Public Member Functions | |
| def | __init__ |
| def | buildTree |
| def | convert |
| def | getColor |
| def | getLinkNameByFrame |
| def | getName |
| def | graph |
| def | groups |
| def | makeGroup |
| def | output |
| def | outputJoint |
| def | outputLink |
| def | parse |
| def | parseConfig |
| def | parseFrames |
| def | parseJoint |
| def | parseLink |
| def | processLink |
Public Attributes | |
| baseframe | |
| colorindex | |
| colormap | |
| extrajoints | |
| filenameformat | |
| forcelowercase | |
| frames | |
| freezeAll | |
| freezeList | |
| groups | |
| joints | |
| links | |
| mode | |
| name | |
| names | |
| redefinedjoints | |
| removeList | |
| result | |
| root | |
| scale | |
| tfman | |
| usedcolors | |
Definition at line 30 of file convert.py.
| def convert::Converter::__init__ | ( | self | ) |
Definition at line 31 of file convert.py.
| def convert::Converter::buildTree | ( | self, | ||
| root | ||||
| ) |
Reduce the graph structure of links and joints to a tree by breadth first search. Then construct new coordinate frames from new tree structure
Definition at line 231 of file convert.py.
| def convert::Converter::convert | ( | self, | ||
| filename, | ||||
| configfile, | ||||
| mode | ||||
| ) |
Definition at line 48 of file convert.py.
| def convert::Converter::getColor | ( | self, | ||
| s | ||||
| ) |
Gets a two element list containing a color name,
and it's rgba. The color selected is based on the mesh name.
If already seen, returns the saved color
Otherwise, returns the next available colorDefinition at line 417 of file convert.py.
| def convert::Converter::getLinkNameByFrame | ( | self, | ||
| key | ||||
| ) |
Gets the link name from the frame object
Definition at line 495 of file convert.py.
| def convert::Converter::getName | ( | self, | ||
| basename | ||||
| ) |
Return a unique name of the format basenameD where D is the lowest number to make the name unique
Definition at line 483 of file convert.py.
| def convert::Converter::graph | ( | self | ) |
For debugging purposes, output a graphviz representation of the tree structure, noting which joints have been reversed and which have been removed
Definition at line 499 of file convert.py.
| def convert::Converter::groups | ( | self, | ||
| root | ||||
| ) |
For planning purposes, print out lists of
all the links between the different jointsDefinition at line 541 of file convert.py.
| def convert::Converter::makeGroup | ( | self, | ||
| id, | ||||
| gid | ||||
| ) |
Helper function for recursively gathering
groups of joints. Definition at line 555 of file convert.py.
| def convert::Converter::output | ( | self, | ||
| rootid | ||||
| ) |
Creates the URDF from the parsed document. Makes the document and starts the recursive build process
Definition at line 302 of file convert.py.
| def convert::Converter::outputJoint | ( | self, | ||
| id, | ||||
| parentname | ||||
| ) |
Outputs URDF for a single joint
Definition at line 429 of file convert.py.
| def convert::Converter::outputLink | ( | self, | ||
| id | ||||
| ) |
Creates the URDF output for a single link
Definition at line 324 of file convert.py.
| def convert::Converter::parse | ( | self, | ||
| element | ||||
| ) |
Recursively goes through all XML elements and branches off for important elements
Definition at line 106 of file convert.py.
| def convert::Converter::parseConfig | ( | self, | ||
| configFile | ||||
| ) |
Parse the Configuration File, if it exists. Set the fields the default if the config does not set them
Definition at line 70 of file convert.py.
| def convert::Converter::parseFrames | ( | self, | ||
| frames, | ||||
| parent | ||||
| ) |
Parse the frames from xml
Definition at line 153 of file convert.py.
| def convert::Converter::parseJoint | ( | self, | ||
| element | ||||
| ) |
Parse the joint from xml
Definition at line 185 of file convert.py.
| def convert::Converter::parseLink | ( | self, | ||
| link | ||||
| ) |
Parse the important bits of a link element
Definition at line 126 of file convert.py.
| def convert::Converter::processLink | ( | self, | ||
| id | ||||
| ) |
Creates the output for the specified node's
child links, the connecting joints, then
recursively processes each child Definition at line 312 of file convert.py.
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