hpp::model::urdf Namespace Reference

Classes
class	Parser
	Parse an URDF file and return a hpp::model::HumanoidRobotPtr_t. More...
Functions
void	loadRobotModel (const DevicePtr_t &robot, const JointPtr_t &baseJoint, const std::string &prefix, const std::string &rootJointType, const std::string &package, const std::string &modelName, const std::string &urdfSuffix, const std::string &srdfSuffix)
	Load robot model by name.
void	loadRobotModel (const DevicePtr_t &robot, const std::string &rootJointType, const std::string &package, const std::string &modelName, const std::string &urdfSuffix, const std::string &srdfSuffix)
void	loadRobotModelFromParameter (const DevicePtr_t &robot, const std::string &rootJointType, const std::string &urdfParameter, const std::string &srdfParameter)
	Load robot model from ROS parameter.
void	loadHumanoidModel (const model::HumanoidRobotPtr_t &robot, const JointPtr_t &baseJoint, const std::string &prefix, const std::string &rootJointType, const std::string &package, const std::string &modelName, const std::string &urdfSuffix, const std::string &srdfSuffix)
	Load humanoid robot model by name.
void	loadHumanoidModel (const model::HumanoidRobotPtr_t &robot, const std::string &rootJointType, const std::string &package, const std::string &modelName, const std::string &urdfSuffix, const std::string &srdfSuffix)
void	loadHumanoidModelFromParameter (const model::HumanoidRobotPtr_t &robot, const std::string &rootJointType, const std::string &urdfParameter, const std::string &srdfParameter)
	Load humanoid robot model from ROS parameter.
void	loadUrdfModel (const DevicePtr_t &robot, const JointPtr_t &baseJoint, const std::string &prefix, const std::string &rootJointType, const std::string &package, const std::string &filename)
	Load only urdf model file.
void	loadUrdfModel (const DevicePtr_t &robot, const std::string &rootJointType, const std::string &package, const std::string &filename)

---

Function Documentation

void hpp::model::urdf::loadHumanoidModel	(	const model::HumanoidRobotPtr_t &	robot,
		const JointPtr_t &	baseJoint,
		const std::string &	prefix,
		const std::string &	rootJointType,
		const std::string &	package,
		const std::string &	modelName,
		const std::string &	urdfSuffix,
		const std::string &	srdfSuffix
	)

Load humanoid robot model by name.

Parameters:

robot	Empty robot created before calling the function. Users can pass an instance of a class deriving from HumanoidRobot.
baseJoint	joint to which the joint tree is added.
prefix	string to insert before all names (joint, link, body names)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
package	ros package containing the model
modelName	robot model name
urdfSuffix	suffix for urdf file
srdfSuffix	suffix for srdf file

Note:

This function reads the following files:

• package://${modelName}_description/urdf/${modelName}${urdfSuffix}.urdf
• package://${modelName}_description/srdf/${modelName}${srdfSuffix}.srdf

void hpp::model::urdf::loadHumanoidModel	(	const model::HumanoidRobotPtr_t &	robot,
		const std::string &	rootJointType,
		const std::string &	package,
		const std::string &	modelName,
		const std::string &	urdfSuffix,
		const std::string &	srdfSuffix
	)

void hpp::model::urdf::loadHumanoidModelFromParameter	(	const model::HumanoidRobotPtr_t &	robot,
		const std::string &	rootJointType,
		const std::string &	urdfParameter,
		const std::string &	srdfParameter
	)

Load humanoid robot model from ROS parameter.

Parameters:

robot	Empty robot created before calling the function. Users can pass an instance of a class deriving from Device.
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
urdfParameter	Parameter containing the urdf description of the robot
srdfParameter	Parameter containing the srdf description of the robot

void hpp::model::urdf::loadRobotModel	(	const DevicePtr_t &	robot,
		const JointPtr_t &	baseJoint,
		const std::string &	prefix,
		const std::string &	rootJointType,
		const std::string &	package,
		const std::string &	modelName,
		const std::string &	urdfSuffix,
		const std::string &	srdfSuffix
	)

Load robot model by name.

Parameters:

robot	Empty robot created before calling the function. Users can pass an instance of a class deriving from Device.
baseJoint	joint to which the joint tree is added.
prefix	string to insert before all names (joint, link, body names)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
package	ros package containing the model
modelName	robot model name
urdfSuffix	suffix for urdf file
srdfSuffix	suffix for srdf file

Note:

This function reads the following files:

• package://${modelName}_description/urdf/${modelName}${urdfSuffix}.urdf
• package://${modelName}_description/srdf/${modelName}${srdfSuffix}.srdf

void hpp::model::urdf::loadRobotModel	(	const DevicePtr_t &	robot,
		const std::string &	rootJointType,
		const std::string &	package,
		const std::string &	modelName,
		const std::string &	urdfSuffix,
		const std::string &	srdfSuffix
	)

void hpp::model::urdf::loadRobotModelFromParameter	(	const DevicePtr_t &	robot,
		const std::string &	rootJointType,
		const std::string &	urdfParameter,
		const std::string &	srdfParameter
	)

Load robot model from ROS parameter.

Parameters:

robot	Empty robot created before calling the function. Users can pass an instance of a class deriving from Device.
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
urdfParameter	Parameter containing the urdf description of the robot
srdfParameter	Parameter containing the srdf description of the robot

void hpp::model::urdf::loadUrdfModel	(	const DevicePtr_t &	robot,
		const JointPtr_t &	baseJoint,
		const std::string &	prefix,
		const std::string &	rootJointType,
		const std::string &	package,
		const std::string &	filename
	)

Load only urdf model file.

Parameters:

robot	Empty robot created before calling the function. Users can pass an instance of a class deriving from Device.
baseJoint	joint to which the joint tree is added.
prefix	string to insert before all names (joint, link, body names)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
package	ros package containing the model
filename	name of the file containing the model.

Note:

This function reads the following file:

• package://${package}/urdf/${filename}.urdf

void hpp::model::urdf::loadUrdfModel	(	const DevicePtr_t &	robot,
		const std::string &	rootJointType,
		const std::string &	package,
		const std::string &	filename
	)