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

Classes
struct	axis_sids
struct	instance_articulated_system_output
struct	instance_kinematics_model_output
struct	instance_physics_model_output
struct	kinbody_models
struct	kinematics_model_output
struct	LINKOUTPUT
struct	physics_model_output
struct	SCENE
Public Member Functions
	ColladaWriter (const urdf::Model &robot, int writeoptions)
bool	convert ()
daeDocument *	doc ()
bool	writeTo (string const &file)
virtual	~ColladaWriter ()
Protected Member Functions
void	_buildAiMesh (const aiScene scene, aiNode node, domMeshRef pdommesh, domFloat_arrayRef parray, const string &geomid, const urdf::Vector3 &scale, urdf::Pose *org_trans=NULL)
void	_CreateScene ()
void	_loadMesh (std::string const &filename, domGeometryRef pdomgeom, const urdf::Vector3 &scale, urdf::Pose *org_trans)
void	_loadVertices (const shapes::Mesh *mesh, domGeometryRef pdomgeom)
void	_WriteBindingsInstance_kinematics_scene ()
domEffectRef	_WriteEffect (std::string const &effect_id, urdf::Color const &color_ambient, urdf::Color const &color_diffuse)
domGeometryRef	_WriteGeometry (boost::shared_ptr< urdf::Geometry > geometry, const std::string &geometry_id, urdf::Pose *org_trans=NULL)
virtual void	_WriteInstance_kinematics_model (daeElementRef parent, const string &sidscope, int id)
	Write kinematic body in a given scene.
boost::shared_ptr < instance_physics_model_output >	_WriteInstance_physics_model (int id, daeElementRef parent, const string &sidscope, const MAPLINKPOSES &maplinkposes)
virtual LINKOUTPUT	_WriteLink (boost::shared_ptr< const urdf::Link > plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string &strModelUri)
	Write link of a kinematic body.
void	_WriteMaterial (const string &geometry_id, boost::shared_ptr< urdf::Material > material)
void	_WritePhysics ()
void	_WriteRobot (int id=0)
	Write kinematic body in a given scene.
void	_WriteTransformation (daeElementRef pelt, const urdf::Pose &t)
	Write transformation.
virtual void	handleError (daeString msg)
virtual void	handleWarning (daeString msg)
virtual boost::shared_ptr < kinematics_model_output >	WriteKinematics_model (int id)
boost::shared_ptr < physics_model_output >	WritePhysics_model (int id, const MAPLINKPOSES &maplinkposes)
Private Types
typedef std::map < boost::shared_ptr< const urdf::Link >, urdf::Pose >	MAPLINKPOSES
Static Private Member Functions
static std::string	_ComputeId (const std::string &name)
	computes a collada-compliant sid from the urdf name
static std::string	_ComputeKinematics_modelId (int id)
static urdf::Pose	_poseInverse (const urdf::Pose &p)
static urdf::Vector3	_poseMult (const urdf::Pose &p, const urdf::Vector3 &v)
static urdf::Pose	_poseMult (const urdf::Pose &p0, const urdf::Pose &p1)
static urdf::Rotation	_quatFromMatrix (const boost::array< double, 12 > &mat)
static urdf::Rotation	_quatMult (const urdf::Rotation &quat0, const urdf::Rotation &quat1)
Private Attributes
domLibrary_articulated_systemsRef	_articulatedSystemsLib
DAE	_collada
daeDocument *	_doc
domCOLLADA *	_dom
domLibrary_effectsRef	_effectsLib
domLibrary_geometriesRef	_geometriesLib
domCOLLADA::domSceneRef	_globalscene
boost::shared_ptr < instance_articulated_system_output >	_iasout
boost::shared_ptr < instance_kinematics_model_output >	_ikmout
Assimp::Importer	_importer
domLibrary_kinematics_modelsRef	_kinematicsModelsLib
domLibrary_kinematics_scenesRef	_kinematicsScenesLib
std::map< boost::shared_ptr < const urdf::Joint >, int >	_mapjointindices
std::map< boost::shared_ptr < const urdf::Link >, int >	_maplinkindices
std::map< boost::shared_ptr < const urdf::Material >, int >	_mapmaterialindices
domLibrary_materialsRef	_materialsLib
domLibrary_physics_modelsRef	_physicsModelsLib
domLibrary_physics_scenesRef	_physicsScenesLib
const urdf::Model &	_robot
SCENE	_scene
domTechniqueRef	_sensorsLib
	custom sensors library
domLibrary_visual_scenesRef	_visualScenesLib
int	_writeoptions

