Classes | Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes
ColladaWriter Class Reference

#include <ColladaWriter.h>

List of all members.

Classes

struct  axis_sids
struct  instance_articulated_system_output
struct  instance_kinematics_model_output
struct  instance_physics_model_output
struct  kinbody_models
struct  kinematics_model_output
struct  LINKOUTPUT
struct  physics_model_output
struct  SCENE

Public Member Functions

virtual boost::shared_ptr
< instance_kinematics_model_output
_WriteInstance_kinematics_model (BodyInfo_impl *bodyInfo, daeElementRef parent, const string &sidscope)
 Write kinematic body in a given scene.
virtual boost::shared_ptr
< instance_physics_model_output
_WriteInstance_physics_model (BodyInfo_impl *bodyInfo, daeElementRef parent, const string &sidscope)
virtual boost::shared_ptr
< instance_articulated_system_output
_WriteRobot (BodyInfo_impl *bodyInfo)
 Write kinematic body in a given scene.
 ColladaWriter (const std::list< ManipulatorInfo > &listmanipulators, const char *comment_str)
virtual void Save (const string &filename)
 Write down a COLLADA file.
virtual bool Write (BodyInfo_impl *bodyInfo)
virtual daeElementRef WriteActuator (const LinkInfo &plink, const string &parentid)
virtual domEffectRef WriteEffect (const MaterialInfo &material)
virtual domGeometryRef WriteGeometry (BodyInfo_impl *bodyInfo, const ShapeInfo &shapeInfo, const DblArray12 &transformMatrix, const string &parentid)
 Write geometry properties.
virtual boost::shared_ptr
< kinematics_model_output
WriteKinematics_model (BodyInfo_impl *bodyInfo)
virtual boost::shared_ptr
< physics_model_output
WritePhysics_model (BodyInfo_impl *bodyInfo)
virtual daeElementRef WriteSensor (const SensorInfo &sensor, const string &parentid)
virtual domImageRef WriteTexture (const TextureInfo &texture)
 Write texture.
virtual ~ColladaWriter ()

Private Member Functions

virtual void _AddKinematics_model (BodyInfo_impl *bodyInfo, boost::shared_ptr< kinematics_model_output > kmout)
virtual void _AddPhysics_model (BodyInfo_impl *bodyInfo, boost::shared_ptr< physics_model_output > pmout)
virtual void _CreateScene ()
 save all the loaded scene models and their current state.
virtual std::string _GetGeometryId (BodyInfo_impl *bodyInfo, int ilink, int igeom)
virtual std::string _GetJointNodeSid (int ijoint, int iaxis)
virtual boost::shared_ptr
< kinematics_model_output
_GetKinematics_model (BodyInfo_impl *bodyInfo)
virtual std::string _GetLinkSid (int ilink)
virtual std::string _GetNodeId (BodyInfo_impl *bodyInfo)
virtual std::string _GetNodeId (BodyInfo_impl *bodyInfo, int ilink)
virtual boost::shared_ptr
< physics_model_output
_GetPhysics_model (BodyInfo_impl *bodyInfo)
virtual int _GetRobotId (BodyInfo_impl *bodyInfo)
void _SetRotate (domTargetable_float4Ref prot, const DblArray4 &rotation)
void _WriteBindingsInstance_kinematics_scene (domInstance_kinematics_sceneRef ikscene, BodyInfo_impl *bodyInfo, const std::vector< axis_sids > &vaxissids, const std::vector< std::pair< std::string, std::string > > &vkinematicsbindings)
virtual LINKOUTPUT _WriteLink (BodyInfo_impl *bodyInfo, int ilink, daeElementRef pkinparent, domNodeRef pnodeparent, const string &strModelUri, std::map< std::string, int > mapjointnames)
 Write link of a kinematic body.
void _WriteTransformation (daeElementRef pelt, const DblArray4 &rotation, const DblArray3 &translation)
 Write transformation.
virtual void handleError (daeString msg)
virtual void handleWarning (daeString msg)

Static Private Member Functions

template<typename T >
static void _SetVector3 (T &t, const DblArray3 &v)
 Set vector of three elements.
static bool ComparePair (const std::pair< int, int > &p0, const std::pair< int, int > &p1)

Private Attributes

domTechniqueRef _actuatorsLib
 custom actuators library
domLibrary_articulated_systemsRef _articulatedSystemsLib
boost::shared_ptr< DAE > _collada
daeDocument * _doc
domCOLLADA * _dom
domLibrary_effectsRef _effectsLib
domLibrary_geometriesRef _geometriesLib
domCOLLADA::domSceneRef _globalscene
domLibrary_imagesRef _imagesLib
domLibrary_kinematics_modelsRef _kinematicsModelsLib
domLibrary_kinematics_scenesRef _kinematicsScenesLib
std::list< kinbody_models_listkinbodies
std::list< ManipulatorInfo_listmanipulators
domLibrary_materialsRef _materialsLib
int _nextactuatorid
int _nextsensorid
domLibrary_physics_modelsRef _physicsModelsLib
domLibrary_physics_scenesRef _physicsScenesLib
SCENE _scene
domTechniqueRef _sensorsLib
 custom sensors library
domLibrary_visual_scenesRef _visualScenesLib

Detailed Description

Definition at line 55 of file ColladaWriter.h.


Constructor & Destructor Documentation

ColladaWriter::ColladaWriter ( const std::list< ManipulatorInfo > &  listmanipulators,
const char *  comment_str 
) [inline]

Definition at line 142 of file ColladaWriter.h.

virtual ColladaWriter::~ColladaWriter ( ) [inline, virtual]

Definition at line 221 of file ColladaWriter.h.


Member Function Documentation

virtual void ColladaWriter::_AddKinematics_model ( BodyInfo_impl bodyInfo,
boost::shared_ptr< kinematics_model_output kmout 
) [inline, private, virtual]

Definition at line 1363 of file ColladaWriter.h.

virtual void ColladaWriter::_AddPhysics_model ( BodyInfo_impl bodyInfo,
boost::shared_ptr< physics_model_output pmout 
) [inline, private, virtual]

Definition at line 1391 of file ColladaWriter.h.

virtual void ColladaWriter::_CreateScene ( ) [inline, private, virtual]

save all the loaded scene models and their current state.

Definition at line 1172 of file ColladaWriter.h.

virtual std::string ColladaWriter::_GetGeometryId ( BodyInfo_impl bodyInfo,
int  ilink,
int  igeom 
) [inline, private, virtual]

Definition at line 1433 of file ColladaWriter.h.

virtual std::string ColladaWriter::_GetJointNodeSid ( int  ijoint,
int  iaxis 
) [inline, private, virtual]

Definition at line 1436 of file ColladaWriter.h.

virtual boost::shared_ptr<kinematics_model_output> ColladaWriter::_GetKinematics_model ( BodyInfo_impl bodyInfo) [inline, private, virtual]

Definition at line 1382 of file ColladaWriter.h.

virtual std::string ColladaWriter::_GetLinkSid ( int  ilink) [inline, private, virtual]

Definition at line 1429 of file ColladaWriter.h.

virtual std::string ColladaWriter::_GetNodeId ( BodyInfo_impl bodyInfo) [inline, private, virtual]

Definition at line 1422 of file ColladaWriter.h.

virtual std::string ColladaWriter::_GetNodeId ( BodyInfo_impl bodyInfo,
int  ilink 
) [inline, private, virtual]

Definition at line 1425 of file ColladaWriter.h.

virtual boost::shared_ptr<physics_model_output> ColladaWriter::_GetPhysics_model ( BodyInfo_impl bodyInfo) [inline, private, virtual]

Definition at line 1410 of file ColladaWriter.h.

virtual int ColladaWriter::_GetRobotId ( BodyInfo_impl bodyInfo) [inline, private, virtual]

Definition at line 1419 of file ColladaWriter.h.

void ColladaWriter::_SetRotate ( domTargetable_float4Ref  prot,
const DblArray4 &  rotation 
) [inline, private]

Definition at line 1321 of file ColladaWriter.h.

template<typename T >
static void ColladaWriter::_SetVector3 ( T &  t,
const DblArray3 &  v 
) [inline, static, private]

Set vector of three elements.

Definition at line 1356 of file ColladaWriter.h.

void ColladaWriter::_WriteBindingsInstance_kinematics_scene ( domInstance_kinematics_sceneRef  ikscene,
BodyInfo_impl bodyInfo,
const std::vector< axis_sids > &  vaxissids,
const std::vector< std::pair< std::string, std::string > > &  vkinematicsbindings 
) [inline, private]

Definition at line 1340 of file ColladaWriter.h.

virtual boost::shared_ptr<instance_kinematics_model_output> ColladaWriter::_WriteInstance_kinematics_model ( BodyInfo_impl bodyInfo,
daeElementRef  parent,
const string &  sidscope 
) [inline, virtual]

Write kinematic body in a given scene.

Definition at line 471 of file ColladaWriter.h.

virtual boost::shared_ptr<instance_physics_model_output> ColladaWriter::_WriteInstance_physics_model ( BodyInfo_impl bodyInfo,
daeElementRef  parent,
const string &  sidscope 
) [inline, virtual]

Definition at line 517 of file ColladaWriter.h.

virtual LINKOUTPUT ColladaWriter::_WriteLink ( BodyInfo_impl bodyInfo,
int  ilink,
daeElementRef  pkinparent,
domNodeRef  pnodeparent,
const string &  strModelUri,
std::map< std::string, int mapjointnames 
) [inline, private, virtual]

Write link of a kinematic body.

Parameters:
linkLink to write
pkinparentKinbody parent
pnodeparentNode parent
strModelUri
vjointsVector of joints

Definition at line 1210 of file ColladaWriter.h.

virtual boost::shared_ptr<instance_articulated_system_output> ColladaWriter::_WriteRobot ( BodyInfo_impl bodyInfo) [inline, virtual]

Write kinematic body in a given scene.

Definition at line 250 of file ColladaWriter.h.

void ColladaWriter::_WriteTransformation ( daeElementRef  pelt,
const DblArray4 &  rotation,
const DblArray3 &  translation 
) [inline, private]

Write transformation.

