ConvertMesh.cpp File Reference

#include <ros/ros.h>
#include <urdf_traverser/Types.h>
#include <urdf_traverser/UrdfTraverser.h>
#include <urdf_traverser/Functions.h>
#include <urdf2inventor/Helpers.h>
#include <urdf2inventor/IVHelpers.h>
#include <urdf2inventor/ConvertMesh.h>
#include <urdf2inventor/MeshConvertRecursionParams.h>
#include <urdf2inventor/AssimpImport.h>
#include <Inventor/nodes/SoGroup.h>
#include <Inventor/nodes/SoTransform.h>
#include <Inventor/nodes/SoSelection.h>
#include <Inventor/nodes/SoTexture2.h>
#include <Inventor/nodekits/SoNodeKit.h>
#include <Inventor/actions/SoWriteAction.h>
#include <Inventor/actions/SoSearchAction.h>
#include <assimp/Importer.hpp>
#include <assimp/scene.h>
#include <assimp/importerdesc.h>
#include <assimp/postprocess.h>

Include dependency graph for ConvertMesh.cpp:

Go to the source code of this file.

Typedefs
typedef urdf_traverser::BoxPtr	BoxPtr
typedef urdf_traverser::CollisionPtr	CollisionPtr
typedef urdf_traverser::CylinderPtr	CylinderPtr
typedef urdf_traverser::GeometryPtr	GeometryPtr
typedef urdf_traverser::MaterialPtr	MaterialPtr
typedef urdf_traverser::MeshPtr	MeshPtr
typedef urdf_traverser::SpherePtr	SpherePtr
typedef urdf_traverser::VisualPtr	VisualPtr
Functions
bool	addGeometry (SoSeparator *addToNode, const std::string &linkName, double scale_factor, const GeometryPtr &geom, const int geomNum, const MaterialPtr &mat, const urdf_traverser::EigenTransform &geometryTransform, const urdf_traverser::EigenTransform &addMeshTransform, const bool scaleUrdfTransforms)
SoNode *	convertMeshFile (const std::string &filename, double scale_factor, bool setExplicitMaterial=false, double r=0.5, double g=0.5, double b=0.5, double a=1)
bool	convertMeshToIVString (urdf_traverser::LinkPtr &link, const float scale_factor, const urdf_traverser::EigenTransform &addVisualTransform, const bool useVisuals, const bool scaleUrdfTransforms, std::string &resultIV, std::set< std::string > &textureFiles)
int	convertMeshToIVString (urdf_traverser::RecursionParamsPtr &p)
template bool	urdf2inventor::convertMeshes< std::string > (urdf_traverser::UrdfTraverser &traverser, const std::string &fromLink, const urdf2inventor::MeshConvertRecursionParams< std::string >::Ptr &meshParams)

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Typedef Documentation

typedef urdf_traverser::BoxPtr BoxPtr

Definition at line 68 of file ConvertMesh.cpp.

typedef urdf_traverser::CollisionPtr CollisionPtr

Definition at line 62 of file ConvertMesh.cpp.

typedef urdf_traverser::CylinderPtr CylinderPtr

Definition at line 67 of file ConvertMesh.cpp.

typedef urdf_traverser::GeometryPtr GeometryPtr

Definition at line 63 of file ConvertMesh.cpp.

typedef urdf_traverser::MaterialPtr MaterialPtr

Definition at line 64 of file ConvertMesh.cpp.

typedef urdf_traverser::MeshPtr MeshPtr

Definition at line 65 of file ConvertMesh.cpp.

typedef urdf_traverser::SpherePtr SpherePtr

Definition at line 66 of file ConvertMesh.cpp.

typedef urdf_traverser::VisualPtr VisualPtr

Definition at line 61 of file ConvertMesh.cpp.

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Function Documentation

bool addGeometry	(	SoSeparator *	addToNode,
		const std::string &	linkName,
		double	scale_factor,
		const GeometryPtr &	geom,
		const int	geomNum,
		const MaterialPtr &	mat,
		const urdf_traverser::EigenTransform &	geometryTransform,
		const urdf_traverser::EigenTransform &	addMeshTransform,
		const bool	scaleUrdfTransforms
	)

Make all texture paths relative to basePath. This assumes that when the IV file is written to file, all textures will be saved relative to the directory of the IV file.

Returns:

a list of all filenames (*absolute* paths) which were made relative to basePath.

Definition at line 220 of file ConvertMesh.cpp.

SoNode* convertMeshFile	(	const std::string &	filename,
		double	scale_factor,
		bool	setExplicitMaterial = false,
		double	r = 0.5,
		double	g = 0.5,
		double	b = 0.5,
		double	a = 1
	)

Converts the mesh in this file to the inventor format.

Definition at line 74 of file ConvertMesh.cpp.

bool convertMeshToIVString	(	urdf_traverser::LinkPtr &	link,
		const float	scale_factor,
		const urdf_traverser::EigenTransform &	addVisualTransform,
		const bool	useVisuals,
		const bool	scaleUrdfTransforms,
		std::string &	resultIV,
		std::set< std::string > &	textureFiles
	)

Helper function which gets all visuals from link, converts it to IV format and writes it to resultIV (after scaling meshes by scale_factor, and optionally also the transforms if scaleUrdfTransforms is true). It also returns all textureFiles (absolute paths to files) in use by the link.

Definition at line 423 of file ConvertMesh.cpp.

int convertMeshToIVString

(

urdf_traverser::RecursionParamsPtr &

p

)

Callback function to be called during recursion incurred in convertMeshes(). Only supports string mesh formats with MeshConvertRecursionParams<std::string>.

Definition at line 459 of file ConvertMesh.cpp.

template bool urdf2inventor::convertMeshes< std::string >	(	urdf_traverser::UrdfTraverser &	traverser,
		const std::string &	fromLink,
		const urdf2inventor::MeshConvertRecursionParams< std::string >::Ptr &	meshParams
	)