Detailed Description

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

Definition at line 528 of file collada_urdf.cpp.

Member Typedef Documentation

typedef std::map< boost::shared_ptr<const urdf::Link>, urdf::Pose > collada_urdf::ColladaWriter::MAPLINKPOSES [private]

Definition at line 541 of file collada_urdf.cpp.

Constructor & Destructor Documentation

collada_urdf::ColladaWriter::ColladaWriter	(	const urdf::Model &	robot,
		int	writeoptions
	)		`[inline]`

Definition at line 612 of file collada_urdf.cpp.

virtual collada_urdf::ColladaWriter::~ColladaWriter ( ) [inline, virtual]

Definition at line 616 of file collada_urdf.cpp.

Member Function Documentation

void collada_urdf::ColladaWriter::_buildAiMesh	(	const aiScene *	scene,
		aiNode *	node,
		domMeshRef	pdommesh,
		domFloat_arrayRef	parray,
		const string &	geomid,
		const urdf::Vector3 &	scale,
		urdf::Pose *	org_trans = `NULL`
	)		`[inline, protected]`

Definition at line 1538 of file collada_urdf.cpp.

static std::string collada_urdf::ColladaWriter::_ComputeId ( const std::string & name ) [inline, static, private]

computes a collada-compliant sid from the urdf name

Definition at line 1892 of file collada_urdf.cpp.

static std::string collada_urdf::ColladaWriter::_ComputeKinematics_modelId ( int id ) [inline, static, private]

Definition at line 1886 of file collada_urdf.cpp.

void collada_urdf::ColladaWriter::_CreateScene ( ) [inline, protected]

Definition at line 719 of file collada_urdf.cpp.

void collada_urdf::ColladaWriter::_loadMesh	(	std::string const &	filename,
		domGeometryRef	pdomgeom,
		const urdf::Vector3 &	scale,
		urdf::Pose *	org_trans
	)		`[inline, protected]`

Definition at line 1489 of file collada_urdf.cpp.

void collada_urdf::ColladaWriter::_loadVertices	(	const shapes::Mesh *	mesh,
		domGeometryRef	pdomgeom
	)		`[inline, protected]`

Definition at line 1436 of file collada_urdf.cpp.

static urdf::Pose collada_urdf::ColladaWriter::_poseInverse ( const urdf::Pose & p ) [inline, static, private]

Definition at line 1800 of file collada_urdf.cpp.

static urdf::Vector3 collada_urdf::ColladaWriter::_poseMult	(	const urdf::Pose &	p,
		const urdf::Vector3 &	v
	)		`[inline, static, private]`

Definition at line 1782 of file collada_urdf.cpp.

static urdf::Pose collada_urdf::ColladaWriter::_poseMult	(	const urdf::Pose &	p0,
		const urdf::Pose &	p1
	)		`[inline, static, private]`

Definition at line 1830 of file collada_urdf.cpp.

static urdf::Rotation collada_urdf::ColladaWriter::_quatFromMatrix ( const boost::array< double, 12 > & mat ) [inline, static, private]

Definition at line 1838 of file collada_urdf.cpp.

static urdf::Rotation collada_urdf::ColladaWriter::_quatMult	(	const urdf::Rotation &	quat0,
		const urdf::Rotation &	quat1
	)		`[inline, static, private]`

Definition at line 1814 of file collada_urdf.cpp.

void collada_urdf::ColladaWriter::_WriteBindingsInstance_kinematics_scene ( ) [inline, protected]

Definition at line 1766 of file collada_urdf.cpp.

domEffectRef collada_urdf::ColladaWriter::_WriteEffect	(	std::string const &	effect_id,
		urdf::Color const &	color_ambient,
		urdf::Color const &	color_diffuse
	)		`[inline, protected]`

Definition at line 1671 of file collada_urdf.cpp.

domGeometryRef collada_urdf::ColladaWriter::_WriteGeometry	(	boost::shared_ptr< urdf::Geometry >	geometry,
		const std::string &	geometry_id,
		urdf::Pose *	org_trans = `NULL`
	)		`[inline, protected]`

Definition at line 1278 of file collada_urdf.cpp.

virtual void collada_urdf::ColladaWriter::_WriteInstance_kinematics_model	(	daeElementRef	parent,
		const string &	sidscope,
		int	id
	)		`[inline, protected, virtual]`

Write kinematic body in a given scene.

Definition at line 875 of file collada_urdf.cpp.

boost::shared_ptr<instance_physics_model_output> collada_urdf::ColladaWriter::_WriteInstance_physics_model	(	int	id,
		daeElementRef	parent,
		const string &	sidscope,
		const MAPLINKPOSES &	maplinkposes
	)		`[inline, protected]`

Definition at line 1354 of file collada_urdf.cpp.

virtual LINKOUTPUT collada_urdf::ColladaWriter::_WriteLink	(	boost::shared_ptr< const urdf::Link >	plink,
		daeElementRef	pkinparent,
		domNodeRef	pnodeparent,
		const string &	strModelUri
	)		`[inline, protected, virtual]`

Write link of a kinematic body.

Parameters:

link	Link to write
pkinparent	Kinbody parent
pnodeparent	Node parent
strModelUri

Definition at line 1128 of file collada_urdf.cpp.

void collada_urdf::ColladaWriter::_WriteMaterial	(	const string &	geometry_id,
		boost::shared_ptr< urdf::Material >	material
	)		`[inline, protected]`

Definition at line 1317 of file collada_urdf.cpp.

void collada_urdf::ColladaWriter::_WritePhysics ( ) [inline, protected]

Definition at line 749 of file collada_urdf.cpp.

void collada_urdf::ColladaWriter::_WriteRobot ( int id = 0 ) [inline, protected]

Write kinematic body in a given scene.

Definition at line 757 of file collada_urdf.cpp.

void collada_urdf::ColladaWriter::_WriteTransformation	(	daeElementRef	pelt,
		const urdf::Pose &	t
	)		`[inline, protected]`

Write transformation.

Parameters:

pelt	Element to transform
t	Transform to write

Definition at line 1728 of file collada_urdf.cpp.

bool collada_urdf::ColladaWriter::convert ( ) [inline]

< documented profile on robot extensions

Definition at line 623 of file collada_urdf.cpp.

daeDocument* collada_urdf::ColladaWriter::doc ( ) [inline]

Definition at line 619 of file collada_urdf.cpp.

virtual void collada_urdf::ColladaWriter::handleError ( daeString msg ) [inline, protected, virtual]

Definition at line 712 of file collada_urdf.cpp.

virtual void collada_urdf::ColladaWriter::handleWarning ( daeString msg ) [inline, protected, virtual]

Definition at line 715 of file collada_urdf.cpp.

virtual boost::shared_ptr<kinematics_model_output> collada_urdf::ColladaWriter::WriteKinematics_model ( int id ) [inline, protected, virtual]

Definition at line 928 of file collada_urdf.cpp.

boost::shared_ptr<physics_model_output> collada_urdf::ColladaWriter::WritePhysics_model	(	int	id,
		const MAPLINKPOSES &	maplinkposes
	)		`[inline, protected]`

!inertial));

Definition at line 1381 of file collada_urdf.cpp.

bool collada_urdf::ColladaWriter::writeTo ( string const & file ) [inline]

Definition at line 701 of file collada_urdf.cpp.

