Base class for classes to convert from urdf to the GraspIt! format. More...
#include <Urdf2GraspItBase.h>
Public Types | |
| typedef urdf2inventor::Urdf2Inventor::UrdfTraverserPtr | UrdfTraverserPtr |
Public Member Functions | |
| OutputStructure | getOutStructure () const |
| void | initOutStructure (const std::string &robotName) |
| bool | prepareModelForDenavitHartenberg (const std::string &fromLink) |
| Urdf2GraspItBase (UrdfTraverserPtr &traverser, float _scaleFactor=1000) | |
| ~Urdf2GraspItBase () | |
Protected Member Functions | |
| bool | isDHReady (const std::string &fromLink) const |
| void | testVisualizeURDF (const std::string &fromLink) |
Private Attributes | |
| std::string | dhReadyFrom |
| OutputStructure | outStructure |
Detailed Description
Base class for classes to convert from urdf to the GraspIt! format.
- Date:
- March 2016
Definition at line 51 of file Urdf2GraspItBase.h.
Member Typedef Documentation
| typedef urdf2inventor::Urdf2Inventor::UrdfTraverserPtr urdf2graspit::Urdf2GraspItBase::UrdfTraverserPtr |
Reimplemented from urdf2inventor::Urdf2Inventor.
Definition at line 54 of file Urdf2GraspItBase.h.
Constructor & Destructor Documentation
| urdf2graspit::Urdf2GraspItBase::Urdf2GraspItBase | ( | UrdfTraverserPtr & | traverser, |
| float | _scaleFactor = 1000 |
||
| ) | [inline, explicit] |
Definition at line 56 of file Urdf2GraspItBase.h.
| urdf2graspit::Urdf2GraspItBase::~Urdf2GraspItBase | ( | ) | [inline] |
Definition at line 63 of file Urdf2GraspItBase.h.
Member Function Documentation
| OutputStructure urdf2graspit::Urdf2GraspItBase::getOutStructure | ( | ) | const [inline] |
Definition at line 79 of file Urdf2GraspItBase.h.
| void urdf2graspit::Urdf2GraspItBase::initOutStructure | ( | const std::string & | robotName | ) | [inline] |
Definition at line 74 of file Urdf2GraspItBase.h.
| bool Urdf2GraspItBase::isDHReady | ( | const std::string & | fromLink | ) | const [protected] |
Checks whether the loaded URDF model is ready for Denavit-Hartenberg representation. This will return true after prepareModelForDenavitHartenberg has been called. TODO: In the current version, prepareModelForDenavitHartenberg() has to be called on the *same* link name, though it should work if it has been called from a link higher in the hierarchy as well, which is a feature to be added in a future version.
Definition at line 88 of file Urdf2GraspItBase.cpp.
| bool Urdf2GraspItBase::prepareModelForDenavitHartenberg | ( | const std::string & | fromLink | ) |
Prepares the model for conversion to denavit hartenberg parameters starting from link fromLink. This involves changing all rotation axes to be the z axis by calling allRotationsToAxis(), and and joining all fixed links by calling joinFixedLinks().
Definition at line 57 of file Urdf2GraspItBase.cpp.
| void Urdf2GraspItBase::testVisualizeURDF | ( | const std::string & | fromLink | ) | [protected] |
Definition at line 34 of file Urdf2GraspItBase.cpp.
Member Data Documentation
std::string urdf2graspit::Urdf2GraspItBase::dhReadyFrom [private] |
set to link which has been used in call of prepareModelForDenavitHartenberg(). XXX TODO this should be changed to check dynamically from isDHReady(const std::string&).
Definition at line 105 of file Urdf2GraspItBase.h.
Definition at line 99 of file Urdf2GraspItBase.h.
The documentation for this class was generated from the following files: