#include <ColladaWriter.h>

Inheritance diagram for ColladaWriter:

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. More...

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. More...

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

virtual void	Save (const string &filename)
	Write down a COLLADA file. More...

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. More...

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. More...

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. More...

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. More...

void	_WriteTransformation (daeElementRef pelt, const DblArray4 &rotation, const DblArray3 &translation)
	Write transformation. More...

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. More...

static bool	ComparePair (const std::pair< int, int > &p0, const std::pair< int, int > &p1)

Private Attributes
domTechniqueRef	_actuatorsLib
	custom actuators library More...

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 More...

domLibrary_visual_scenesRef	_visualScenesLib

Detailed Description

Definition at line 55 of file ColladaWriter.h.

Constructor & Destructor Documentation

◆ ColladaWriter()

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

inline

Definition at line 142 of file ColladaWriter.h.

◆ ~ColladaWriter()

virtual ColladaWriter::~ColladaWriter ( )

inlinevirtual

Definition at line 221 of file ColladaWriter.h.

Member Function Documentation

◆ _AddKinematics_model()

virtual void ColladaWriter::_AddKinematics_model	(	BodyInfo_impl *	bodyInfo,
		boost::shared_ptr< kinematics_model_output >	kmout
	)

inlineprivatevirtual

Definition at line 1368 of file ColladaWriter.h.

◆ _AddPhysics_model()

virtual void ColladaWriter::_AddPhysics_model	(	BodyInfo_impl *	bodyInfo,
		boost::shared_ptr< physics_model_output >	pmout
	)

inlineprivatevirtual

Definition at line 1396 of file ColladaWriter.h.

◆ _CreateScene()

virtual void ColladaWriter::_CreateScene ( )

inlineprivatevirtual

save all the loaded scene models and their current state.

Definition at line 1177 of file ColladaWriter.h.

◆ _GetGeometryId()

virtual std::string ColladaWriter::_GetGeometryId	(	BodyInfo_impl *	bodyInfo,
		int	ilink,
		int	igeom
	)

inlineprivatevirtual

Definition at line 1438 of file ColladaWriter.h.

◆ _GetJointNodeSid()

virtual std::string ColladaWriter::_GetJointNodeSid	(	int	ijoint,
		int	iaxis
	)

inlineprivatevirtual

Definition at line 1441 of file ColladaWriter.h.

◆ _GetKinematics_model()

virtual boost::shared_ptr<kinematics_model_output> ColladaWriter::_GetKinematics_model ( BodyInfo_impl * bodyInfo )

inlineprivatevirtual

Definition at line 1387 of file ColladaWriter.h.

◆ _GetLinkSid()

virtual std::string ColladaWriter::_GetLinkSid ( int ilink )

inlineprivatevirtual

Definition at line 1434 of file ColladaWriter.h.

◆ _GetNodeId() [1/2]

virtual std::string ColladaWriter::_GetNodeId ( BodyInfo_impl * bodyInfo )

inlineprivatevirtual

Definition at line 1427 of file ColladaWriter.h.

◆ _GetNodeId() [2/2]

virtual std::string ColladaWriter::_GetNodeId	(	BodyInfo_impl *	bodyInfo,
		int	ilink
	)

inlineprivatevirtual

Definition at line 1430 of file ColladaWriter.h.

◆ _GetPhysics_model()

virtual boost::shared_ptr<physics_model_output> ColladaWriter::_GetPhysics_model ( BodyInfo_impl * bodyInfo )

inlineprivatevirtual

Definition at line 1415 of file ColladaWriter.h.

◆ _GetRobotId()

virtual int ColladaWriter::_GetRobotId ( BodyInfo_impl * bodyInfo )

inlineprivatevirtual

Definition at line 1424 of file ColladaWriter.h.

◆ _SetRotate()

void ColladaWriter::_SetRotate	(	domTargetable_float4Ref	prot,
		const DblArray4 &	rotation
	)

inlineprivate

Definition at line 1326 of file ColladaWriter.h.

◆ _SetVector3()

template<typename T >

static void ColladaWriter::_SetVector3	(	T &	t,
		const DblArray3 &	v
	)

inlinestaticprivate

Set vector of three elements.

Definition at line 1361 of file ColladaWriter.h.

◆ _WriteBindingsInstance_kinematics_scene()

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
	)

inlineprivate

Definition at line 1345 of file ColladaWriter.h.

◆ _WriteInstance_kinematics_model()

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

inlinevirtual

Write kinematic body in a given scene.

Definition at line 472 of file ColladaWriter.h.

◆ _WriteInstance_physics_model()

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

inlinevirtual

Definition at line 518 of file ColladaWriter.h.

◆ _WriteLink()

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

inlineprivatevirtual

Write link of a kinematic body.

