urdf2gazebo::URDF2Gazebo Class Reference

#include <urdf2gazebo.h>

Public Member Functions
void	addKeyValue (TiXmlElement *elem, const std::string &key, const std::string &value)
void	addTransform (TiXmlElement *elem, const ::btTransform &transform)
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	convertLink (TiXmlElement *root, boost::shared_ptr< const urdf::Link > link, const btTransform &transform, bool enforce_limits, bool reduce_fixed_joints)
void	createBody (TiXmlElement *root, boost::shared_ptr< const urdf::Link > link, const btTransform &transform, btTransform &currentTransform, bool enforce_limits, bool reduce_fixed_joints)
void	createGeom (TiXmlElement root, TiXmlElement elem, boost::shared_ptr< const urdf::Link > link, const btTransform &transform, btTransform &currentTransform, std::string collision_type, boost::shared_ptr< urdf::Collision > collision, boost::shared_ptr< urdf::Visual > visual, int linkGeomSize, double linkSize[3], std::string original_reference=std::string(""))
void	createJoint (TiXmlElement *root, boost::shared_ptr< const urdf::Link > link, btTransform &currentTransform, bool enforce_limits, bool reduce_fixed_joints)
void	createVisual (TiXmlElement root, TiXmlElement geom, boost::shared_ptr< const urdf::Link > link, const btTransform &transform, btTransform &currentTransform, std::string collision_type, boost::shared_ptr< urdf::Collision > collision, boost::shared_ptr< urdf::Visual > visual, std::string original_reference)
std::string	getGazeboValue (TiXmlElement *elem)
std::string	getGeometryBoundingBox (boost::shared_ptr< urdf::Geometry > geometry, double *sizeVals)
std::string	getGeometrySize (boost::shared_ptr< urdf::Geometry > geometry, int sizeCount, double sizeVals)
void	insertGazeboExtensionBody (TiXmlElement *elem, std::string link_name)
void	insertGazeboExtensionGeom (TiXmlElement *elem, std::string link_name)
void	insertGazeboExtensionJoint (TiXmlElement *elem, std::string joint_name)
void	insertGazeboExtensionRobot (TiXmlElement *elem)
void	insertGazeboExtensionVisual (TiXmlElement *elem, std::string link_name)
void	listGazeboExtensions (std::string reference)
void	listGazeboExtensions ()
void	parseGazeboExtension (TiXmlDocument &urdf_in)
void	printMass (std::string link_name, dMass mass)
void	printMass (boost::shared_ptr< urdf::Link > link)
void	reduceGazeboExtensionToParent (boost::shared_ptr< urdf::Link > link)
void	setupTransform (urdf::Pose &pose, btTransform transform)
void	setupTransform (btTransform &transform, urdf::Pose pose)
urdf::Pose	transformToParentFrame (urdf::Pose transform_in_link_frame, urdf::Pose parent_to_link_transform)
	returns the same transform in parent frame
void	updateGazeboExtensionBlobsReductionTransform (GazeboExtension *ext)
void	updateGazeboExtensionFrameReplace (std::vector< TiXmlElement * > &blocks, std::string link_name, std::string new_link_name)
	URDF2Gazebo ()
std::string	values2str (unsigned int count, const double values, double(conv)(double))
std::string	vector32str (const urdf::Vector3 vector, double(*conv)(double))
void	walkChildAddNamespace (TiXmlNode *robot_xml, std::string robot_namespace)
	~URDF2Gazebo ()
Public Attributes
std::map< std::string, std::vector< GazeboExtension * > >	gazebo_extensions_

Detailed Description

Definition at line 151 of file urdf2gazebo.h.

Constructor & Destructor Documentation

URDF2Gazebo::URDF2Gazebo ( )

Definition at line 43 of file urdf2gazebo.cpp.

URDF2Gazebo::~URDF2Gazebo ( )

Definition at line 47 of file urdf2gazebo.cpp.

Member Function Documentation

void URDF2Gazebo::addKeyValue	(	TiXmlElement *	elem,
		const std::string &	key,
		const std::string &	value
	)

Definition at line 93 of file urdf2gazebo.cpp.

void URDF2Gazebo::addTransform	(	TiXmlElement *	elem,
		const ::btTransform &	transform
	)

Definition at line 112 of file urdf2gazebo.cpp.

void URDF2Gazebo::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`
	)

Definition at line 1569 of file urdf2gazebo.cpp.

void URDF2Gazebo::convertLink	(	TiXmlElement *	root,
		boost::shared_ptr< const urdf::Link >	link,
		const btTransform &	transform,
		bool	enforce_limits,
		bool	reduce_fixed_joints
	)

Definition at line 1124 of file urdf2gazebo.cpp.

void URDF2Gazebo::createBody	(	TiXmlElement *	root,
		boost::shared_ptr< const urdf::Link >	link,
		const btTransform &	transform,
		btTransform &	currentTransform,
		bool	enforce_limits,
		bool	reduce_fixed_joints
	)

Definition at line 1154 of file urdf2gazebo.cpp.

