collada_urdf::ColladaWriter Class Reference

#include <collada_writer.h>

List of all members.

Classes
struct	SCENE
Public Member Functions
	ColladaWriter (urdf::Model const &robot)
boost::shared_ptr< DAE >	convert ()
virtual	~ColladaWriter ()
Protected Member Functions
virtual void	handleError (daeString msg)
virtual void	handleWarning (daeString msg)
Private Member Functions
void	addBindings (SCENE const &scene)
domEffectRef	addEffect (std::string const &geometry_id, urdf::Color const &color_ambient, urdf::Color const &color_diffuse)
void	addGeometries ()
void	addJoints (daeElementRef parent)
void	addKinematicLink (boost::shared_ptr< urdf::Link const > urdf_link, daeElementRef parent, int &link_num)
void	addKinematics (SCENE const &scene)
void	addMaterials ()
void	addMimicJoint (domFormulaRef formula, const std::string &joint_sid, const std::string &joint_mimic_sid, double multiplier, double offset)
domRotateRef	addRotate (daeElementRef parent, urdf::Rotation const &r, daeElementRef before=NULL, bool ignore_zero_rotations=false)
domTranslateRef	addTranslate (daeElementRef parent, urdf::Vector3 const &position, daeElementRef before=NULL, bool ignore_zero_translations=false)
void	addVisualLink (boost::shared_ptr< urdf::Link const > urdf_link, daeElementRef parent, int &link_num)
void	addVisuals (SCENE const &scene)
void	buildMeshFromSTLLoader (boost::shared_ptr< Mesh > stl_mesh, daeElementRef parent, std::string const &geometry_id)
SCENE	createScene ()
std::string	getTimeStampString () const
void	initDocument (std::string const &documentName)
void	loadMesh (std::string const &filename, domGeometryRef geometry, std::string const &geometry_id)
bool	loadMeshWithSTLLoader (resource_retriever::MemoryResource const &resource, domGeometryRef geometry, std::string const &geometry_id)
void	setupPhysics (SCENE const &scene)
Private Attributes
boost::shared_ptr< DAE >	collada_
domCOLLADA *	dom_
domLibrary_effectsRef	effectsLib_
domLibrary_geometriesRef	geometriesLib_
std::map< std::string, std::string >	geometry_ids_
	link.name -> geometry.id
std::map< std::string, std::string >	joint_sids_
	joint.name -> joint.sid
domLibrary_jointsRef	jointsLib_
domLibrary_kinematics_modelsRef	kinematicsModelsLib_
domLibrary_kinematics_scenesRef	kinematicsScenesLib_
domKinematics_modelRef	kmodel_
domLibrary_materialsRef	materialsLib_
std::map< std::string, std::string >	node_ids_
	joint.name -> node.id
domLibrary_physics_scenesRef	physicsScenesLib_
urdf::Model	robot_
domCOLLADA::domSceneRef	scene_
domLibrary_visual_scenesRef	visualScenesLib_
Static Private Attributes
static int	s_doc_count_ = 0

---

Detailed Description

Implements writing urdf::Model objects to a COLLADA DOM.

The API for this class is unstable. The public API for collada_urdf is declared in collada_urdf.h.

Definition at line 66 of file collada_writer.h.

---

Constructor & Destructor Documentation

collada_urdf::ColladaWriter::ColladaWriter

(

urdf::Model const &

robot

)

Definition at line 56 of file collada_writer.cpp.

collada_urdf::ColladaWriter::~ColladaWriter

(

)

[virtual]

Definition at line 64 of file collada_writer.cpp.

---

Member Function Documentation

void collada_urdf::ColladaWriter::addBindings

(

SCENE const &

scene

)

[private]

Definition at line 528 of file collada_writer.cpp.

domEffectRef collada_urdf::ColladaWriter::addEffect	(	std::string const &	geometry_id,
		urdf::Color const &	color_ambient,
		urdf::Color const &	color_diffuse
	)			[private]

void collada_urdf::ColladaWriter::addGeometries

(

)

[private]

Definition at line 196 of file collada_writer.cpp.

void collada_urdf::ColladaWriter::addJoints

(

daeElementRef

parent

)

[private]

Definition at line 385 of file collada_writer.cpp.

void collada_urdf::ColladaWriter::addKinematicLink	(	boost::shared_ptr< urdf::Link const >	urdf_link,
		daeElementRef	parent,
		int &	link_num
	)			[private]

void collada_urdf::ColladaWriter::addKinematics

(

SCENE const &

scene

)

[private]

Definition at line 568 of file collada_writer.cpp.

void collada_urdf::ColladaWriter::addMaterials

(

)

[private]

Definition at line 688 of file collada_writer.cpp.

void collada_urdf::ColladaWriter::addMimicJoint	(	domFormulaRef	formula,
		const std::string &	joint_sid,
		const std::string &	joint_mimic_sid,
		double	multiplier,
		double	offset
	)			[private]

Definition at line 932 of file collada_writer.cpp.

