Classes | Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes | Private Types | List of all members
urdf::ColladaModelReader Class Reference
Inheritance diagram for urdf::ColladaModelReader:
Inheritance graph
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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 More...
 
bool _ExtractArticulatedSystem (domInstance_articulated_systemRef ias, KinematicsSceneBindings &bindings)
 extracts an articulated system. Note that an articulated system can include other articulated systems More...
 
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 More...
 
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 More...
 
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. More...
 
std::string _ExtractLinkName (domLinkRef pdomlink)
 
domTechniqueRef _ExtractOpenRAVEProfile (const domTechnique_Array &arr)
 
void _ExtractRobotAttachedActuators (const domArticulated_systemRef as)
 extract the robot actuators More...
 
void _ExtractRobotAttachedSensors (const domArticulated_systemRef as)
 Extract Sensors attached to a Robot. More...
 
void _ExtractRobotManipulators (const domArticulated_systemRef as)
 extract the robot manipulators More...
 
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. More...
 
template<typename T >
static boost::array< double, 12 > _ExtractFullTransformFromChildren (const T pelt)
 Travel by the transformation array and calls the _getTransform method. More...
 
static void _ExtractKinematicsVisualBindings (domInstance_with_extraRef viscene, domInstance_kinematics_sceneRef kiscene, KinematicsSceneBindings &bindings)
 go through all kinematics binds to get a kinematics/visual pair More...
 
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. More...
 
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 95 of file collada_parser.cpp.

Member Enumeration Documentation

Enumerator
GeomNone 
GeomBox 
GeomSphere 
GeomCylinder 
GeomTrimesh 

Definition at line 190 of file collada_parser.cpp.

Constructor & Destructor Documentation

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

Definition at line 420 of file collada_parser.cpp.

virtual urdf::ColladaModelReader::~ColladaModelReader ( )
inlinevirtual

Definition at line 424 of file collada_parser.cpp.

Member Function Documentation

static Vector3 urdf::ColladaModelReader::_add3 ( const Vector3 &  v0,
const Vector3 &  v1 
)
inlinestaticprotected

Definition at line 2788 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_checkMathML ( daeElementRef  pelt,
const std::string &  type 
)
inlineprotected

Definition at line 2414 of file collada_parser.cpp.

size_t urdf::ColladaModelReader::_countChildren ( daeElement *  pelt)
inlineprotected

Definition at line 2535 of file collada_parser.cpp.

urdf::GeometrySharedPtr urdf::ColladaModelReader::_CreateGeometry ( const std::string &  name,
const std::list< GEOMPROPERTIES > &  listGeomProperties 
)
inlineprotected

Definition at line 1193 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_cross3 ( const Vector3 &  v0,
const Vector3 &  v1 
)
inlinestaticprotected

Definition at line 2772 of file collada_parser.cpp.

void urdf::ColladaModelReader::_decompose ( const boost::array< double, 12 > &  tm,
Pose &  tout,
Vector3 &  vscale 
)
inlineprotected

Definition at line 2354 of file collada_parser.cpp.

static double urdf::ColladaModelReader::_dot3 ( const Vector3 &  v0,
const Vector3 &  v1 
)
inlinestaticprotected

Definition at line 2768 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_Extract ( )
inlineprotected

the first possible robot in the scene

Definition at line 470 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractArticulatedSystem ( domInstance_articulated_systemRef  ias,
KinematicsSceneBindings bindings 
)
inlineprotected

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

Definition at line 535 of file collada_parser.cpp.

template<typename T >
static boost::array<double,12> urdf::ColladaModelReader::_ExtractFullTransform ( const T  pelt)
inlinestaticprotected

Travel by the transformation array and calls the _getTransform method.

Definition at line 2335 of file collada_parser.cpp.

template<typename T >
static boost::array<double,12> urdf::ColladaModelReader::_ExtractFullTransformFromChildren ( const T  pelt)
inlinestaticprotected

Travel by the transformation array and calls the _getTransform method.

