Classes
struct	UrdfTree

Functions
template<typename GeometryType >
static void	addLinkGeometryToGeomModel (const UrdfTree &tree, ::hpp::fcl::MeshLoaderPtr &meshLoader, ::urdf::LinkConstSharedPtr link, UrdfGeomVisitorBase &visitor, GeometryModel &geomModel, const std::vector< std::string > &package_dirs)
	Add the geometries attached to a URDF link to a GeometryModel, looking either for collisions or visuals. More...

static Inertia	convertFromUrdf (const ::urdf::Inertial &Y)
	Convert URDF Inertial quantity to Spatial Inertia. More...

static Inertia	convertFromUrdf (const ::urdf::InertialSharedPtr &Y)

SE3	convertFromUrdf (const ::urdf::Pose &M)
	Convert URDF Pose quantity to SE3. More...

template<>
PINOCCHIO_URDF_SHARED_PTR(const T) getLinkGeometry(const inline ::urdf::CollisionConstSharedPtr	getLinkGeometry< ::urdf::Collision > (const ::urdf::LinkConstSharedPtr link)
	Get the first geometry attached to a link. More...

template<>
inline ::urdf::VisualConstSharedPtr	getLinkGeometry< ::urdf::Visual > (const ::urdf::LinkConstSharedPtr link)

template<typename T >
const std::vector< PINOCCHIO_URDF_SHARED_PTR(T) > &	getLinkGeometryArray (const ::urdf::LinkConstSharedPtr link)
	Get the array of geometries attached to a link. More...

template<>
const std::vector< ::urdf::CollisionSharedPtr > &	getLinkGeometryArray< ::urdf::Collision > (const ::urdf::LinkConstSharedPtr link)

template<>
const std::vector< ::urdf::VisualSharedPtr > &	getLinkGeometryArray< ::urdf::Visual > (const ::urdf::LinkConstSharedPtr link)

static FrameIndex	getParentLinkFrame (const ::urdf::LinkConstSharedPtr link, UrdfVisitorBase &model)

template<typename urdfObject >
bool	getVisualMaterial (const PINOCCHIO_URDF_SHARED_PTR(urdfObject) urdf_object, std::string &meshTexturePath, Eigen::Vector4d &meshColor, const std::vector< std::string > &package_dirs)
	Get the material values from the link visual object. More...

template<>
bool	getVisualMaterial< ::urdf::Collision > (const ::urdf::CollisionSharedPtr, std::string &meshTexturePath, Eigen::Vector4d &meshColor, const std::vector< std::string > &)

template<>
bool	getVisualMaterial< ::urdf::Visual > (const ::urdf::VisualSharedPtr urdf_visual, std::string &meshTexturePath, Eigen::Vector4d &meshColor, const std::vector< std::string > &package_dirs)

void	parseRootTree (const ::urdf::ModelInterface *urdfTree, UrdfVisitorBase &model)
	Parse a tree with a specific root joint linking the model to the environment. The function returns an exception as soon as a necessary Inertia or Joint information are missing. More...

void	parseRootTree (const std::string &filename, UrdfVisitorBase &model)

void	parseRootTreeFromXML (const std::string &xmlString, UrdfVisitorBase &model)

void	parseTree (::urdf::LinkConstSharedPtr link, UrdfVisitorBase &model)
	Recursive procedure for reading the URDF tree. The function returns an exception as soon as a necessary Inertia or Joint information are missing. More...

void	parseTreeForGeom (UrdfGeomVisitorBase &visitor, const std::istream &xmlStream, const GeometryType type, GeometryModel &geomModel, const std::vector< std::string > &package_dirs, ::hpp::fcl::MeshLoaderPtr meshLoader)

void	recursiveParseTreeForGeom (const UrdfTree &tree, ::hpp::fcl::MeshLoaderPtr &meshLoader, ::urdf::LinkConstSharedPtr link, UrdfGeomVisitorBase &visitor, GeometryModel &geomModel, const std::vector< std::string > &package_dirs, const GeometryType type)
	Recursive procedure for reading the URDF tree, looking for geometries This function fill the geometric model with geometry objects retrieved from the URDF tree. More...

shared_ptr< fcl::CollisionGeometry >	retrieveCollisionGeometry (const UrdfTree &tree, fcl::MeshLoaderPtr &meshLoader, const std::string &linkName, const std::string &geomName, const ::urdf::GeometrySharedPtr urdf_geometry, const std::vector< std::string > &package_dirs, std::string &meshPath, Eigen::Vector3d &meshScale)
	Get a fcl::CollisionObject from a URDF geometry, searching for it in specified package directories. More...

template<typename Vector3 >
static void	retrieveMeshScale (const ::urdf::MeshSharedPtr &mesh, const Eigen::MatrixBase< Vector3 > &scale)

Detailed Description

Function Documentation

◆ addLinkGeometryToGeomModel()

static void pinocchio::urdf::details::addLinkGeometryToGeomModel	(	const UrdfTree &	tree,
		::hpp::fcl::MeshLoaderPtr &	meshLoader,
		::urdf::LinkConstSharedPtr	link,
		UrdfGeomVisitorBase &	visitor,
		GeometryModel &	geomModel,
		const std::vector< std::string > &	package_dirs
	)

static

Add the geometries attached to a URDF link to a GeometryModel, looking either for collisions or visuals.

Parameters

[in]	tree	The URDF kinematic tree
[in]	meshLoader	The FCL mesh loader to avoid duplications of already loaded geometries
[in]	link	The current URDF link
	model	The model to which is the GeometryModel associated
	geomModel	The GeometryModel where the Collision Objects must be added
[in]	package_dirs	A vector containing the different directories where to search for packages

Definition at line 345 of file geometry.cpp.

