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// |
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// Copyright (c) 2015-2021 CNRS INRIA |
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// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
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// |
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#ifndef __pinocchio_parsers_urdf_hpp__ |
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#define __pinocchio_parsers_urdf_hpp__ |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/multibody/geometry.hpp" |
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#include "pinocchio/parsers/meshloader-fwd.hpp" |
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#include <memory> |
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/// \cond |
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// forward declaration of the unique type from urdfdom which is expose. |
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namespace urdf |
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{ |
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class ModelInterface; |
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} |
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/// \endcond |
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namespace pinocchio |
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{ |
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namespace urdf |
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{ |
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/// |
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/// \brief Build the model from a URDF file with a particular joint as root of the model tree |
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/// inside the model given as reference argument. |
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/// |
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/// \param[in] filename The URDF complete file path. |
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/// \param[in] rootJoint The joint at the root of the model tree. |
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/// \param[in] verbose Print parsing info. |
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/// \param[out] model Reference model where to put the parsed information. |
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/// \return Return the reference on argument model for convenience. |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( |
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const std::string & filename, |
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const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, |
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ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const bool verbose = false); |
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/// |
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/// \brief Build the model from a URDF file with a fixed joint as root of the model tree. |
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/// |
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/// \param[in] filename The URDF complete file path. |
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/// \param[in] verbose Print parsing info. |
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/// \param[out] model Reference model where to put the parsed information. |
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/// \return Return the reference on argument model for convenience. |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( |
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const std::string & filename, |
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ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const bool verbose = false); |
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/// |
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/// \brief Build the model from a URDF model with a particular joint as root of the model tree |
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/// inside the model given as reference argument. |
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/// |
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/// \param[in] urdfTree the tree build from the URDF |
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/// \param[in] rootJoint The joint at the root of the model tree. |
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/// \param[in] verbose Print parsing info. |
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/// \param[out] model Reference model where to put the parsed information. |
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/// \return Return the reference on argument model for convenience. |
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/// |
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/// \note urdfTree can be build from ::urdf::parseURDF |
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/// or ::urdf::parseURDFFile |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( |
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const std::shared_ptr<::urdf::ModelInterface> urdfTree, |
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const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, |
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ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const bool verbose = false); |
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/// |
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/// \brief Build the model from a URDF model |
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/// |
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/// \param[in] urdfTree the tree build from the URDF |
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/// \param[in] verbose Print parsing info. |
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/// \param[out] model Reference model where to put the parsed information. |
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/// \return Return the reference on argument model for convenience. |
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/// |
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/// \note urdfTree can be build from ::urdf::parseURDF |
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/// or ::urdf::parseURDFFile |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( |
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const std::shared_ptr<::urdf::ModelInterface> urdfTree, |
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ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const bool verbose = false); |
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/// |
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/// \brief Build the model from an XML stream with a particular joint as root of the model tree |
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/// inside the model given as reference argument. |
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/// |
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/// \param[in] xml_stream stream containing the URDF model. |
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/// \param[in] rootJoint The joint at the root of the model tree. |
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/// \param[in] verbose Print parsing info. |
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/// \param[out] model Reference model where to put the parsed information. |
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/// \return Return the reference on argument model for convenience. |
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/// |
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/// \note urdfTree can be build from ::urdf::parseURDF |
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/// or ::urdf::parseURDFFile |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML( |
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const std::string & xml_stream, |
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const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, |
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ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const bool verbose = false); |
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/// |
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/// \brief Build the model from an XML stream |
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/// |
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/// \param[in] xml_stream stream containing the URDF model. |
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/// \param[in] verbose Print parsing info. |
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/// \param[out] model Reference model where to put the parsed information. |
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/// \return Return the reference on argument model for convenience. |
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/// |
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/// \note urdfTree can be build from ::urdf::parseURDF |
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/// or ::urdf::parseURDFFile |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML( |
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const std::string & xml_stream, |
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ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const bool verbose = false); |
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/** |
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* @brief Build The GeometryModel from a URDF file. Search for meshes |
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* in the directories specified by the user first and then in |
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* the environment variable ROS_PACKAGE_PATH |
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* |
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* @param[in] model The model of the robot, built with |
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* urdf::buildModel |
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* @param[in] filename The URDF complete (absolute) file path |
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* @param[in] package_paths A vector containing the different directories |
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* where to search for models and meshes, typically |
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* obtained from calling pinocchio::rosPaths() |
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* |
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* @param[in] type The type of objects that must be loaded (must be VISUAL or |
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* COLLISION) |
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* @param[in] mesh_loader object used to load meshes: hpp::fcl::MeshLoader [default] or |
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* hpp::fcl::CachedMeshLoader. |
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* @param[out] geom_model Reference where to put the parsed information. |
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* |
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* @return Returns the reference on geom model for convenience. |
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* |
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* \warning If hpp-fcl has not been found during compilation, COLLISION objects can not be |
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* loaded |
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* |
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*/ |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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GeometryModel & buildGeom( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const std::string & filename, |
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const GeometryType type, |
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GeometryModel & geom_model, |
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const std::vector<std::string> & package_paths = std::vector<std::string>(), |
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::hpp::fcl::MeshLoaderPtr mesh_loader = ::hpp::fcl::MeshLoaderPtr()); |
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/** |
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* @brief Build The GeometryModel from a URDF file. Search for meshes |
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* in the directories specified by the user first and then in |
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* the environment variable ROS_PACKAGE_PATH |
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* |
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* @param[in] model The model of the robot, built with |
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* urdf::buildModel |
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* @param[in] filename The URDF complete (absolute) file path |
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* @param[in] package_path A string containing the path to the directories of the meshes, |
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* typically obtained from calling pinocchio::rosPaths(). |
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* |
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* @param[in] type The type of objects that must be loaded (must be VISUAL or |
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* COLLISION) |
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* @param[in] mesh_loader object used to load meshes: hpp::fcl::MeshLoader [default] or |
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* hpp::fcl::CachedMeshLoader. |
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* @param[out] geom_model Reference where to put the parsed information. |
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* |
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* @return Returns the reference on geom model for convenience. |
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* |
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* \warning If hpp-fcl has not been found during compilation, COLLISION objects can not be |
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* loaded |
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* |
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*/ |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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GeometryModel & buildGeom( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const std::string & filename, |
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const GeometryType type, |
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GeometryModel & geom_model, |
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const std::string & package_path, |
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hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr()) |
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{ |
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const std::vector<std::string> dirs(1, package_path); |
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return buildGeom(model, filename, type, geom_model, dirs, mesh_loader); |
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} |
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/** |
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* @brief Build The GeometryModel from a URDF model. Search for meshes |
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* in the directories specified by the user first and then in |
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* the environment variable ROS_PACKAGE_PATH |
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* |
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* @param[in] model The model of the robot, built with |
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* urdf::buildModel |
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* @param[in] xml_stream Stream containing the URDF model |
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* @param[in] package_paths A vector containing the different directories |
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* where to search for models and meshes, typically |
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* obtained from calling pinocchio::rosPaths() |
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* |
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* @param[in] type The type of objects that must be loaded (must be VISUAL or |
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* COLLISION) |
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* @param[in] mesh_loader object used to load meshes: hpp::fcl::MeshLoader [default] or |
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* hpp::fcl::CachedMeshLoader. |
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* @param[out] geom_model Reference where to put the parsed information. |
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* |
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* @return Returns the reference on geom model for convenience. |
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* |
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* \warning If hpp-fcl has not been found during compilation, COLLISION objects cannot be |
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* loaded |
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* |
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*/ |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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GeometryModel & buildGeom( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const std::istream & xml_stream, |
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const GeometryType type, |
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GeometryModel & geom_model, |
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const std::vector<std::string> & package_paths = std::vector<std::string>(), |
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hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr()); |
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/** |
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* @brief Build The GeometryModel from a URDF model. Search for meshes |
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* in the directories specified by the user first and then in |
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* the environment variable ROS_PACKAGE_PATH |
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* |
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* @param[in] model The model of the robot, built with |
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* urdf::buildModel |
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* @param[in] xml_stream Stream containing the URDF model |
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* @param[in] package_path A string containing the path to the directories of the meshes, |
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* typically obtained from calling pinocchio::rosPaths(). |
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* |
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* @param[in] type The type of objects that must be loaded (must be VISUAL or |
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* COLLISION) |
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* @param[in] mesh_loader object used to load meshes: hpp::fcl::MeshLoader [default] or |
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* hpp::fcl::CachedMeshLoader. |
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* @param[out] geom_model Reference where to put the parsed information. |
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* |
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* @return Returns the reference on geom model for convenience. |
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* |
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* \warning If hpp-fcl has not been found during compilation, COLLISION objects cannot be |
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* loaded |
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* |
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*/ |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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GeometryModel & buildGeom( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const std::istream & xml_stream, |
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const GeometryType type, |
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GeometryModel & geom_model, |
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const std::string & package_path, |
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hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr()) |
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{ |
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const std::vector<std::string> dirs(1, package_path); |
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return buildGeom(model, xml_stream, type, geom_model, dirs, mesh_loader); |
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} |
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} // namespace urdf |
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} // namespace pinocchio |
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#include "pinocchio/parsers/urdf/model.hxx" |
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#include "pinocchio/parsers/urdf/geometry.hxx" |
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#endif // ifndef __pinocchio_parsers_urdf_hpp__ |
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