convert.Converter Class Reference

List of all members.

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

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Detailed Description

Definition at line 30 of file convert.py.

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Constructor & Destructor Documentation

def convert.Converter.__init__

(

self

)

Definition at line 31 of file convert.py.

---

Member Function Documentation

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 color

Definition 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 joints

Definition 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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Member Data Documentation

convert.Converter::baseframe

Definition at line 72 of file convert.py.

convert.Converter::colorindex

Definition at line 31 of file convert.py.

convert.Converter::colormap

Definition at line 31 of file convert.py.

convert.Converter::extrajoints

Definition at line 72 of file convert.py.

convert.Converter::filenameformat

Definition at line 72 of file convert.py.

convert.Converter::forcelowercase

Definition at line 72 of file convert.py.

convert.Converter::frames

Definition at line 31 of file convert.py.

convert.Converter::freezeAll

Definition at line 72 of file convert.py.

convert.Converter::freezeList

Definition at line 72 of file convert.py.

convert.Converter::groups

Definition at line 542 of file convert.py.

convert.Converter::joints

Definition at line 31 of file convert.py.

convert.Converter::links

Definition at line 31 of file convert.py.

convert.Converter::mode

Definition at line 48 of file convert.py.

convert.Converter::name

Definition at line 107 of file convert.py.

convert.Converter::names

Definition at line 31 of file convert.py.

convert.Converter::redefinedjoints

Definition at line 72 of file convert.py.

convert.Converter::removeList

Definition at line 72 of file convert.py.

convert.Converter::result

Definition at line 48 of file convert.py.

convert.Converter::root

Definition at line 72 of file convert.py.

convert.Converter::scale

Definition at line 72 of file convert.py.

convert.Converter::tfman

Definition at line 31 of file convert.py.

convert.Converter::usedcolors

Definition at line 31 of file convert.py.

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

• convert.py