (JointIndex joint_id = 0; joint_id < (JointIndex)model.njoints; ++joint_id) |
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7 | std::cout << std::setw(24) << std::left << model.names[joint_id] << ": " << std::fixed |
| 42 |
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7 | << std::setprecision(2) << data.oMi[joint_id].translation().transpose() << std::endl; |
| 43 | 1 | } | |
| 44 |