Definition at line 2344 of file collada_parser.cpp.

void urdf::ColladaModelReader::_ExtractGeometry ( const domNodeRef  pdomnode,
std::list< GEOMPROPERTIES > &  listGeomProperties,
const std::list< JointAxisBinding > &  listAxisBindings,
const Pose &  tlink 
)
inlineprotected

Extract Geometry and apply the transformations of the node

Parameters
pdomnodeNode to extract the goemetry
plinkLink of the kinematics model

Definition at line 1384 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 
)
inlineprotected

Extract the Geometry in TRIANGLES and adds it to OpenRave

Parameters
triRefArray of triangles of the COLLADA's model
vertsRefArray of vertices of the COLLADA's model
mapmaterialsMaterials applied to the geometry
plinkLink of the kinematics model

Definition at line 1527 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 
)
inlineprotected

Extract the Geometry in TRIGLE FANS and adds it to OpenRave

Parameters
triRefArray of triangle fans of the COLLADA's model
vertsRefArray of vertices of the COLLADA's model
mapmaterialsMaterials applied to the geometry

Definition at line 1608 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 
)
inlineprotected

Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave

Parameters
triRefArray of Triangle Strips of the COLLADA's model
vertsRefArray of vertices of the COLLADA's model
mapmaterialsMaterials applied to the geometry

Definition at line 1699 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 
)
inlineprotected

Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave

Parameters
triRefArray of Triangle Strips of the COLLADA's model
vertsRefArray of vertices of the COLLADA's model
mapmaterialsMaterials applied to the geometry

Definition at line 1793 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractGeometry ( const domGeometryRef  geom,
const std::map< std::string, domMaterialRef > &  mapmaterials,
std::list< GEOMPROPERTIES > &  listGeomProperties 
)
inlineprotected

Extract the Geometry and adds it to OpenRave

Parameters
geomGeometry to extract of the COLLADA's model
mapmaterialsMaterials applied to the geometry

Definition at line 1872 of file collada_parser.cpp.

boost::shared_ptr<std::string> urdf::ColladaModelReader::_ExtractInterfaceType ( const domExtra_Array &  arr)
inlineprotected

returns an openrave interface type from the extra array

Definition at line 2386 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractKinematicsModel ( domInstance_kinematics_modelRef  ikm,
KinematicsSceneBindings bindings 
)
inlineprotected

Definition at line 616 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractKinematicsModel ( domKinematics_modelRef  kmodel,
domNodeRef  pnode,
domPhysics_modelRef  pmodel,
const KinematicsSceneBindings bindings 
)
inlineprotected

append the kinematics model to the openrave kinbody

Definition at line 664 of file collada_parser.cpp.

static void urdf::ColladaModelReader::_ExtractKinematicsVisualBindings ( domInstance_with_extraRef  viscene,
domInstance_kinematics_sceneRef  kiscene,
KinematicsSceneBindings bindings 
)
inlinestaticprotected

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

Parameters
kisceneinstance of one kinematics scene, binds the kinematic and visual models
bindingsthe extracted bindings

Definition at line 2460 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 
)
inlineprotected

Extract Link info and add it to an existing body.

Definition at line 812 of file collada_parser.cpp.

std::string urdf::ColladaModelReader::_ExtractLinkName ( domLinkRef  pdomlink)
inlineprotected

Definition at line 2401 of file collada_parser.cpp.

domTechniqueRef urdf::ColladaModelReader::_ExtractOpenRAVEProfile ( const domTechnique_Array &  arr)
inlineprotected

Definition at line 2375 of file collada_parser.cpp.

static void urdf::ColladaModelReader::_ExtractPhysicsBindings ( domCOLLADA::domSceneRef  allscene,
KinematicsSceneBindings bindings 
)
inlinestaticprotected

Definition at line 2512 of file collada_parser.cpp.

void urdf::ColladaModelReader::_ExtractRobotAttachedActuators ( const domArticulated_systemRef  as)
inlineprotected

extract the robot actuators

Definition at line 2026 of file collada_parser.cpp.

void urdf::ColladaModelReader::_ExtractRobotAttachedSensors ( const domArticulated_systemRef  as)
inlineprotected

Extract Sensors attached to a Robot.

