pinocchio::urdf Namespace Reference

URDF parsing. More...

Functions
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::istream &xml_stream, const GeometryType type, GeometryModel &geom_model, const std::string &package_path, hpp::fcl::MeshLoaderPtr mesh_loader=hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::istream &xml_stream, const GeometryType type, GeometryModel &geom_model, const std::vector< std::string > &package_paths=std::vector< std::string >(), hpp::fcl::MeshLoaderPtr mesh_loader=hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const GeometryType type, GeometryModel &geom_model, const std::string &package_path, hpp::fcl::MeshLoaderPtr mesh_loader=hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const GeometryType type, GeometryModel &geom_model, const std::vector< std::string > &package_paths=std::vector< std::string >(), ::hpp::fcl::MeshLoaderPtr mesh_loader=::hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::shared_ptr<::urdf::ModelInterface > urdfTree, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, const std::string &rootJointName, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF model with a particular joint as root of the model tree inside the model given as reference argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::shared_ptr<::urdf::ModelInterface > urdfTree, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF model with a particular joint as root of the model tree inside the model given as reference argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::shared_ptr<::urdf::ModelInterface > urdfTree, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::string &filename, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, const std::string &rootJointName, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF file with a particular joint as root of the model tree inside the model given as reference argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::string &filename, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF file with a particular joint as root of the model tree inside the model given as reference argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::string &filename, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF file with a fixed joint as root of the model tree. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xml_stream, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, const std::string &rootJointName, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from an XML stream with a particular joint as root of the model tree inside the model given as reference argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xml_stream, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from an XML stream with a particular joint as root of the model tree inside the model given as reference argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xml_stream, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from an XML stream. More...

Detailed Description

URDF parsing.

Function Documentation

buildGeom() [1/4]

GeometryModel& pinocchio::urdf::buildGeom	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::istream &	xml_stream,
		const GeometryType	type,
		GeometryModel &	geom_model,
		const std::string &	package_path,
		hpp::fcl::MeshLoaderPtr	mesh_loader = hpp::fcl::MeshLoaderPtr()
	)

Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Parameters

[in]	model	The model of the robot, built with urdf::buildModel
[in]	xml_stream	Stream containing the URDF model
[in]	package_path	A string containing the path to the directories of the meshes, typically obtained from calling pinocchio::rosPaths().
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	mesh_loader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geom_model	Reference where to put the parsed information.

Returns

Returns the reference on geom model for convenience.

Warning

If hpp-fcl has not been found during compilation, COLLISION objects cannot be loaded

Definition at line 317 of file urdf.hpp.

buildGeom() [2/4]

GeometryModel& pinocchio::urdf::buildGeom	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::istream &	xml_stream,
		const GeometryType	type,
		GeometryModel &	geom_model,
		const std::vector< std::string > &	package_paths = std::vector< std::string >(),
		hpp::fcl::MeshLoaderPtr	mesh_loader = hpp::fcl::MeshLoaderPtr()
	)

Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Parameters

[in]	model	The model of the robot, built with urdf::buildModel
[in]	xml_stream	Stream containing the URDF model
[in]	package_paths	A vector containing the different directories where to search for models and meshes, typically obtained from calling pinocchio::rosPaths()
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	mesh_loader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geom_model	Reference where to put the parsed information.

Returns

Returns the reference on geom model for convenience.

Warning

If hpp-fcl has not been found during compilation, COLLISION objects cannot be loaded

buildGeom() [3/4]

GeometryModel& pinocchio::urdf::buildGeom	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::string &	filename,
		const GeometryType	type,
		GeometryModel &	geom_model,
		const std::string &	package_path,
		hpp::fcl::MeshLoaderPtr	mesh_loader = hpp::fcl::MeshLoaderPtr()
	)

Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Parameters

[in]	model	The model of the robot, built with urdf::buildModel
[in]	filename	The URDF complete (absolute) file path
[in]	package_path	A string containing the path to the directories of the meshes, typically obtained from calling pinocchio::rosPaths().
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	mesh_loader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geom_model	Reference where to put the parsed information.

Returns

Returns the reference on geom model for convenience.

Warning

If hpp-fcl has not been found during compilation, COLLISION objects can not be loaded

Definition at line 247 of file urdf.hpp.

buildGeom() [4/4]

GeometryModel& pinocchio::urdf::buildGeom	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::string &	filename,
		const GeometryType	type,
		GeometryModel &	geom_model,
		const std::vector< std::string > &	package_paths = std::vector< std::string >(),
		::hpp::fcl::MeshLoaderPtr	mesh_loader = ::hpp::fcl::MeshLoaderPtr()
	)

Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Parameters

[in]	model	The model of the robot, built with urdf::buildModel
[in]	filename	The URDF complete (absolute) file path
[in]	package_paths	A vector containing the different directories where to search for models and meshes, typically obtained from calling pinocchio::rosPaths()
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	mesh_loader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geom_model	Reference where to put the parsed information.

Returns

Returns the reference on geom model for convenience.

Warning

If hpp-fcl has not been found during compilation, COLLISION objects can not be loaded

buildModel() [1/6]

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::urdf::buildModel	(	const std::shared_ptr<::urdf::ModelInterface >	urdfTree,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		const std::string &	rootJointName,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from a URDF model with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	urdfTree	the tree build from the URDF
[in]	rootJoint	The joint at the root of the model tree.
[in]	rootJointName	Name of the rootJoint.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

Note

urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

buildModel() [2/6]

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::urdf::buildModel	(	const std::shared_ptr<::urdf::ModelInterface >	urdfTree,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from a URDF model with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	urdfTree	the tree build from the URDF
[in]	rootJoint	The joint at the root of the model tree.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

Note

urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

buildModel() [3/6]

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::urdf::buildModel	(	const std::shared_ptr<::urdf::ModelInterface >	urdfTree,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from a URDF model.

Parameters

[in]	urdfTree	the tree build from the URDF
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

Note

urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

buildModel() [4/6]

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::urdf::buildModel	(	const std::string &	filename,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		const std::string &	rootJointName,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from a URDF file with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	filename	The URDF complete file path.
[in]	rootJoint	The joint at the root of the model tree.
[in]	rootJointName	Name of the rootJoint.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

buildModel() [5/6]

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::urdf::buildModel	(	const std::string &	filename,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from a URDF file with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	filename	The URDF complete file path.
[in]	rootJoint	The joint at the root of the model tree.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

buildModel() [6/6]

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::urdf::buildModel	(	const std::string &	filename,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from a URDF file with a fixed joint as root of the model tree.

Parameters

[in]	filename	The URDF complete file path.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

buildModelFromXML() [1/3]

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::urdf::buildModelFromXML	(	const std::string &	xml_stream,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		const std::string &	rootJointName,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from an XML stream with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	xml_stream	stream containing the URDF model.
[in]	rootJoint	The joint at the root of the model tree.
[in]	rootJointName	Name of the rootJoint.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

Note

urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

buildModelFromXML() [2/3]

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::urdf::buildModelFromXML	(	const std::string &	xml_stream,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from an XML stream with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	xml_stream	stream containing the URDF model.
[in]	rootJoint	The joint at the root of the model tree.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

Note

urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

buildModelFromXML() [3/3]

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::urdf::buildModelFromXML	(	const std::string &	xml_stream,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from an XML stream.

Parameters

[in]	xml_stream	stream containing the URDF model.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

Note

urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile