This class provides functions to transform a robot described in URDF to the inventor format. More...

#include <Urdf2Inventor.h>

Public Types
typedef baselib_binding::shared_ptr < ConversionParameters >::type	ConversionParametersPtr
typedef baselib_binding::shared_ptr < ConversionResultT >::type	ConversionResultPtr
typedef ConversionResult < MeshFormat >	ConversionResultT
typedef urdf_traverser::EigenTransform	EigenTransform
typedef urdf_traverser::JointConstPtr	JointConstPtr
typedef urdf_traverser::JointPtr	JointPtr
typedef urdf_traverser::LinkConstPtr	LinkConstPtr
typedef urdf_traverser::LinkPtr	LinkPtr
typedef baselib_binding::shared_ptr < MeshConvertRecursionParamsT > ::type	MeshConvertRecursionParamsPtr
typedef MeshConvertRecursionParams < MeshFormat >	MeshConvertRecursionParamsT
typedef std::string	MeshFormat
typedef baselib_binding::shared_ptr < const urdf_traverser::UrdfTraverser > ::type	UrdfTraverserConstPtr
typedef baselib_binding::shared_ptr < urdf_traverser::UrdfTraverser > ::type	UrdfTraverserPtr
Public Member Functions
bool	allRotationsToAxis (const std::string &fromLinkName, const Eigen::Vector3d &axis)
void	cleanup ()
virtual ConversionResultPtr	convert (const ConversionParametersPtr &params, const MeshConvertRecursionParamsPtr &meshParams=MeshConvertRecursionParamsPtr())
SoNode *	getAsInventor (const std::string &fromLink, bool useScaleFactor, bool addAxes, float axesRadius, float axesLength, const EigenTransform &addVisualTransform, std::set< std::string > *textureFiles)
ConversionParametersPtr	getBasicConversionParams (const std::string &rootLink, const std::string &material, const EigenTransform &addVisualTransform)
bool	getJointNames (const std::string &fromLink, const bool skipFixed, std::vector< std::string > &result)
bool	joinFixedLinks (const std::string &from_link)
ConversionResultPtr	loadAndConvert (const std::string &urdfFilename, bool joinFixed, const ConversionParametersPtr &params)
bool	loadModelFromFile (const std::string &urdfFilename)
void	printJointNames (const std::string &fromLink)
bool	printModel ()
bool	printModel (const std::string &fromLink)
	Urdf2Inventor (const UrdfTraverserPtr &traverser, float _scaleFactor=1)
bool	writeAsInventor (const std::string &outputFilename, const std::string &fromLink, bool useScaleFactor, const EigenTransform &addVisualTransform, bool _addAxes=false, float _axesRadius=0.003, float _axesLength=0.015)
	~Urdf2Inventor ()
Static Public Attributes
static std::string	MESH_OUTPUT_DIRECTORY_NAME = "iv/"
static std::string	OUTPUT_EXTENSION = ".iv"
static std::string	TEX_OUTPUT_DIRECTORY_NAME = "textures/"
Protected Member Functions
void	addLocalAxes (const LinkConstPtr &link, SoSeparator *addToNode, bool useScaleFactor, float _axesRadius, float _axesLength) const
float	getScaleFactor () const
EigenTransform	getTransform (const LinkPtr &from_link, const JointPtr &to_joint)
UrdfTraverserPtr	getTraverser ()
virtual ConversionResultPtr	postConvert (const ConversionParametersPtr &params, ConversionResultPtr &result)
virtual ConversionResultPtr	preConvert (const ConversionParametersPtr &params)
UrdfTraverserConstPtr	readTraverser () const
bool	scale ()
Private Member Functions
SoNode *	getAsInventor (const LinkPtr &from_link, bool useScaleFactor, bool _addAxes, float _axesRadius, float _axesLength, const EigenTransform &addTransform, std::set< std::string > *textureFiles)
bool	writeAsInventor (const std::string &outFilename, const LinkPtr &from_link, bool useScaleFactor, const EigenTransform &addTransform, bool _addAxes=false, float _axesRadius=0.003, float _axesLength=0.015)
bool	writeInventorFile (SoNode *node, const std::string &filename)
Private Attributes
bool	isScaled
float	scaleFactor
UrdfTraverserPtr	urdf_traverser

Detailed Description

This class provides functions to transform a robot described in URDF to the inventor format.

Author:: Jennifer Buehler

Date:: March 2016

Definition at line 63 of file Urdf2Inventor.h.

Member Typedef Documentation

typedef baselib_binding::shared_ptr<ConversionParameters>::type urdf2inventor::Urdf2Inventor::ConversionParametersPtr

Definition at line 70 of file Urdf2Inventor.h.

typedef baselib_binding::shared_ptr<ConversionResultT>::type urdf2inventor::Urdf2Inventor::ConversionResultPtr

Definition at line 69 of file Urdf2Inventor.h.

typedef ConversionResult<MeshFormat> urdf2inventor::Urdf2Inventor::ConversionResultT

Definition at line 68 of file Urdf2Inventor.h.

typedef urdf_traverser::EigenTransform urdf2inventor::Urdf2Inventor::EigenTransform

Definition at line 78 of file Urdf2Inventor.h.

typedef urdf_traverser::JointConstPtr urdf2inventor::Urdf2Inventor::JointConstPtr

Definition at line 82 of file Urdf2Inventor.h.

typedef urdf_traverser::JointPtr urdf2inventor::Urdf2Inventor::JointPtr

Definition at line 81 of file Urdf2Inventor.h.

typedef urdf_traverser::LinkConstPtr urdf2inventor::Urdf2Inventor::LinkConstPtr

Definition at line 80 of file Urdf2Inventor.h.

typedef urdf_traverser::LinkPtr urdf2inventor::Urdf2Inventor::LinkPtr

Definition at line 79 of file Urdf2Inventor.h.

typedef baselib_binding::shared_ptr<MeshConvertRecursionParamsT>::type urdf2inventor::Urdf2Inventor::MeshConvertRecursionParamsPtr

Definition at line 73 of file Urdf2Inventor.h.

typedef MeshConvertRecursionParams<MeshFormat> urdf2inventor::Urdf2Inventor::MeshConvertRecursionParamsT

Definition at line 72 of file Urdf2Inventor.h.

typedef std::string urdf2inventor::Urdf2Inventor::MeshFormat

Definition at line 67 of file Urdf2Inventor.h.

typedef baselib_binding::shared_ptr<const urdf_traverser::UrdfTraverser>::type urdf2inventor::Urdf2Inventor::UrdfTraverserConstPtr

Definition at line 76 of file Urdf2Inventor.h.

typedef baselib_binding::shared_ptr<urdf_traverser::UrdfTraverser>::type urdf2inventor::Urdf2Inventor::UrdfTraverserPtr

Definition at line 75 of file Urdf2Inventor.h.

Constructor & Destructor Documentation

urdf2inventor::Urdf2Inventor::Urdf2Inventor	(	const UrdfTraverserPtr &	traverser,
		float	_scaleFactor = `1`
	)		`[inline, explicit]`

Parameters:

traverser	the URDF traverser. Does not need to have a loaded URDF, as method loadAndConvert() will load the URDF into it.
_scaleFactor	the graspit model might have to be scaled (the urdf model is in meters, graspit! in millimeters). This can be specified with this scale factor.

Definition at line 102 of file Urdf2Inventor.h.

urdf2inventor::Urdf2Inventor::~Urdf2Inventor ( ) [inline]

Definition at line 111 of file Urdf2Inventor.h.

Member Function Documentation

void Urdf2Inventor::addLocalAxes	(	const LinkConstPtr &	link,
		SoSeparator *	addToNode,
		bool	useScaleFactor,
		float	_axesRadius,
		float	_axesLength
	)		const `[protected]`

Definition at line 328 of file Urdf2Inventor.cpp.

bool Urdf2Inventor::allRotationsToAxis	(	const std::string &	fromLinkName,
		const Eigen::Vector3d &	axis
	)

Transform the URDF such that all rotation axises (in the joint's local reference frame) are this axis

Definition at line 97 of file Urdf2Inventor.cpp.

void Urdf2Inventor::cleanup ( )

Cleans up all temporary files written to disk.

Definition at line 257 of file Urdf2Inventor.cpp.

