Namespaces | |
| namespace | markerselector |
| namespace | xmlfuncs |
Classes | |
| class | ContactsGenerator |
| Provides methods to generate contacts for GraspIt! including an interative viewer. More... | |
| class | ConversionParameters |
| class | ConversionResult |
| Overwrites MeshConvertRecursionParams to include a special transform per link. More... | |
| class | DHParam |
| Class providing functions for conversion from urdf to a model described by denavit-hartenberg parameters. More... | |
| class | FileIO |
| Reads and writes URDF and GraspIt! files to disk. More... | |
| class | OutputStructure |
| Returns the directory structures and file paths to be used to output the GraspIt! files. More... | |
| class | Urdf2GraspIt |
| This class provides functions to transform a robot described in URDF to its description in the GraspIt! format. More... | |
| class | Urdf2GraspItBase |
| Base class for classes to convert from urdf to the GraspIt! format. More... | |
Typedefs | |
| typedef urdf_traverser::EigenTransform | EigenTransform |
| typedef urdf_traverser::InertialPtr | InertialPtr |
| typedef urdf_traverser::JointConstPtr | JointConstPtr |
| typedef urdf_traverser::JointPtr | JointPtr |
| typedef urdf_traverser::LinkConstPtr | LinkConstPtr |
| typedef urdf_traverser::LinkPtr | LinkPtr |
| typedef urdf_traverser::MeshPtr | MeshPtr |
| typedef urdf_traverser::VisualPtr | VisualPtr |
Functions | |
| bool | convertGraspItMeshes (urdf_traverser::UrdfTraverser &traverser, const std::string &fromLinkName, double scale_factor, const std::string &material, const std::string &file_extension, const urdf_traverser::EigenTransform &addVisualTransform, std::map< std::string, std::string > &meshDescXML) |
Copyright (C) 2015 Jennifer Buehler
This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Copyright (C) 2015 Jennifer Buehler
This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA Helper functions related to XML. Returns an XML according to the GraspIt! format.
| bool urdf2graspit::convertGraspItMeshes | ( | urdf_traverser::UrdfTraverser & | traverser, |
| const std::string & | fromLinkName, | ||
| double | scale_factor, | ||
| const std::string & | material, | ||
| const std::string & | file_extension, | ||
| const urdf_traverser::EigenTransform & | addVisualTransform, | ||
| std::map< std::string, std::string > & | meshDescXML | ||
| ) |
Convert all meshes starting from fromLinkName into the GraspIt! inventor format, and store them in the given mesh files container. While converting, the mesh files can be scaled by the given factor.
| material | the material to use in the converted format |
| file_extension | when the meshes are written to file, this is the extension they will have. This information may be required for generating the result meshes. |
| meshDescXML | the resulting GraspIt! XML description files for the meshes, indexed by the link names |
| addVisualTransform | this transform will be post-multiplied on all links' **visuals** (not links!) local transform (their "origin"). This can be used to correct transformation errors which may have been introduced in converting meshes from one format to the other, losing orientation information (for example, .dae has an "up vector" definition which may have been ignored) |
Definition at line 55 of file ConvertGraspitMesh.cpp.