void urdf2gazebo::URDF2Gazebo::createGeom	(	TiXmlElement *	root,
		TiXmlElement *	elem,
		boost::shared_ptr< const urdf::Link >	link,
		const btTransform &	transform,
		btTransform &	currentTransform,
		std::string	collision_type,
		boost::shared_ptr< urdf::Collision >	collision,
		boost::shared_ptr< urdf::Visual >	visual,
		int	linkGeomSize,
		double	linkSize[3],
		std::string	original_reference = `std::string("")`
	)

void URDF2Gazebo::createJoint	(	TiXmlElement *	root,
		boost::shared_ptr< const urdf::Link >	link,
		btTransform &	currentTransform,
		bool	enforce_limits,
		bool	reduce_fixed_joints
	)

Definition at line 1271 of file urdf2gazebo.cpp.

void URDF2Gazebo::createVisual	(	TiXmlElement *	root,
		TiXmlElement *	geom,
		boost::shared_ptr< const urdf::Link >	link,
		const btTransform &	transform,
		btTransform &	currentTransform,
		std::string	collision_type,
		boost::shared_ptr< urdf::Collision >	collision,
		boost::shared_ptr< urdf::Visual >	visual,
		std::string	original_reference
	)

Definition at line 1447 of file urdf2gazebo.cpp.

std::string URDF2Gazebo::getGazeboValue ( TiXmlElement * elem )

Definition at line 133 of file urdf2gazebo.cpp.

std::string URDF2Gazebo::getGeometryBoundingBox	(	boost::shared_ptr< urdf::Geometry >	geometry,
		double *	sizeVals
	)

Definition at line 553 of file urdf2gazebo.cpp.

std::string URDF2Gazebo::getGeometrySize	(	boost::shared_ptr< urdf::Geometry >	geometry,
		int *	sizeCount,
		double *	sizeVals
	)

Definition at line 497 of file urdf2gazebo.cpp.

void URDF2Gazebo::insertGazeboExtensionBody	(	TiXmlElement *	elem,
		std::string	link_name
	)

Definition at line 400 of file urdf2gazebo.cpp.

void URDF2Gazebo::insertGazeboExtensionGeom	(	TiXmlElement *	elem,
		std::string	link_name
	)

Definition at line 352 of file urdf2gazebo.cpp.

void URDF2Gazebo::insertGazeboExtensionJoint	(	TiXmlElement *	elem,
		std::string	joint_name
	)

Definition at line 440 of file urdf2gazebo.cpp.

void URDF2Gazebo::insertGazeboExtensionRobot ( TiXmlElement * elem )

Definition at line 469 of file urdf2gazebo.cpp.

void URDF2Gazebo::insertGazeboExtensionVisual	(	TiXmlElement *	elem,
		std::string	link_name
	)

Definition at line 383 of file urdf2gazebo.cpp.

void URDF2Gazebo::listGazeboExtensions ( std::string reference )

Definition at line 1102 of file urdf2gazebo.cpp.

void URDF2Gazebo::listGazeboExtensions ( )

Definition at line 1079 of file urdf2gazebo.cpp.

void URDF2Gazebo::parseGazeboExtension ( TiXmlDocument & urdf_in )

Definition at line 147 of file urdf2gazebo.cpp.

void URDF2Gazebo::printMass	(	std::string	link_name,
		dMass	mass
	)

Definition at line 606 of file urdf2gazebo.cpp.

void URDF2Gazebo::printMass ( boost::shared_ptr< urdf::Link > link )

Definition at line 616 of file urdf2gazebo.cpp.

void URDF2Gazebo::reduceGazeboExtensionToParent ( boost::shared_ptr< urdf::Link > link )

Definition at line 847 of file urdf2gazebo.cpp.

void URDF2Gazebo::setupTransform	(	urdf::Pose &	pose,
		btTransform	transform
	)

Definition at line 82 of file urdf2gazebo.cpp.

void URDF2Gazebo::setupTransform	(	btTransform &	transform,
		urdf::Pose	pose
	)

Definition at line 75 of file urdf2gazebo.cpp.

urdf::Pose URDF2Gazebo::transformToParentFrame	(	urdf::Pose	transform_in_link_frame,
		urdf::Pose	parent_to_link_transform
	)

returns the same transform in parent frame

Definition at line 817 of file urdf2gazebo.cpp.

void URDF2Gazebo::updateGazeboExtensionBlobsReductionTransform ( GazeboExtension * ext )

Definition at line 1019 of file urdf2gazebo.cpp.

void URDF2Gazebo::updateGazeboExtensionFrameReplace	(	std::vector< TiXmlElement * > &	blocks,
		std::string	link_name,
		std::string	new_link_name
	)

Definition at line 904 of file urdf2gazebo.cpp.

std::string URDF2Gazebo::values2str	(	unsigned int	count,
		const double *	values,
		double(*)(double)	conv = `NULL`
	)

Definition at line 63 of file urdf2gazebo.cpp.

std::string URDF2Gazebo::vector32str	(	const urdf::Vector3	vector,
		double(*)(double)	conv = `NULL`
	)

Definition at line 52 of file urdf2gazebo.cpp.

void URDF2Gazebo::walkChildAddNamespace	(	TiXmlNode *	robot_xml,
		std::string	robot_namespace
	)

Definition at line 1545 of file urdf2gazebo.cpp.

Member Data Documentation

std::map<std::string, std::vector<GazeboExtension*> > urdf2gazebo::URDF2Gazebo::gazebo_extensions_

Definition at line 214 of file urdf2gazebo.h.

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

urdf2gazebo::URDF2Gazebo Class Reference

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation