urdf2graspit: XMLFuncs.h Source File

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00001 
00019 #ifndef URDF2GRASPIT_XMLFUNCS_H
00020 #define URDF2GRASPIT_XMLFUNCS_H
00021 // Copyright Jennifer Buehler
00022 
00023 #include <string>
00024 #include <vector>
00025 #include <urdf2graspit/Types.h>
00026 #include <urdf2graspit/DHParam.h>
00027 #include <ros/ros.h>
00028 
00029 
00036 // global namespace
00037 namespace urdf2graspit
00038 {
00039 namespace xmlfuncs
00040 {
00041     
00047 class FingerChain
00048 {
00049 
00050 public:
00051     FingerChain(std::vector<DHParam>& p, std::vector<std::string>& lf, std::vector<std::string>& lt):
00052         prms(p), linkFileNames(lf), linkTypes(lt) {}
00053     FingerChain(const FingerChain& o): prms(o.prms), linkFileNames(o.linkFileNames), linkTypes(o.linkTypes) {}
00054     FingerChain& operator=(const FingerChain& o);
00055 
00056     // DH parameters for joints, in same order as appearing in the chain, either revolute or prismatic
00057     std::vector<DHParam> prms;
00058     // filenames of .xml files describing the finger links, in same order as appearing in the chain
00059     std::vector<std::string> linkFileNames;
00060     // sames size as linkFileNames, specifies for each link if it is linked to the one
00061     // before by "Revolute", "Prismatic","Universal", "Ball", or "Fixed".
00062     std::vector<std::string> linkTypes;
00063 
00064     friend std::ostream& operator<<(std::ostream& o, const FingerChain& p);
00065 };
00066 
00067 extern std::string getLinkDescXML(const LinkPtr& link,
00068                                   const std::string& mesh_output_extension,
00069                                   const std::string& material = "plastic");
00070 
00076 extern std::string getFingerChain(const FingerChain& c, const Eigen::Vector3d& palmTranslation,
00077                                   const Eigen::Quaterniond& palmRotation, bool negateJointValues);
00078 
00079 extern std::string getDOF(float defaultVel, float maxEffort,
00080                           float kp = 1e+9, float kd = 1e+7,
00081                           float draggerScale = 20, const std::string& type = "r");
00082 
00083 
00084 extern std::string getEigenGraspXML(const std::vector<DHParam>& dhparams, bool negateJointValues);
00085 
00086 extern std::string getWorldFileTemplate(const std::string& robotName, const std::vector<DHParam>& dhparams,
00087                                         const std::string& worldFilePathRelToGraspitRoot, bool negateJointValues);
00088 
00089 }  // namespace xmlfuncs
00090 }  // namespace urdf2graspit
00091 #endif  // URDF2GRASPIT_XMLFUNCS_H