Definition at line 2069 of file collada_parser.cpp.

void urdf::ColladaModelReader::_ExtractRobotManipulators ( const domArticulated_systemRef  as)
inlineprotected

extract the robot manipulators

Definition at line 2063 of file collada_parser.cpp.

void urdf::ColladaModelReader::_FillGeometryColor ( const domMaterialRef  pmat,
GEOMPROPERTIES geom 
)
inlineprotected

Paint the Geometry with the color material

Parameters
pmatMaterial info of the COLLADA's model
geomGeometry properties in OpenRAVE

Definition at line 1496 of file collada_parser.cpp.

daeElementRef urdf::ColladaModelReader::_getElementFromUrl ( const daeURI &  uri)
inlineprotected

Definition at line 2074 of file collada_parser.cpp.

urdf::JointSharedPtr urdf::ColladaModelReader::_getJointFromRef ( xsToken  targetref,
daeElementRef  peltref 
)
inlineprotected

Definition at line 2428 of file collada_parser.cpp.

template<typename T >
static boost::array<double,12> urdf::ColladaModelReader::_getNodeParentTransform ( const T  pelt)
inlinestaticprotected

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

Definition at line 2326 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_getTransform ( daeElementRef  pelt)
inlinestaticprotected

Gets all transformations applied to the node.

Definition at line 2272 of file collada_parser.cpp.

static double urdf::ColladaModelReader::_GetUnitScale ( daeElement *  pelt)
inlinestaticprotected

Definition at line 2370 of file collada_parser.cpp.

USERDATA* urdf::ColladaModelReader::_getUserData ( daeElement *  pelt)
inlineprotected

Definition at line 2564 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_matrixFromAxisAngle ( const Vector3 &  axis,
double  angle 
)
inlinestaticprotected

Definition at line 2659 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_matrixFromPose ( const Pose &  t)
inlinestaticprotected

Definition at line 2695 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_matrixFromQuat ( const Rotation &  quat)
inlinestaticprotected

Definition at line 2664 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_matrixIdentity ( )
inlinestaticprotected

Definition at line 2265 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_normalize3 ( const Vector3 &  v0)
inlinestaticprotected

Definition at line 2796 of file collada_parser.cpp.

static Pose urdf::ColladaModelReader::_poseFromMatrix ( const boost::array< double, 12 > &  m)
inlinestaticprotected

Definition at line 2685 of file collada_parser.cpp.

static Pose urdf::ColladaModelReader::_poseInverse ( const Pose &  p)
inlinestaticprotected

Definition at line 2629 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_poseMult ( const Pose &  p,
const Vector3 &  v 
)
inlinestaticprotected

Definition at line 2576 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_poseMult ( const boost::array< double, 12 > &  m,
const Vector3 &  v 
)
inlinestaticprotected

Definition at line 2594 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 
)
inlinestaticprotected

Definition at line 2603 of file collada_parser.cpp.

static Pose urdf::ColladaModelReader::_poseMult ( const Pose &  p0,
const Pose &  p1 
)
inlinestaticprotected

Definition at line 2621 of file collada_parser.cpp.

void urdf::ColladaModelReader::_PostProcess ( )
inlineprotected

Definition at line 510 of file collada_parser.cpp.

void urdf::ColladaModelReader::_processUserData ( daeElement *  pelt,
double  scale 
)
inlineprotected

Definition at line 2545 of file collada_parser.cpp.

static Rotation urdf::ColladaModelReader::_quatFromAxisAngle ( double  x,
double  y,
double  z,
double  angle 
)
inlinestaticprotected

Definition at line 2704 of file collada_parser.cpp.

static Rotation urdf::ColladaModelReader::_quatFromMatrix ( const boost::array< double, 12 > &  mat)
inlinestaticprotected

Definition at line 2720 of file collada_parser.cpp.

static Rotation urdf::ColladaModelReader::_quatMult ( const Rotation &  quat0,
const Rotation &  quat1 
)
inlinestaticprotected

Definition at line 2643 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_sub3 ( const Vector3 &  v0,
const Vector3 &  v1 
)
inlinestaticprotected

Definition at line 2780 of file collada_parser.cpp.

virtual void urdf::ColladaModelReader::handleError ( daeString  msg)
inlineprotectedvirtual

Definition at line 2360 of file collada_parser.cpp.

virtual void urdf::ColladaModelReader::handleWarning ( daeString  msg)
inlineprotectedvirtual

Definition at line 2365 of file collada_parser.cpp.

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

Definition at line 449 of file collada_parser.cpp.

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

Definition at line 430 of file collada_parser.cpp.

template<typename U >
static xsBoolean urdf::ColladaModelReader::resolveBool ( domCommon_bool_or_paramRef  paddr,
const U &  parent 
)
inlinestaticprotected

Definition at line 2187 of file collada_parser.cpp.

static bool urdf::ColladaModelReader::resolveCommon_float_or_param ( daeElementRef  pcommon,
daeElementRef  parent,
float &  f 
)
inlinestaticprotected

Definition at line 2242 of file collada_parser.cpp.

template<typename U >
static domFloat urdf::ColladaModelReader::resolveFloat ( domCommon_float_or_paramRef  paddr,
const U &  parent 
)
inlinestaticprotected

Definition at line 2214 of file collada_parser.cpp.

static daeElement* urdf::ColladaModelReader::searchBinding ( domCommon_sidref_or_paramRef  paddr,
daeElementRef  parent 
)
inlinestaticprotected

Definition at line 2079 of file collada_parser.cpp.

static daeElement* urdf::ColladaModelReader::searchBinding ( daeString  ref,
daeElementRef  parent 
)
inlinestaticprotected

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

Parameters
refthe reference name to search
parentThe array of parameter where the method searchs.

Definition at line 2093 of file collada_parser.cpp.

static daeElement* urdf::ColladaModelReader::searchBindingArray ( daeString  ref,
const domInstance_articulated_system_Array &  paramArray 
)
inlinestaticprotected

Definition at line 2165 of file collada_parser.cpp.

static daeElement* urdf::ColladaModelReader::searchBindingArray ( daeString  ref,
const domInstance_kinematics_model_Array &  paramArray 
)
inlinestaticprotected

Definition at line 2176 of file collada_parser.cpp.

Member Data Documentation

boost::shared_ptr<DAE> urdf::ColladaModelReader::_collada
protected

Definition at line 2806 of file collada_parser.cpp.

domCOLLADA* urdf::ColladaModelReader::_dom
protected

Definition at line 2807 of file collada_parser.cpp.

std::string urdf::ColladaModelReader::_filename
protected

Definition at line 2810 of file collada_parser.cpp.

urdf::ModelInterfaceSharedPtr urdf::ColladaModelReader::_model
protected

Definition at line 2812 of file collada_parser.cpp.

int urdf::ColladaModelReader::_nGlobalManipulatorId
protected

Definition at line 2809 of file collada_parser.cpp.

int urdf::ColladaModelReader::_nGlobalSensorId
protected

Definition at line 2809 of file collada_parser.cpp.

std::string urdf::ColladaModelReader::_resourcedir
protected

Definition at line 2811 of file collada_parser.cpp.

Pose urdf::ColladaModelReader::_RootOrigin
protected

Definition at line 2813 of file collada_parser.cpp.

Pose urdf::ColladaModelReader::_VisualRootOrigin
protected

Definition at line 2814 of file collada_parser.cpp.

std::vector<USERDATA> urdf::ColladaModelReader::_vuserdata
protected

Definition at line 2808 of file collada_parser.cpp.


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


collada_parser
Author(s): Rosen Diankov, Kei Okada, Ioan Sucan , Jackie Kay
autogenerated on Fri Jun 7 2019 21:50:24