Urdf2Inventor::ConversionResultPtr Urdf2Inventor::convert	(	const ConversionParametersPtr &	params,
		const MeshConvertRecursionParamsPtr &	meshParams = `MeshConvertRecursionParamsPtr()`
	)		`[virtual]`

Method which does the conversion from URDF to Inventor. This fist calls the implementation-specific preConvert(), then scales the model (using the scale factor specified in the constructor, unless the model was already scaled before), then converts the individual links mesh files and finally calls implementation-specific postConvert(). To save an inventor file of the *whole* robot, use writeAsInventor() instead.

Parameters:

params	parameters of the conversion
meshParams	optional: pre-instantiated MeshConvertRecursionParams. Can be left null and then default is constructed.

Definition at line 173 of file Urdf2Inventor.cpp.

SoNode * Urdf2Inventor::getAsInventor	(	const std::string &	fromLink,
		bool	useScaleFactor,
		bool	addAxes,
		float	axesRadius,
		float	axesLength,
		const EigenTransform &	addVisualTransform,
		std::set< std::string > *	textureFiles
	)

Returns an inventor node for all links down from (and including) from_link. IMPORTANT: This will also load the model, so any other URDF model previously loaded will be overwritten.

Parameters:

useScaleFactor	if set to true, the model is scaled up using scale factor set in constructor.
fromLink	if empty string, the root link in the URDF is going to be used. Otherwise, a link name can be set here which will return the model starting from this link name. Returns an inventor node for all links down from (and including) from_link. The model needs to be loaded first by any of the load functions.
useScaleFactor	if set to true, the model is scaled up using scale factor set in constructor.
fromLink	if empty string, the root link in the URDF is going to be used. Otherwise, a link name can be set here which will return the model starting from this link name.
addAxes	add the local coordinate system axes of the links to the inventor nodes. z axis is displayed blue, y axis green, x axis red, and the rotation axis pink. Fixed joints axes will be artificially altered to be slightly longer and thinner, so a distinction is visible.
axesRadius	radius of the axes, if _addAxes is true
axesLength	length of the axes, if _addAxes is true
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)
textureFiles	if not NULL, a list of all texture files (absolute paths) in use are returned here.

Definition at line 444 of file Urdf2Inventor.cpp.

SoNode * Urdf2Inventor::getAsInventor	(	const LinkPtr &	from_link,
		bool	useScaleFactor,
		bool	_addAxes,
		float	_axesRadius,
		float	_axesLength,
		const EigenTransform &	addTransform,
		std::set< std::string > *	textureFiles
	)		`[private]`

Recursive function which returns an inventor node for all links down from (and including) from_link. See other getAsInventor() function.

Definition at line 366 of file Urdf2Inventor.cpp.

ConversionParametersPtr urdf2inventor::Urdf2Inventor::getBasicConversionParams	(	const std::string &	rootLink,
		const std::string &	material,
		const EigenTransform &	addVisualTransform
	)		`[inline]`

Constructs a new ConversionParameters object with basic parameters.

Parameters:

rootLink if empty string, the root link in the URDF is going to be used. Otherwise, a link name can be set here which will convert the model starting from this link name.

Definition at line 203 of file Urdf2Inventor.h.

bool Urdf2Inventor::getJointNames	(	const std::string &	fromLink,
		const bool	skipFixed,
		std::vector< std::string > &	result
	)

Returns all joint names in depth-frist search order starting from fromLink (or from root if fromLink is empty)

Definition at line 250 of file Urdf2Inventor.cpp.

float urdf2inventor::Urdf2Inventor::getScaleFactor ( ) const [inline, protected]

Definition at line 292 of file Urdf2Inventor.h.

urdf_traverser::EigenTransform Urdf2Inventor::getTransform	(	const LinkPtr &	from_link,
		const JointPtr &	to_joint
	)		`[protected]`

Definition at line 147 of file Urdf2Inventor.cpp.

UrdfTraverserPtr urdf2inventor::Urdf2Inventor::getTraverser ( ) [inline, protected]

Definition at line 255 of file Urdf2Inventor.h.

bool Urdf2Inventor::joinFixedLinks ( const std::string & from_link )

Removes all fixed links in the model by adding visuals and collision geometry to the first parent link which is attached to a non-fixed link. Model has to be loaded with any of the load() methods first.