domRotateRef collada_urdf::ColladaWriter::addRotate	(	daeElementRef	parent,
		urdf::Rotation const &	r,
		daeElementRef	before = NULL,
		bool	ignore_zero_rotations = false
	)			[private]

Definition at line 891 of file collada_writer.cpp.

domTranslateRef collada_urdf::ColladaWriter::addTranslate	(	daeElementRef	parent,
		urdf::Vector3 const &	position,
		daeElementRef	before = NULL,
		bool	ignore_zero_translations = false
	)			[private]

Definition at line 872 of file collada_writer.cpp.

void collada_urdf::ColladaWriter::addVisualLink	(	boost::shared_ptr< urdf::Link const >	urdf_link,
		daeElementRef	parent,
		int &	link_num
	)			[private]

void collada_urdf::ColladaWriter::addVisuals

(

SCENE const &

scene

)

[private]

Definition at line 677 of file collada_writer.cpp.

void collada_urdf::ColladaWriter::buildMeshFromSTLLoader	(	boost::shared_ptr< Mesh >	stl_mesh,
		daeElementRef	parent,
		std::string const &	geometry_id
	)			[private]

shared_ptr< DAE > collada_urdf::ColladaWriter::convert

(

)

Definition at line 66 of file collada_writer.cpp.

ColladaWriter::SCENE collada_urdf::ColladaWriter::createScene

(

)

[private]

Definition at line 151 of file collada_writer.cpp.

string collada_urdf::ColladaWriter::getTimeStampString

(

)

const [private]

Definition at line 961 of file collada_writer.cpp.

void collada_urdf::ColladaWriter::handleError

(

daeString

msg

)

[protected, virtual]

Definition at line 90 of file collada_writer.cpp.

void collada_urdf::ColladaWriter::handleWarning

(

daeString

msg

)

[protected, virtual]

Definition at line 94 of file collada_writer.cpp.

void collada_urdf::ColladaWriter::initDocument

(

std::string const &

documentName

)

[private]

void collada_urdf::ColladaWriter::loadMesh	(	std::string const &	filename,
		domGeometryRef	geometry,
		std::string const &	geometry_id
	)			[private]

bool collada_urdf::ColladaWriter::loadMeshWithSTLLoader	(	resource_retriever::MemoryResource const &	resource,
		domGeometryRef	geometry,
		std::string const &	geometry_id
	)			[private]

void collada_urdf::ColladaWriter::setupPhysics

(

SCENE const &

scene

)

[private]

Definition at line 184 of file collada_writer.cpp.

---

Member Data Documentation

boost::shared_ptr<DAE> collada_urdf::ColladaWriter::collada_ [private]

Definition at line 121 of file collada_writer.h.

domCOLLADA* collada_urdf::ColladaWriter::dom_ [private]

Definition at line 122 of file collada_writer.h.

domLibrary_effectsRef collada_urdf::ColladaWriter::effectsLib_ [private]

Definition at line 132 of file collada_writer.h.

domLibrary_geometriesRef collada_urdf::ColladaWriter::geometriesLib_ [private]

Definition at line 125 of file collada_writer.h.

std::map<std::string, std::string> collada_urdf::ColladaWriter::geometry_ids_ [private]

link.name -> geometry.id

Definition at line 136 of file collada_writer.h.

std::map<std::string, std::string> collada_urdf::ColladaWriter::joint_sids_ [private]

joint.name -> joint.sid

Definition at line 137 of file collada_writer.h.

domLibrary_jointsRef collada_urdf::ColladaWriter::jointsLib_ [private]

Definition at line 129 of file collada_writer.h.

domLibrary_kinematics_modelsRef collada_urdf::ColladaWriter::kinematicsModelsLib_ [private]

Definition at line 128 of file collada_writer.h.

domLibrary_kinematics_scenesRef collada_urdf::ColladaWriter::kinematicsScenesLib_ [private]

Definition at line 127 of file collada_writer.h.

domKinematics_modelRef collada_urdf::ColladaWriter::kmodel_ [private]

Definition at line 134 of file collada_writer.h.

domLibrary_materialsRef collada_urdf::ColladaWriter::materialsLib_ [private]

Definition at line 131 of file collada_writer.h.

std::map<std::string, std::string> collada_urdf::ColladaWriter::node_ids_ [private]

joint.name -> node.id

Definition at line 138 of file collada_writer.h.

domLibrary_physics_scenesRef collada_urdf::ColladaWriter::physicsScenesLib_ [private]

Definition at line 130 of file collada_writer.h.

urdf::Model collada_urdf::ColladaWriter::robot_ [private]

Definition at line 120 of file collada_writer.h.

int collada_urdf::ColladaWriter::s_doc_count_ = 0 [static, private]

Definition at line 118 of file collada_writer.h.

domCOLLADA::domSceneRef collada_urdf::ColladaWriter::scene_ [private]

Definition at line 123 of file collada_writer.h.

domLibrary_visual_scenesRef collada_urdf::ColladaWriter::visualScenesLib_ [private]

Definition at line 126 of file collada_writer.h.

---

The documentation for this class was generated from the following files:

• collada_writer.h
• collada_writer.cpp