urdf2gazebo.h

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#ifndef URDF2GAZEBO_HH
#define URDF2GAZEBO_HH

#include <cstdio>
#include <cstdlib>
#include <cmath>

#include <vector>
#include <string>

#include <sstream>
#include <map>
#include <vector>

#include <urdf/model.h>

#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"

namespace urdf2gazebo
{
  double rad2deg(double v) { return v * 180.0 / M_PI; };

  class GazeboExtension
  {
    public:
      // visual
      std::string material;

      // body, default off
      bool setStaticFlag;
      bool turnGravityOff;
      bool is_dampingFactor;
      double dampingFactor;
      bool selfCollide;

      // geom, contact dynamics
      bool is_mu1, is_mu2, is_kp, is_kd, is_genTexCoord;
      double mu1, mu2, kp, kd;
      bool genTexCoord;
      bool is_laserRetro;
      double laserRetro;

      // joint, joint limit dynamics
      bool is_stopKp, is_stopKd, is_initial_joint_position, is_fudgeFactor;
      double stopKp, stopKd, initial_joint_position, fudgeFactor;
      bool provideFeedback;

      // copy blocks into body or robot
      std::vector<TiXmlElement*> copy_block;

      GazeboExtension()
      {
        //initialize
        material.clear();
        setStaticFlag = false;
        turnGravityOff = false;
        is_dampingFactor = false;
        is_mu1 = false;
        is_mu2 = false;
        is_kp = false;
        is_kd = false;
        is_genTexCoord = false;
        selfCollide = false;
        is_laserRetro = false;
        is_stopKp = false;
        is_stopKd = false;
        is_initial_joint_position = false;
        is_fudgeFactor = false;
        provideFeedback = false;
        copy_block.clear();
      };
  };


  class URDF2Gazebo
  {
    public:
      URDF2Gazebo();
      ~URDF2Gazebo();

      std::string values2str(unsigned int count, const double *values, double (*conv)(double));
      std::string vector32str(const urdf::Vector3 vector, double (*conv)(double));

      void setupTransform(btTransform &transform, urdf::Pose pose);

      void addKeyValue(TiXmlElement *elem, const std::string& key, const std::string &value);

      void addTransform(TiXmlElement *elem, const::btTransform& transform);

      std::string getGazeboValue(TiXmlElement* elem);
      void parseGazeboExtension(TiXmlDocument &urdf_in);
      void insertGazeboExtensionGeom(TiXmlElement *elem,std::string link_name);
      void insertGazeboExtensionVisual(TiXmlElement *elem,std::string link_name);
      void insertGazeboExtensionBody(TiXmlElement *elem,std::string link_name);
      void insertGazeboExtensionJoint(TiXmlElement *elem,std::string joint_name);
      void insertGazeboExtensionRobot(TiXmlElement *elem);

      std::string getGeometrySize(boost::shared_ptr<urdf::Geometry> geometry, int *sizeCount, double *sizeVals);
      
      std::string getGeometryBoundingBox(boost::shared_ptr<urdf::Geometry> geometry, double *sizeVals);

      void convertLink(TiXmlElement *root, boost::shared_ptr<const urdf::Link> link, const btTransform &transform, bool enforce_limits);

      void convert( TiXmlDocument &urdf_in, TiXmlDocument &gazebo_xml_out, bool enforce_limits, urdf::Vector3 initial_xyz, urdf::Vector3 initial_rpy,std::string model_name=std::string(),std::string robot_namespace=std::string(), bool xml_declaration = false);

      void walkChildAddNamespace(TiXmlNode* robot_xml,std::string robot_namespace);

      std::map<std::string, GazeboExtension* > gazebo_extensions_;

  };
}

#endif

---

gazebo_tools
Author(s): John Hsu
autogenerated on Fri Jan 11 09:40:43 2013