Definition at line 71 of file Urdf2Inventor.cpp.

Urdf2Inventor::ConversionResultPtr Urdf2Inventor::loadAndConvert	(	const std::string &	urdfFilename,
		bool	joinFixed,
		const ConversionParametersPtr &	params
	)

Loads the URDF file into the UrdfTraverser (instance passed into the constructor), then joins fixed links (only if joinFixed) and then converts the URDF file to inventor mesh files by calling convert().

Definition at line 569 of file Urdf2Inventor.cpp.

bool Urdf2Inventor::loadModelFromFile ( const std::string & urdfFilename )

Loads the URDF model from file into the UrdfTraverser (instance passed into the constructor),

Definition at line 141 of file Urdf2Inventor.cpp.

Urdf2Inventor::ConversionResultPtr Urdf2Inventor::postConvert	(	const ConversionParametersPtr &	params,
		ConversionResultPtr &	result
	)		`[protected, virtual]`

Method called by convert() which can be implemented by subclasses to do any operations required *after* the main body of convert() has been done. See also preConvert().

Parameters:

rootLink	the conversion is to be done starting from this link.
result	the conversion result so far. This is the object which has been returned by preConvert(), with changes applied by the main body of convert() applied to the base class fields.

Returns:: Has to be the same as result, with possible changes applied. Set ConversionResult::success to false to indicate failure, or to true to indicate success.

Definition at line 166 of file Urdf2Inventor.cpp.

Urdf2Inventor::ConversionResultPtr Urdf2Inventor::preConvert ( const ConversionParametersPtr & params ) [protected, virtual]

Method called by convert() which can be implemented by subclasses to return a different type of ConversionResult and do any operations required *before* the main body of convert() is being done. See also postConvert().

Parameters:

rootLink the conversion is to be done starting from this link.

Returns:: NULL/invalid shared ptr if pre-conversion failed.

Definition at line 159 of file Urdf2Inventor.cpp.

void Urdf2Inventor::printJointNames ( const std::string & fromLink )

Prints the joint names. Can't be const in this version because of the use of a recursive method.

Definition at line 292 of file Urdf2Inventor.cpp.

bool Urdf2Inventor::printModel ( )

Prints the structure of the URDF to standard out

Definition at line 244 of file Urdf2Inventor.cpp.

bool Urdf2Inventor::printModel ( const std::string & fromLink )

prints the URDF model to standard out, starting from this link.

Definition at line 239 of file Urdf2Inventor.cpp.

UrdfTraverserConstPtr urdf2inventor::Urdf2Inventor::readTraverser ( ) const [inline, protected]

Definition at line 260 of file Urdf2Inventor.h.

bool Urdf2Inventor::scale ( ) [protected]

scale the model and the meshes

Definition at line 121 of file Urdf2Inventor.cpp.

bool Urdf2Inventor::writeAsInventor	(	const std::string &	outputFilename,
		const std::string &	fromLink,
		bool	useScaleFactor,
		const EigenTransform &	addVisualTransform,
		bool	_addAxes = `false`,
		float	_axesRadius = `0.003`,
		float	_axesLength = `0.015`
	)

writes all elements down from fromLink to files in inventor format.

Parameters:

outputFilename	has to be an inventor filename
fromLink	if empty string, the root link in the URDF is going to be used as starting point. Otherwise, a link name can be set here which will write the model starting from this link name.
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)
_addAxes	default value: add the local coordinate system axes of the links to the inventor nodes. z axis is displayed blue, y axis green, x axis red, and the rotation axis pink. Fixed joints axes will be artificially altered to be slightly longer and thinner, so a distinction is visible.
_axesRadius	default value: radius of the axes, if _addAxes is true
_axesLength	default value: length of the axes, if _addAxes is true

Definition at line 468 of file Urdf2Inventor.cpp.

bool Urdf2Inventor::writeAsInventor	(	const std::string &	outFilename,
		const LinkPtr &	from_link,
		bool	useScaleFactor,
		const EigenTransform &	addTransform,
		bool	_addAxes = `false`,
		float	_axesRadius = `0.003`,
		float	_axesLength = `0.015`
	)		`[private]`