| Directory: | ./ |
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| File: | include/pinocchio/parsers/urdf.hpp |
| Date: | 2025-02-12 21:03:38 |
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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[out] model Reference model where to put the parsed information. | ||
| 37 | /// \return Return the reference on argument model for convenience. | ||
| 38 | /// | ||
| 39 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 40 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | ||
| 41 | const std::string & filename, | ||
| 42 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 43 | const std::string & rootJointName, | ||
| 44 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 45 | const bool verbose = false); | ||
| 46 | |||
| 47 | /// | ||
| 48 | /// \brief Build the model from a URDF file with a particular joint as root of the model tree | ||
| 49 | /// inside the model given as reference argument. | ||
| 50 | /// | ||
| 51 | /// \param[in] filename The URDF complete file path. | ||
| 52 | /// \param[in] rootJoint The joint at the root of the model tree. | ||
| 53 | /// \param[in] verbose Print parsing info. | ||
| 54 | /// \param[out] model Reference model where to put the parsed information. | ||
| 55 | /// \return Return the reference on argument model for convenience. | ||
| 56 | /// | ||
| 57 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 58 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | ||
| 59 | const std::string & filename, | ||
| 60 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 61 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 62 | const bool verbose = false); | ||
| 63 | |||
| 64 | /// | ||
| 65 | /// \brief Build the model from a URDF file with a fixed joint as root of the model tree. | ||
| 66 | /// | ||
| 67 | /// \param[in] filename The URDF complete file path. | ||
| 68 | /// \param[in] verbose Print parsing info. | ||
| 69 | /// \param[out] model Reference model where to put the parsed information. | ||
| 70 | /// \return Return the reference on argument model for convenience. | ||
| 71 | /// | ||
| 72 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 73 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | ||
| 74 | const std::string & filename, | ||
| 75 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 76 | const bool verbose = false); | ||
| 77 | |||
| 78 | /// | ||
| 79 | /// \brief Build the model from a URDF model with a particular joint as root of the model tree | ||
| 80 | /// inside the model given as reference argument. | ||
| 81 | /// | ||
| 82 | /// \param[in] urdfTree the tree build from the URDF | ||
| 83 | /// \param[in] rootJoint The joint at the root of the model tree. | ||
| 84 | /// \param[in] verbose Print parsing info. | ||
| 85 | /// \param[out] model Reference model where to put the parsed information. | ||
| 86 | /// \return Return the reference on argument model for convenience. | ||
| 87 | /// | ||
| 88 | /// \note urdfTree can be build from ::urdf::parseURDF | ||
| 89 | /// or ::urdf::parseURDFFile | ||
| 90 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 91 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | ||
| 92 | const std::shared_ptr<::urdf::ModelInterface> urdfTree, | ||
| 93 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 94 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 95 | const bool verbose = false); | ||
| 96 | |||
| 97 | /// | ||
| 98 | /// \brief Build the model from a URDF model with a particular joint as root of the model tree | ||
| 99 | /// inside the model given as reference argument. | ||
| 100 | /// | ||
| 101 | /// \param[in] urdfTree the tree build from the URDF | ||
| 102 | /// \param[in] rootJoint The joint at the root of the model tree. | ||
| 103 | /// \param[in] rootJointName Name of the rootJoint. | ||
| 104 | /// \param[in] verbose Print parsing info. | ||
| 105 | /// \param[out] model Reference model where to put the parsed information. | ||
| 106 | /// \return Return the reference on argument model for convenience. | ||
| 107 | /// | ||
| 108 | /// \note urdfTree can be build from ::urdf::parseURDF | ||
| 109 | /// or ::urdf::parseURDFFile | ||
| 110 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 111 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | ||
| 112 | const std::shared_ptr<::urdf::ModelInterface> urdfTree, | ||
| 113 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 114 | const std::string & rootJointName, | ||
| 115 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 116 | const bool verbose = false); | ||
| 117 | |||
| 118 | /// | ||
| 119 | /// \brief Build the model from a URDF model | ||
| 120 | /// | ||
| 121 | /// \param[in] urdfTree the tree build from the URDF | ||
| 122 | /// \param[in] verbose Print parsing info. | ||
| 123 | /// \param[out] model Reference model where to put the parsed information. | ||
| 124 | /// \return Return the reference on argument model for convenience. | ||
| 125 | /// | ||
| 126 | /// \note urdfTree can be build from ::urdf::parseURDF | ||
| 127 | /// or ::urdf::parseURDFFile | ||
| 128 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 129 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | ||
| 130 | const std::shared_ptr<::urdf::ModelInterface> urdfTree, | ||
| 131 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 132 | const bool verbose = false); | ||
| 133 | |||
| 134 | /// | ||
| 135 | /// \brief Build the model from an XML stream with a particular joint as root of the model tree | ||
| 136 | /// inside the model given as reference argument. | ||
| 137 | /// | ||
| 138 | /// \param[in] xml_stream stream containing the URDF model. | ||
| 139 | /// \param[in] rootJoint The joint at the root of the model tree. | ||
| 140 | /// \param[in] rootJointName Name of the rootJoint. | ||
| 141 | /// \param[in] verbose Print parsing info. | ||
| 142 | /// \param[out] model Reference model where to put the parsed information. | ||
| 143 | /// \return Return the reference on argument model for convenience. | ||
| 144 | /// | ||
| 145 | /// \note urdfTree can be build from ::urdf::parseURDF | ||
| 146 | /// or ::urdf::parseURDFFile | ||
| 147 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 148 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML( | ||
| 149 | const std::string & xml_stream, | ||
| 150 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 151 | const std::string & rootJointName, | ||
| 152 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 153 | const bool verbose = false); | ||
| 154 | |||
| 155 | /// | ||
| 156 | /// \brief Build the model from an XML stream with a particular joint as root of the model tree | ||
| 157 | /// inside the model given as reference argument. | ||
| 158 | /// | ||
| 159 | /// \param[in] xml_stream stream containing the URDF model. | ||
| 160 | /// \param[in] rootJoint The joint at the root of the model tree. | ||
| 161 | /// \param[in] verbose Print parsing info. | ||
| 162 | /// \param[out] model Reference model where to put the parsed information. | ||
| 163 | /// \return Return the reference on argument model for convenience. | ||
| 164 | /// | ||
| 165 | /// \note urdfTree can be build from ::urdf::parseURDF | ||
| 166 | /// or ::urdf::parseURDFFile | ||
| 167 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 168 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML( | ||
| 169 | const std::string & xml_stream, | ||
| 170 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 171 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 172 | const bool verbose = false); | ||
| 173 | |||
| 174 | /// | ||
| 175 | /// \brief Build the model from an XML stream | ||
| 176 | /// | ||
| 177 | /// \param[in] xml_stream stream containing the URDF model. | ||
| 178 | /// \param[in] verbose Print parsing info. | ||
| 179 | /// \param[out] model Reference model where to put the parsed information. | ||
| 180 | /// \return Return the reference on argument model for convenience. | ||
| 181 | /// | ||
| 182 | /// \note urdfTree can be build from ::urdf::parseURDF | ||
| 183 | /// or ::urdf::parseURDFFile | ||
| 184 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 185 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML( | ||
| 186 | const std::string & xml_stream, | ||
| 187 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 188 | const bool verbose = false); | ||
| 189 | |||
| 190 | /** | ||
| 191 | * @brief Build The GeometryModel from a URDF file. Search for meshes | ||
| 192 | * in the directories specified by the user first and then in | ||
| 193 | * the environment variable ROS_PACKAGE_PATH | ||
| 194 | * | ||
| 195 | * @param[in] model The model of the robot, built with | ||
| 196 | * urdf::buildModel | ||
| 197 | * @param[in] filename The URDF complete (absolute) file path | ||
| 198 | * @param[in] package_paths A vector containing the different directories | ||
| 199 | * where to search for models and meshes, typically | ||
| 200 | * obtained from calling pinocchio::rosPaths() | ||
| 201 | * | ||
| 202 | * @param[in] type The type of objects that must be loaded (must be VISUAL or | ||
| 203 | * COLLISION) | ||
| 204 | * @param[in] mesh_loader object used to load meshes: hpp::fcl::MeshLoader [default] or | ||
| 205 | * hpp::fcl::CachedMeshLoader. | ||
| 206 | * @param[out] geom_model Reference where to put the parsed information. | ||
| 207 | * | ||
| 208 | * @return Returns the reference on geom model for convenience. | ||
| 209 | * | ||
| 210 | * \warning If hpp-fcl has not been found during compilation, COLLISION objects can not be | ||
| 211 | * loaded | ||
| 212 | * | ||
| 213 | */ | ||
| 214 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 215 | GeometryModel & buildGeom( | ||
| 216 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 217 | const std::string & filename, | ||
| 218 | const GeometryType type, | ||
| 219 | GeometryModel & geom_model, | ||
| 220 | const std::vector<std::string> & package_paths = std::vector<std::string>(), | ||
| 221 | ::hpp::fcl::MeshLoaderPtr mesh_loader = ::hpp::fcl::MeshLoaderPtr()); | ||
| 222 | |||
| 223 | /** | ||
| 224 | * @brief Build The GeometryModel from a URDF file. Search for meshes | ||
| 225 | * in the directories specified by the user first and then in | ||
| 226 | * the environment variable ROS_PACKAGE_PATH | ||
| 227 | * | ||
| 228 | * @param[in] model The model of the robot, built with | ||
| 229 | * urdf::buildModel | ||
| 230 | * @param[in] filename The URDF complete (absolute) file path | ||
| 231 | * @param[in] package_path A string containing the path to the directories of the meshes, | ||
| 232 | * typically obtained from calling pinocchio::rosPaths(). | ||
| 233 | * | ||
| 234 | * @param[in] type The type of objects that must be loaded (must be VISUAL or | ||
| 235 | * COLLISION) | ||
| 236 | * @param[in] mesh_loader object used to load meshes: hpp::fcl::MeshLoader [default] or | ||
| 237 | * hpp::fcl::CachedMeshLoader. | ||
| 238 | * @param[out] geom_model Reference where to put the parsed information. | ||
| 239 | * | ||
| 240 | * @return Returns the reference on geom model for convenience. | ||
| 241 | * | ||
| 242 | * \warning If hpp-fcl has not been found during compilation, COLLISION objects can not be | ||
| 243 | * loaded | ||
| 244 | * | ||
| 245 | */ | ||
| 246 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 247 | 9 | GeometryModel & buildGeom( | |
| 248 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 249 | const std::string & filename, | ||
| 250 | const GeometryType type, | ||
| 251 | GeometryModel & geom_model, | ||
| 252 | const std::string & package_path, | ||
| 253 | hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr()) | ||
| 254 | |||
| 255 | { | ||
| 256 |
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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); |
| 258 | 9 | } | |
| 259 | |||
| 260 | /** | ||
| 261 | * @brief Build The GeometryModel from a URDF model. Search for meshes | ||
| 262 | * in the directories specified by the user first and then in | ||
| 263 | * the environment variable ROS_PACKAGE_PATH | ||
| 264 | * | ||
| 265 | * @param[in] model The model of the robot, built with | ||
| 266 | * urdf::buildModel | ||
| 267 | * @param[in] xml_stream Stream containing the URDF model | ||
| 268 | * @param[in] package_paths A vector containing the different directories | ||
| 269 | * where to search for models and meshes, typically | ||
| 270 | * obtained from calling pinocchio::rosPaths() | ||
| 271 | * | ||
| 272 | * @param[in] type The type of objects that must be loaded (must be VISUAL or | ||
| 273 | * COLLISION) | ||
| 274 | * @param[in] mesh_loader object used to load meshes: hpp::fcl::MeshLoader [default] or | ||
| 275 | * hpp::fcl::CachedMeshLoader. | ||
| 276 | * @param[out] geom_model Reference where to put the parsed information. | ||
| 277 | * | ||
| 278 | * @return Returns the reference on geom model for convenience. | ||
| 279 | * | ||
| 280 | * \warning If hpp-fcl has not been found during compilation, COLLISION objects cannot be | ||
| 281 | * loaded | ||
| 282 | * | ||
| 283 | */ | ||
| 284 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 285 | GeometryModel & buildGeom( | ||
| 286 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 287 | const std::istream & xml_stream, | ||
| 288 | const GeometryType type, | ||
| 289 | GeometryModel & geom_model, | ||
| 290 | const std::vector<std::string> & package_paths = std::vector<std::string>(), | ||
| 291 | hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr()); | ||
| 292 | |||
| 293 | /** | ||
| 294 | * @brief Build The GeometryModel from a URDF model. Search for meshes | ||
| 295 | * in the directories specified by the user first and then in | ||
| 296 | * the environment variable ROS_PACKAGE_PATH | ||
| 297 | * | ||
| 298 | * @param[in] model The model of the robot, built with | ||
| 299 | * urdf::buildModel | ||
| 300 | * @param[in] xml_stream Stream containing the URDF model | ||
| 301 | * @param[in] package_path A string containing the path to the directories of the meshes, | ||
| 302 | * typically obtained from calling pinocchio::rosPaths(). | ||
| 303 | * | ||
| 304 | * @param[in] type The type of objects that must be loaded (must be VISUAL or | ||
| 305 | * COLLISION) | ||
| 306 | * @param[in] mesh_loader object used to load meshes: hpp::fcl::MeshLoader [default] or | ||
| 307 | * hpp::fcl::CachedMeshLoader. | ||
| 308 | * @param[out] geom_model Reference where to put the parsed information. | ||
| 309 | * | ||
| 310 | * @return Returns the reference on geom model for convenience. | ||
| 311 | * | ||
| 312 | * \warning If hpp-fcl has not been found during compilation, COLLISION objects cannot be | ||
| 313 | * loaded | ||
| 314 | * | ||
| 315 | */ | ||
| 316 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 317 | GeometryModel & buildGeom( | ||
| 318 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 319 | const std::istream & xml_stream, | ||
| 320 | const GeometryType type, | ||
| 321 | GeometryModel & geom_model, | ||
| 322 | const std::string & package_path, | ||
| 323 | hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr()) | ||
| 324 | |||
| 325 | { | ||
| 326 | const std::vector<std::string> dirs(1, package_path); | ||
| 327 | return buildGeom(model, xml_stream, type, geom_model, dirs, mesh_loader); | ||
| 328 | } | ||
| 329 | |||
| 330 | } // namespace urdf | ||
| 331 | } // namespace pinocchio | ||
| 332 | |||
| 333 | #include "pinocchio/parsers/urdf/model.hxx" | ||
| 334 | #include "pinocchio/parsers/urdf/geometry.hxx" | ||
| 335 | |||
| 336 | #endif // ifndef __pinocchio_parsers_urdf_hpp__ | ||
| 337 |