Template Function pinocchio::urdf::buildGeom(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::string&, const GeometryType, GeometryModel&, const std::vector<std::string>&, ::hpp::fcl::MeshLoaderPtr)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
GeometryModel &pinocchio::urdf::buildGeom(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const std::string &filename, const GeometryType type, GeometryModel &geom_model, const std::vector<std::string> &package_paths = std::vector<std::string>(), ::hpp::fcl::MeshLoaderPtr mesh_loader = ::hpp::fcl::MeshLoaderPtr())

Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Warning

If hpp-fcl has not been found during compilation, COLLISION objects can not be loaded

Parameters:

  • model – [in] The model of the robot, built with urdf::buildModel

  • filename – [in] The URDF complete (absolute) file path

  • package_paths – [in] A vector containing the different directories where to search for models and meshes, typically obtained from calling pinocchio::rosPaths()

  • type – [in] The type of objects that must be loaded (must be VISUAL or COLLISION)

  • mesh_loader – [in] object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.

  • geom_model – [out] Reference where to put the parsed information.

Returns:

Returns the reference on geom model for convenience.