Member Data Documentation

domLibrary_articulated_systemsRef collada_urdf::ColladaWriter::_articulatedSystemsLib [private]

Definition at line 1914 of file collada_urdf.cpp.

DAE collada_urdf::ColladaWriter::_collada [private]

Definition at line 1906 of file collada_urdf.cpp.

daeDocument* collada_urdf::ColladaWriter::_doc [private]

Definition at line 1908 of file collada_urdf.cpp.

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

Definition at line 1907 of file collada_urdf.cpp.

domLibrary_effectsRef collada_urdf::ColladaWriter::_effectsLib [private]

Definition at line 1918 of file collada_urdf.cpp.

domLibrary_geometriesRef collada_urdf::ColladaWriter::_geometriesLib [private]

Definition at line 1919 of file collada_urdf.cpp.

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

Definition at line 1909 of file collada_urdf.cpp.

boost::shared_ptr<instance_articulated_system_output> collada_urdf::ColladaWriter::_iasout [private]

Definition at line 1924 of file collada_urdf.cpp.

boost::shared_ptr<instance_kinematics_model_output> collada_urdf::ColladaWriter::_ikmout [private]

Definition at line 1923 of file collada_urdf.cpp.

Assimp::Importer collada_urdf::ColladaWriter::_importer [private]

Definition at line 1928 of file collada_urdf.cpp.

domLibrary_kinematics_modelsRef collada_urdf::ColladaWriter::_kinematicsModelsLib [private]

Definition at line 1913 of file collada_urdf.cpp.

domLibrary_kinematics_scenesRef collada_urdf::ColladaWriter::_kinematicsScenesLib [private]

Definition at line 1912 of file collada_urdf.cpp.

std::map< boost::shared_ptr<const urdf::Joint>, int > collada_urdf::ColladaWriter::_mapjointindices [private]

Definition at line 1925 of file collada_urdf.cpp.

std::map< boost::shared_ptr<const urdf::Link>, int > collada_urdf::ColladaWriter::_maplinkindices [private]

Definition at line 1926 of file collada_urdf.cpp.

std::map< boost::shared_ptr<const urdf::Material>, int > collada_urdf::ColladaWriter::_mapmaterialindices [private]

Definition at line 1927 of file collada_urdf.cpp.

domLibrary_materialsRef collada_urdf::ColladaWriter::_materialsLib [private]

Definition at line 1917 of file collada_urdf.cpp.

domLibrary_physics_modelsRef collada_urdf::ColladaWriter::_physicsModelsLib [private]

Definition at line 1916 of file collada_urdf.cpp.

domLibrary_physics_scenesRef collada_urdf::ColladaWriter::_physicsScenesLib [private]

Definition at line 1915 of file collada_urdf.cpp.

const urdf::Model& collada_urdf::ColladaWriter::_robot [private]

Definition at line 1905 of file collada_urdf.cpp.

SCENE collada_urdf::ColladaWriter::_scene [private]

Definition at line 1921 of file collada_urdf.cpp.

domTechniqueRef collada_urdf::ColladaWriter::_sensorsLib [private]

custom sensors library

Definition at line 1920 of file collada_urdf.cpp.

domLibrary_visual_scenesRef collada_urdf::ColladaWriter::_visualScenesLib [private]

Definition at line 1911 of file collada_urdf.cpp.

int collada_urdf::ColladaWriter::_writeoptions [private]

Definition at line 1903 of file collada_urdf.cpp.

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

collada_urdf.cpp

Classes

Public Member Functions

Protected Member Functions

Private Types

Static Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation