Classes
struct	GEOMPROPERTIES
class	JointAxisBinding
class	KinematicsSceneBindings
	inter-collada bindings for a kinematics scene More...
class	LinkBinding
	bindings for links between different spaces More...
struct	USERDATA
Public Member Functions
	ColladaModelReader (urdf::ModelInterfaceSharedPtr model)
bool	InitFromData (const std::string &pdata)
bool	InitFromFile (const std::string &filename)
virtual	~ColladaModelReader ()
Protected Member Functions
bool	_checkMathML (daeElementRef pelt, const std::string &type)
size_t	_countChildren (daeElement *pelt)
urdf::GeometrySharedPtr	_CreateGeometry (const std::string &name, const std::list< GEOMPROPERTIES > &listGeomProperties)
void	_decompose (const boost::array< double, 12 > &tm, Pose &tout, Vector3 &vscale)
bool	_Extract ()
	the first possible robot in the scene
bool	_ExtractArticulatedSystem (domInstance_articulated_systemRef ias, KinematicsSceneBindings &bindings)
	extracts an articulated system. Note that an articulated system can include other articulated systems
void	_ExtractGeometry (const domNodeRef pdomnode, std::list< GEOMPROPERTIES > &listGeomProperties, const std::list< JointAxisBinding > &listAxisBindings, const Pose &tlink)
bool	_ExtractGeometry (const domTrianglesRef triRef, const domVerticesRef vertsRef, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)
bool	_ExtractGeometry (const domTrifansRef triRef, const domVerticesRef vertsRef, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)
bool	_ExtractGeometry (const domTristripsRef triRef, const domVerticesRef vertsRef, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)
bool	_ExtractGeometry (const domPolylistRef triRef, const domVerticesRef vertsRef, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)
bool	_ExtractGeometry (const domGeometryRef geom, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)
boost::shared_ptr< std::string >	_ExtractInterfaceType (const domExtra_Array &arr)
	returns an openrave interface type from the extra array
bool	_ExtractKinematicsModel (domInstance_kinematics_modelRef ikm, KinematicsSceneBindings &bindings)
bool	_ExtractKinematicsModel (domKinematics_modelRef kmodel, domNodeRef pnode, domPhysics_modelRef pmodel, const KinematicsSceneBindings &bindings)
	append the kinematics model to the openrave kinbody
urdf::LinkSharedPtr	_ExtractLink (const domLinkRef pdomlink, const domNodeRef pdomnode, const Pose &tParentWorldLink, const Pose &tParentLink, const std::vector< domJointRef > &vdomjoints, const KinematicsSceneBindings &bindings)
	Extract Link info and add it to an existing body.
std::string	_ExtractLinkName (domLinkRef pdomlink)
domTechniqueRef	_ExtractOpenRAVEProfile (const domTechnique_Array &arr)
void	_ExtractRobotAttachedActuators (const domArticulated_systemRef as)
	extract the robot actuators
void	_ExtractRobotAttachedSensors (const domArticulated_systemRef as)
	Extract Sensors attached to a Robot.
void	_ExtractRobotManipulators (const domArticulated_systemRef as)
	extract the robot manipulators
void	_FillGeometryColor (const domMaterialRef pmat, GEOMPROPERTIES &geom)
daeElementRef	_getElementFromUrl (const daeURI &uri)
urdf::JointSharedPtr	_getJointFromRef (xsToken targetref, daeElementRef peltref)
USERDATA *	_getUserData (daeElement *pelt)
void	_PostProcess ()
void	_processUserData (daeElement *pelt, double scale)
virtual void	handleError (daeString msg)
virtual void	handleWarning (daeString msg)
Static Protected Member Functions
static Vector3	_add3 (const Vector3 &v0, const Vector3 &v1)
static Vector3	_cross3 (const Vector3 &v0, const Vector3 &v1)
static double	_dot3 (const Vector3 &v0, const Vector3 &v1)
template<typename T >
static boost::array< double, 12 >	_ExtractFullTransform (const T pelt)
	Travel by the transformation array and calls the _getTransform method.
template<typename T >
static boost::array< double, 12 >	_ExtractFullTransformFromChildren (const T pelt)
	Travel by the transformation array and calls the _getTransform method.
static void	_ExtractKinematicsVisualBindings (domInstance_with_extraRef viscene, domInstance_kinematics_sceneRef kiscene, KinematicsSceneBindings &bindings)
	go through all kinematics binds to get a kinematics/visual pair
static void	_ExtractPhysicsBindings (domCOLLADA::domSceneRef allscene, KinematicsSceneBindings &bindings)
template<typename T >
static boost::array< double, 12 >	_getNodeParentTransform (const T pelt)
static boost::array< double, 12 >	_getTransform (daeElementRef pelt)
	Gets all transformations applied to the node.
static double	_GetUnitScale (daeElement *pelt)
static boost::array< double, 12 >	_matrixFromAxisAngle (const Vector3 &axis, double angle)
static boost::array< double, 12 >	_matrixFromPose (const Pose &t)
static boost::array< double, 12 >	_matrixFromQuat (const Rotation &quat)
static boost::array< double, 12 >	_matrixIdentity ()
static Vector3	_normalize3 (const Vector3 &v0)
static Pose	_poseFromMatrix (const boost::array< double, 12 > &m)
static Pose	_poseInverse (const Pose &p)
static Vector3	_poseMult (const Pose &p, const Vector3 &v)
static Vector3	_poseMult (const boost::array< double, 12 > &m, const Vector3 &v)
static boost::array< double, 12 >	_poseMult (const boost::array< double, 12 > &m0, const boost::array< double, 12 > &m1)
static Pose	_poseMult (const Pose &p0, const Pose &p1)
static Rotation	_quatFromAxisAngle (double x, double y, double z, double angle)
static Rotation	_quatFromMatrix (const boost::array< double, 12 > &mat)
static Rotation	_quatMult (const Rotation &quat0, const Rotation &quat1)
static Vector3	_sub3 (const Vector3 &v0, const Vector3 &v1)
template<typename U >
static xsBoolean	resolveBool (domCommon_bool_or_paramRef paddr, const U &parent)
static bool	resolveCommon_float_or_param (daeElementRef pcommon, daeElementRef parent, float &f)
template<typename U >
static domFloat	resolveFloat (domCommon_float_or_paramRef paddr, const U &parent)
static daeElement *	searchBinding (domCommon_sidref_or_paramRef paddr, daeElementRef parent)
static daeElement *	searchBinding (daeString ref, daeElementRef parent)
static daeElement *	searchBindingArray (daeString ref, const domInstance_articulated_system_Array &paramArray)
static daeElement *	searchBindingArray (daeString ref, const domInstance_kinematics_model_Array &paramArray)
Protected Attributes
boost::shared_ptr< DAE >	_collada
domCOLLADA *	_dom
std::string	_filename
urdf::ModelInterfaceSharedPtr	_model
int	_nGlobalManipulatorId
int	_nGlobalSensorId
std::string	_resourcedir
Pose	_RootOrigin
Pose	_VisualRootOrigin
std::vector< USERDATA >	_vuserdata
Private Types
enum	GeomType { GeomNone = 0, GeomBox = 1, GeomSphere = 2, GeomCylinder = 3, GeomTrimesh = 4 }

Detailed Description

Definition at line 91 of file collada_parser.cpp.

Member Enumeration Documentation

enum urdf::ColladaModelReader::GeomType [private]

Enumerator:

GeomNone
GeomBox
GeomSphere
GeomCylinder
GeomTrimesh

Definition at line 186 of file collada_parser.cpp.

Constructor & Destructor Documentation

urdf::ColladaModelReader::ColladaModelReader ( urdf::ModelInterfaceSharedPtr model ) [inline]

Definition at line 416 of file collada_parser.cpp.

virtual urdf::ColladaModelReader::~ColladaModelReader ( ) [inline, virtual]

Definition at line 420 of file collada_parser.cpp.

Member Function Documentation

static Vector3 urdf::ColladaModelReader::_add3	(	const Vector3 &	v0,
		const Vector3 &	v1
	)		`[inline, static, protected]`

Definition at line 2784 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_checkMathML	(	daeElementRef	pelt,
		const std::string &	type
	)		`[inline, protected]`

Definition at line 2410 of file collada_parser.cpp.

size_t urdf::ColladaModelReader::_countChildren ( daeElement * pelt ) [inline, protected]

Definition at line 2531 of file collada_parser.cpp.

urdf::GeometrySharedPtr urdf::ColladaModelReader::_CreateGeometry	(	const std::string &	name,
		const std::list< GEOMPROPERTIES > &	listGeomProperties
	)		`[inline, protected]`

Definition at line 1189 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_cross3	(	const Vector3 &	v0,
		const Vector3 &	v1
	)		`[inline, static, protected]`

Definition at line 2768 of file collada_parser.cpp.

void urdf::ColladaModelReader::_decompose	(	const boost::array< double, 12 > &	tm,
		Pose &	tout,
		Vector3 &	vscale
	)		`[inline, protected]`

Definition at line 2350 of file collada_parser.cpp.

static double urdf::ColladaModelReader::_dot3	(	const Vector3 &	v0,
		const Vector3 &	v1
	)		`[inline, static, protected]`

Definition at line 2764 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_Extract ( ) [inline, protected]

the first possible robot in the scene

Definition at line 466 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractArticulatedSystem	(	domInstance_articulated_systemRef	ias,
		KinematicsSceneBindings &	bindings
	)		`[inline, protected]`

extracts an articulated system. Note that an articulated system can include other articulated systems

Definition at line 531 of file collada_parser.cpp.

template<typename T >

static boost::array<double,12> urdf::ColladaModelReader::_ExtractFullTransform ( const T pelt ) [inline, static, protected]

Travel by the transformation array and calls the _getTransform method.

Definition at line 2331 of file collada_parser.cpp.

template<typename T >

static boost::array<double,12> urdf::ColladaModelReader::_ExtractFullTransformFromChildren ( const T pelt ) [inline, static, protected]

Travel by the transformation array and calls the _getTransform method.

Definition at line 2340 of file collada_parser.cpp.

void urdf::ColladaModelReader::_ExtractGeometry	(	const domNodeRef	pdomnode,
		std::list< GEOMPROPERTIES > &	listGeomProperties,
		const std::list< JointAxisBinding > &	listAxisBindings,
		const Pose &	tlink
	)		`[inline, protected]`

Extract Geometry and apply the transformations of the node

Parameters:

pdomnode	Node to extract the goemetry
plink	Link of the kinematics model

Definition at line 1380 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractGeometry	(	const domTrianglesRef	triRef,
		const domVerticesRef	vertsRef,
		const std::map< std::string, domMaterialRef > &	mapmaterials,
		std::list< GEOMPROPERTIES > &	listGeomProperties
	)		`[inline, protected]`

Extract the Geometry in TRIANGLES and adds it to OpenRave

Parameters:

triRef	Array of triangles of the COLLADA's model
vertsRef	Array of vertices of the COLLADA's model
mapmaterials	Materials applied to the geometry
plink	Link of the kinematics model

Definition at line 1523 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractGeometry	(	const domTrifansRef	triRef,
		const domVerticesRef	vertsRef,
		const std::map< std::string, domMaterialRef > &	mapmaterials,
		std::list< GEOMPROPERTIES > &	listGeomProperties
	)		`[inline, protected]`

Extract the Geometry in TRIGLE FANS and adds it to OpenRave

Parameters:

triRef	Array of triangle fans of the COLLADA's model
vertsRef	Array of vertices of the COLLADA's model
mapmaterials	Materials applied to the geometry

Definition at line 1604 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractGeometry	(	const domTristripsRef	triRef,
		const domVerticesRef	vertsRef,
		const std::map< std::string, domMaterialRef > &	mapmaterials,
		std::list< GEOMPROPERTIES > &	listGeomProperties
	)		`[inline, protected]`

Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave

Parameters:

triRef	Array of Triangle Strips of the COLLADA's model
vertsRef	Array of vertices of the COLLADA's model
mapmaterials	Materials applied to the geometry

Definition at line 1695 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractGeometry	(	const domPolylistRef	triRef,
		const domVerticesRef	vertsRef,
		const std::map< std::string, domMaterialRef > &	mapmaterials,
		std::list< GEOMPROPERTIES > &	listGeomProperties
	)		`[inline, protected]`

Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave

Parameters:

triRef	Array of Triangle Strips of the COLLADA's model
vertsRef	Array of vertices of the COLLADA's model
mapmaterials	Materials applied to the geometry

Definition at line 1789 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractGeometry	(	const domGeometryRef	geom,
		const std::map< std::string, domMaterialRef > &	mapmaterials,
		std::list< GEOMPROPERTIES > &	listGeomProperties
	)		`[inline, protected]`

Extract the Geometry and adds it to OpenRave

Parameters:

geom	Geometry to extract of the COLLADA's model
mapmaterials	Materials applied to the geometry

Definition at line 1868 of file collada_parser.cpp.

boost::shared_ptr<std::string> urdf::ColladaModelReader::_ExtractInterfaceType ( const domExtra_Array & arr ) [inline, protected]

returns an openrave interface type from the extra array

Definition at line 2382 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractKinematicsModel	(	domInstance_kinematics_modelRef	ikm,
		KinematicsSceneBindings &	bindings
	)		`[inline, protected]`

Definition at line 612 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractKinematicsModel	(	domKinematics_modelRef	kmodel,
		domNodeRef	pnode,
		domPhysics_modelRef	pmodel,
		const KinematicsSceneBindings &	bindings
	)		`[inline, protected]`

append the kinematics model to the openrave kinbody

Definition at line 660 of file collada_parser.cpp.

static void urdf::ColladaModelReader::_ExtractKinematicsVisualBindings	(	domInstance_with_extraRef	viscene,
		domInstance_kinematics_sceneRef	kiscene,
		KinematicsSceneBindings &	bindings
	)		`[inline, static, protected]`

go through all kinematics binds to get a kinematics/visual pair

Parameters:

kiscene	instance of one kinematics scene, binds the kinematic and visual models
bindings	the extracted bindings

Definition at line 2456 of file collada_parser.cpp.

urdf::LinkSharedPtr urdf::ColladaModelReader::_ExtractLink	(	const domLinkRef	pdomlink,
		const domNodeRef	pdomnode,
		const Pose &	tParentWorldLink,
		const Pose &	tParentLink,
		const std::vector< domJointRef > &	vdomjoints,
		const KinematicsSceneBindings &	bindings
	)		`[inline, protected]`

Extract Link info and add it to an existing body.

Definition at line 808 of file collada_parser.cpp.

std::string urdf::ColladaModelReader::_ExtractLinkName ( domLinkRef pdomlink ) [inline, protected]

Definition at line 2397 of file collada_parser.cpp.

domTechniqueRef urdf::ColladaModelReader::_ExtractOpenRAVEProfile ( const domTechnique_Array & arr ) [inline, protected]

Definition at line 2371 of file collada_parser.cpp.

static void urdf::ColladaModelReader::_ExtractPhysicsBindings	(	domCOLLADA::domSceneRef	allscene,
		KinematicsSceneBindings &	bindings
	)		`[inline, static, protected]`

Definition at line 2508 of file collada_parser.cpp.

void urdf::ColladaModelReader::_ExtractRobotAttachedActuators ( const domArticulated_systemRef as ) [inline, protected]

extract the robot actuators

Definition at line 2022 of file collada_parser.cpp.

void urdf::ColladaModelReader::_ExtractRobotAttachedSensors ( const domArticulated_systemRef as ) [inline, protected]

Extract Sensors attached to a Robot.

Definition at line 2065 of file collada_parser.cpp.

void urdf::ColladaModelReader::_ExtractRobotManipulators ( const domArticulated_systemRef as ) [inline, protected]

extract the robot manipulators

Definition at line 2059 of file collada_parser.cpp.

void urdf::ColladaModelReader::_FillGeometryColor	(	const domMaterialRef	pmat,
		GEOMPROPERTIES &	geom
	)		`[inline, protected]`

Paint the Geometry with the color material

Parameters:

pmat	Material info of the COLLADA's model
geom	Geometry properties in OpenRAVE

Definition at line 1492 of file collada_parser.cpp.

daeElementRef urdf::ColladaModelReader::_getElementFromUrl ( const daeURI & uri ) [inline, protected]

Definition at line 2070 of file collada_parser.cpp.

urdf::JointSharedPtr urdf::ColladaModelReader::_getJointFromRef	(	xsToken	targetref,
		daeElementRef	peltref
	)		`[inline, protected]`

Definition at line 2424 of file collada_parser.cpp.

template<typename T >

static boost::array<double,12> urdf::ColladaModelReader::_getNodeParentTransform ( const T pelt ) [inline, static, protected]

Travels recursively the node parents of the given one to extract the Transform arrays that affects the node given

Definition at line 2322 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_getTransform ( daeElementRef pelt ) [inline, static, protected]

Gets all transformations applied to the node.

Definition at line 2268 of file collada_parser.cpp.

static double urdf::ColladaModelReader::_GetUnitScale ( daeElement * pelt ) [inline, static, protected]

Definition at line 2366 of file collada_parser.cpp.

USERDATA* urdf::ColladaModelReader::_getUserData ( daeElement * pelt ) [inline, protected]

Definition at line 2560 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_matrixFromAxisAngle	(	const Vector3 &	axis,
		double	angle
	)		`[inline, static, protected]`

Definition at line 2655 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_matrixFromPose ( const Pose & t ) [inline, static, protected]

Definition at line 2691 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_matrixFromQuat ( const Rotation & quat ) [inline, static, protected]

Definition at line 2660 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_matrixIdentity ( ) [inline, static, protected]

Definition at line 2261 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_normalize3 ( const Vector3 & v0 ) [inline, static, protected]

Definition at line 2792 of file collada_parser.cpp.

static Pose urdf::ColladaModelReader::_poseFromMatrix ( const boost::array< double, 12 > & m ) [inline, static, protected]

Definition at line 2681 of file collada_parser.cpp.

static Pose urdf::ColladaModelReader::_poseInverse ( const Pose & p ) [inline, static, protected]

Definition at line 2625 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_poseMult	(	const Pose &	p,
		const Vector3 &	v
	)		`[inline, static, protected]`

Definition at line 2572 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_poseMult	(	const boost::array< double, 12 > &	m,
		const Vector3 &	v
	)		`[inline, static, protected]`

Definition at line 2590 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_poseMult	(	const boost::array< double, 12 > &	m0,
		const boost::array< double, 12 > &	m1
	)		`[inline, static, protected]`

Definition at line 2599 of file collada_parser.cpp.

static Pose urdf::ColladaModelReader::_poseMult	(	const Pose &	p0,
		const Pose &	p1
	)		`[inline, static, protected]`

Definition at line 2617 of file collada_parser.cpp.

void urdf::ColladaModelReader::_PostProcess ( ) [inline, protected]

Definition at line 506 of file collada_parser.cpp.

void urdf::ColladaModelReader::_processUserData	(	daeElement *	pelt,
		double	scale
	)		`[inline, protected]`

Definition at line 2541 of file collada_parser.cpp.

static Rotation urdf::ColladaModelReader::_quatFromAxisAngle	(	double	x,
		double	y,
		double	z,
		double	angle
	)		`[inline, static, protected]`

Definition at line 2700 of file collada_parser.cpp.

static Rotation urdf::ColladaModelReader::_quatFromMatrix ( const boost::array< double, 12 > & mat ) [inline, static, protected]

Definition at line 2716 of file collada_parser.cpp.

static Rotation urdf::ColladaModelReader::_quatMult	(	const Rotation &	quat0,
		const Rotation &	quat1
	)		`[inline, static, protected]`

Definition at line 2639 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_sub3	(	const Vector3 &	v0,
		const Vector3 &	v1
	)		`[inline, static, protected]`

Definition at line 2776 of file collada_parser.cpp.

virtual void urdf::ColladaModelReader::handleError ( daeString msg ) [inline, protected, virtual]

Definition at line 2356 of file collada_parser.cpp.

virtual void urdf::ColladaModelReader::handleWarning ( daeString msg ) [inline, protected, virtual]

Definition at line 2361 of file collada_parser.cpp.

bool urdf::ColladaModelReader::InitFromData ( const std::string & pdata ) [inline]

Definition at line 445 of file collada_parser.cpp.

bool urdf::ColladaModelReader::InitFromFile ( const std::string & filename ) [inline]

Definition at line 426 of file collada_parser.cpp.

template<typename U >

static xsBoolean urdf::ColladaModelReader::resolveBool	(	domCommon_bool_or_paramRef	paddr,
		const U &	parent
	)		`[inline, static, protected]`

Definition at line 2183 of file collada_parser.cpp.

static bool urdf::ColladaModelReader::resolveCommon_float_or_param	(	daeElementRef	pcommon,
		daeElementRef	parent,
		float &	f
	)		`[inline, static, protected]`

Definition at line 2238 of file collada_parser.cpp.

template<typename U >

static domFloat urdf::ColladaModelReader::resolveFloat	(	domCommon_float_or_paramRef	paddr,
		const U &	parent
	)		`[inline, static, protected]`

Definition at line 2210 of file collada_parser.cpp.

static daeElement* urdf::ColladaModelReader::searchBinding	(	domCommon_sidref_or_paramRef	paddr,
		daeElementRef	parent
	)		`[inline, static, protected]`

Definition at line 2075 of file collada_parser.cpp.

static daeElement* urdf::ColladaModelReader::searchBinding	(	daeString	ref,
		daeElementRef	parent
	)		`[inline, static, protected]`

Search a given parameter reference and stores the new reference to search.

Parameters:

ref	the reference name to search
parent	The array of parameter where the method searchs.

Definition at line 2089 of file collada_parser.cpp.

static daeElement* urdf::ColladaModelReader::searchBindingArray	(	daeString	ref,
		const domInstance_articulated_system_Array &	paramArray
	)		`[inline, static, protected]`

Definition at line 2161 of file collada_parser.cpp.

static daeElement* urdf::ColladaModelReader::searchBindingArray	(	daeString	ref,
		const domInstance_kinematics_model_Array &	paramArray
	)		`[inline, static, protected]`