◆ convertFromUrdf() [1/2]

static Inertia pinocchio::urdf::details::convertFromUrdf ( const ::urdf::Inertial & Y )

static

Convert URDF Inertial quantity to Spatial Inertia.

Parameters

[in] Y The input URDF Inertia.

Returns: The converted Spatial Inertia pinocchio::Inertia.

Definition at line 30 of file model.cpp.

◆ convertFromUrdf() [2/2]

SE3 convertFromUrdf ( const ::urdf::Pose & M )

Convert URDF Pose quantity to SE3.

Parameters

[in] M The input URDF Pose.

Returns: The converted pose/transform pinocchio::SE3.

Definition at line 10 of file utils.cpp.

◆ getLinkGeometry< ::urdf::Collision >()

PINOCCHIO_URDF_SHARED_PTR (const T) getLinkGeometry( const inline ::urdf::CollisionConstSharedPtr pinocchio::urdf::details::getLinkGeometry< ::urdf::Collision > ( const ::urdf::LinkConstSharedPtr link ) const

inline

Get the first geometry attached to a link.

Parameters

[in] link The URDF link

Returns: Either the first collision or visual

Definition at line 253 of file geometry.cpp.

◆ getLinkGeometryArray()

const std::vector< PINOCCHIO_URDF_SHARED_PTR(T) >& pinocchio::urdf::details::getLinkGeometryArray ( const ::urdf::LinkConstSharedPtr link )

inline

Get the array of geometries attached to a link.

Parameters

[in] link The URDF link

Returns: the array of either collisions or visuals

◆ getVisualMaterial()

bool pinocchio::urdf::details::getVisualMaterial	(	const PINOCCHIO_URDF_SHARED_PTR(urdfObject)	urdf_object,
		std::string &	meshTexturePath,
		Eigen::Vector4d &	meshColor,
		const std::vector< std::string > &	package_dirs
	)

inline

Get the material values from the link visual object.

Parameters

[in]	Visual/Collision	The Visual or the Collision object.
[out]	meshTexturePath	The absolute file path containing the texture description.
[out]	meshColor	The mesh RGBA vector.
[in]	package_dirs	A vector containing the different directories where to search for packages

◆ parseRootTree()

void pinocchio::urdf::details::parseRootTree	(	const ::urdf::ModelInterface *	urdfTree,
		UrdfVisitorBase &	model
	)

Parse a tree with a specific root joint linking the model to the environment. The function returns an exception as soon as a necessary Inertia or Joint information are missing.

Parameters

[in]	link	The current URDF link.
[in]	model	The model where the link must be added.

Definition at line 273 of file model.cpp.

◆ parseTree()

void pinocchio::urdf::details::parseTree	(	::urdf::LinkConstSharedPtr	link,
		UrdfVisitorBase &	model
	)

Recursive procedure for reading the URDF tree. The function returns an exception as soon as a necessary Inertia or Joint information are missing.

Parameters

[in]	link	The current URDF link.
[in]	model	The model where the link must be added.

Definition at line 66 of file model.cpp.

◆ recursiveParseTreeForGeom()

void pinocchio::urdf::details::recursiveParseTreeForGeom	(	const UrdfTree &	tree,
		::hpp::fcl::MeshLoaderPtr &	meshLoader,
		::urdf::LinkConstSharedPtr	link,
		UrdfGeomVisitorBase &	visitor,
		GeometryModel &	geomModel,
		const std::vector< std::string > &	package_dirs,
		const GeometryType	type
	)

Recursive procedure for reading the URDF tree, looking for geometries This function fill the geometric model with geometry objects retrieved from the URDF tree.

Parameters

[in]	tree	The URDF kinematic tree
[in]	meshLoader	The FCL mesh loader to avoid duplications of already loaded geometries
[in]	link	The current URDF link
	model	The model to which is the GeometryModel associated
	geomModel	The GeometryModel where the Collision Objects must be added
[in]	package_dirs	A vector containing the different directories where to search for packages
[in]	type	The type of objects that must be loaded ( can be VISUAL or COLLISION)

Definition at line 431 of file geometry.cpp.

◆ retrieveCollisionGeometry()

shared_ptr<fcl::CollisionGeometry> pinocchio::urdf::details::retrieveCollisionGeometry	(	const UrdfTree &	tree,
		fcl::MeshLoaderPtr &	meshLoader,
		const std::string &	linkName,
		const std::string &	geomName,
		const ::urdf::GeometrySharedPtr	urdf_geometry,
		const std::vector< std::string > &	package_dirs,
		std::string &	meshPath,
		Eigen::Vector3d &	meshScale
	)

inline

Get a fcl::CollisionObject from a URDF geometry, searching for it in specified package directories.

Parameters

[in]	urdf_geometry	A shared pointer on the input urdf Geometry
[in]	package_dirs	A vector containing the different directories where to search for packages
[out]	meshPath	The Absolute path of the mesh currently read
[out]	meshScale	Scale of transformation currently applied to the mesh

Returns: A shared pointer on the geometry converted as a fcl::CollisionGeometry

Definition at line 131 of file geometry.cpp.

Classes

Functions

Detailed Description

Function Documentation

◆ addLinkGeometryToGeomModel()

◆ convertFromUrdf() [1/2]

◆ convertFromUrdf() [2/2]

◆ getLinkGeometry< ::urdf::Collision >()

◆ getLinkGeometryArray()

◆ getVisualMaterial()

◆ parseRootTree()

◆ parseTree()

◆ recursiveParseTreeForGeom()

◆ retrieveCollisionGeometry()