Parameters:
peltElement to transform
tTransform to write

Definition at line 1333 of file ColladaWriter.h.

static bool ColladaWriter::ComparePair ( const std::pair< int, int > &  p0,
const std::pair< int, int > &  p1 
) [inline, static, private]

Definition at line 57 of file ColladaWriter.h.

virtual void ColladaWriter::handleError ( daeString  msg) [inline, private, virtual]

Definition at line 1440 of file ColladaWriter.h.

virtual void ColladaWriter::handleWarning ( daeString  msg) [inline, private, virtual]

Definition at line 1445 of file ColladaWriter.h.

virtual void ColladaWriter::Save ( const string &  filename) [inline, virtual]

Write down a COLLADA file.

Definition at line 228 of file ColladaWriter.h.

virtual bool ColladaWriter::Write ( BodyInfo_impl bodyInfo) [inline, virtual]

Definition at line 240 of file ColladaWriter.h.

virtual daeElementRef ColladaWriter::WriteActuator ( const LinkInfo &  plink,
const string &  parentid 
) [inline, virtual]

Definition at line 1145 of file ColladaWriter.h.

virtual domEffectRef ColladaWriter::WriteEffect ( const MaterialInfo &  material) [inline, virtual]

Write light effect vambient Ambient light color vdiffuse Diffuse light color

Definition at line 1013 of file ColladaWriter.h.

virtual domGeometryRef ColladaWriter::WriteGeometry ( BodyInfo_impl bodyInfo,
const ShapeInfo &  shapeInfo,
const DblArray12 &  transformMatrix,
const string &  parentid 
) [inline, virtual]

Write geometry properties.

Parameters:
geomLink geometry
parentidParent Identifier

Definition at line 801 of file ColladaWriter.h.

virtual boost::shared_ptr<kinematics_model_output> ColladaWriter::WriteKinematics_model ( BodyInfo_impl bodyInfo) [inline, virtual]

Definition at line 552 of file ColladaWriter.h.

virtual boost::shared_ptr<physics_model_output> ColladaWriter::WritePhysics_model ( BodyInfo_impl bodyInfo) [inline, virtual]

Definition at line 700 of file ColladaWriter.h.

virtual daeElementRef ColladaWriter::WriteSensor ( const SensorInfo &  sensor,
const string &  parentid 
) [inline, virtual]

Definition at line 1073 of file ColladaWriter.h.

virtual domImageRef ColladaWriter::WriteTexture ( const TextureInfo &  texture) [inline, virtual]

Write texture.

Definition at line 1061 of file ColladaWriter.h.


Member Data Documentation

domTechniqueRef ColladaWriter::_actuatorsLib [private]

custom actuators library

Definition at line 1465 of file ColladaWriter.h.

domLibrary_articulated_systemsRef ColladaWriter::_articulatedSystemsLib [private]

Definition at line 1457 of file ColladaWriter.h.

boost::shared_ptr<DAE> ColladaWriter::_collada [private]

Definition at line 1450 of file ColladaWriter.h.

daeDocument* ColladaWriter::_doc [private]

Definition at line 1452 of file ColladaWriter.h.

domCOLLADA* ColladaWriter::_dom [private]

Definition at line 1451 of file ColladaWriter.h.

domLibrary_effectsRef ColladaWriter::_effectsLib [private]

Definition at line 1461 of file ColladaWriter.h.

domLibrary_geometriesRef ColladaWriter::_geometriesLib [private]

Definition at line 1463 of file ColladaWriter.h.

domCOLLADA::domSceneRef ColladaWriter::_globalscene [private]

Definition at line 1453 of file ColladaWriter.h.

domLibrary_imagesRef ColladaWriter::_imagesLib [private]

Definition at line 1462 of file ColladaWriter.h.

domLibrary_kinematics_modelsRef ColladaWriter::_kinematicsModelsLib [private]

Definition at line 1456 of file ColladaWriter.h.

domLibrary_kinematics_scenesRef ColladaWriter::_kinematicsScenesLib [private]

Definition at line 1455 of file ColladaWriter.h.

Definition at line 1468 of file ColladaWriter.h.

Definition at line 1469 of file ColladaWriter.h.

domLibrary_materialsRef ColladaWriter::_materialsLib [private]

Definition at line 1460 of file ColladaWriter.h.

Definition at line 1466 of file ColladaWriter.h.

Definition at line 1466 of file ColladaWriter.h.

domLibrary_physics_modelsRef ColladaWriter::_physicsModelsLib [private]

Definition at line 1459 of file ColladaWriter.h.

domLibrary_physics_scenesRef ColladaWriter::_physicsScenesLib [private]

Definition at line 1458 of file ColladaWriter.h.

Definition at line 1467 of file ColladaWriter.h.

domTechniqueRef ColladaWriter::_sensorsLib [private]

custom sensors library

Definition at line 1464 of file ColladaWriter.h.

domLibrary_visual_scenesRef ColladaWriter::_visualScenesLib [private]

Definition at line 1454 of file ColladaWriter.h.


The documentation for this class was generated from the following file:


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:59