Parameters

link	Link to write
pkinparent	Kinbody parent
pnodeparent	Node parent
strModelUri
vjoints	Vector of joints

Definition at line 1215 of file ColladaWriter.h.

◆ _WriteRobot()

virtual boost::shared_ptr<instance_articulated_system_output> ColladaWriter::_WriteRobot ( BodyInfo_impl * bodyInfo )

inlinevirtual

Write kinematic body in a given scene.

Definition at line 251 of file ColladaWriter.h.

◆ _WriteTransformation()

void ColladaWriter::_WriteTransformation	(	daeElementRef	pelt,
		const DblArray4 &	rotation,
		const DblArray3 &	translation
	)

inlineprivate

Write transformation.

Parameters

pelt	Element to transform
t	Transform to write

Definition at line 1338 of file ColladaWriter.h.

◆ ComparePair()

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

inlinestaticprivate

Definition at line 57 of file ColladaWriter.h.

◆ handleError()

virtual void ColladaWriter::handleError ( daeString msg )

inlineprivatevirtual

Definition at line 1445 of file ColladaWriter.h.

◆ handleWarning()

virtual void ColladaWriter::handleWarning ( daeString msg )

inlineprivatevirtual

Definition at line 1450 of file ColladaWriter.h.

◆ Save()

virtual void ColladaWriter::Save ( const string & filename )

inlinevirtual

Write down a COLLADA file.

Definition at line 228 of file ColladaWriter.h.

◆ Write()

virtual bool ColladaWriter::Write ( BodyInfo_impl * bodyInfo )

inlinevirtual

Definition at line 240 of file ColladaWriter.h.

◆ WriteActuator()

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

inlinevirtual

Definition at line 1150 of file ColladaWriter.h.

◆ WriteEffect()

virtual domEffectRef ColladaWriter::WriteEffect ( const MaterialInfo & material )

inlinevirtual

Write light effect vambient Ambient light color vdiffuse Diffuse light color

Definition at line 1018 of file ColladaWriter.h.

◆ WriteGeometry()

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

inlinevirtual

Write geometry properties.

Parameters

geom	Link geometry
parentid	Parent Identifier

Definition at line 806 of file ColladaWriter.h.

◆ WriteKinematics_model()

virtual boost::shared_ptr<kinematics_model_output> ColladaWriter::WriteKinematics_model ( BodyInfo_impl * bodyInfo )

inlinevirtual

Definition at line 553 of file ColladaWriter.h.

◆ WritePhysics_model()

virtual boost::shared_ptr<physics_model_output> ColladaWriter::WritePhysics_model ( BodyInfo_impl * bodyInfo )

inlinevirtual

Definition at line 705 of file ColladaWriter.h.

◆ WriteSensor()

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

inlinevirtual

Definition at line 1078 of file ColladaWriter.h.

◆ WriteTexture()

virtual domImageRef ColladaWriter::WriteTexture ( const TextureInfo & texture )

inlinevirtual

Write texture.

Definition at line 1066 of file ColladaWriter.h.

Member Data Documentation

◆ _actuatorsLib

domTechniqueRef ColladaWriter::_actuatorsLib

private

custom actuators library

Definition at line 1470 of file ColladaWriter.h.

◆ _articulatedSystemsLib

domLibrary_articulated_systemsRef ColladaWriter::_articulatedSystemsLib

private

Definition at line 1462 of file ColladaWriter.h.

◆ _collada

boost::shared_ptr<DAE> ColladaWriter::_collada

private

Definition at line 1455 of file ColladaWriter.h.

◆ _doc

daeDocument* ColladaWriter::_doc

private

Definition at line 1457 of file ColladaWriter.h.

◆ _dom

domCOLLADA* ColladaWriter::_dom

private

Definition at line 1456 of file ColladaWriter.h.

◆ _effectsLib

domLibrary_effectsRef ColladaWriter::_effectsLib

private

Definition at line 1466 of file ColladaWriter.h.

◆ _geometriesLib

domLibrary_geometriesRef ColladaWriter::_geometriesLib

private

Definition at line 1468 of file ColladaWriter.h.

◆ _globalscene

domCOLLADA::domSceneRef ColladaWriter::_globalscene

private

Definition at line 1458 of file ColladaWriter.h.

◆ _imagesLib

domLibrary_imagesRef ColladaWriter::_imagesLib

private

Definition at line 1467 of file ColladaWriter.h.

◆ _kinematicsModelsLib

domLibrary_kinematics_modelsRef ColladaWriter::_kinematicsModelsLib

private

Definition at line 1461 of file ColladaWriter.h.

◆ _kinematicsScenesLib

domLibrary_kinematics_scenesRef ColladaWriter::_kinematicsScenesLib

private

Definition at line 1460 of file ColladaWriter.h.

◆ _listkinbodies

std::list<kinbody_models> ColladaWriter::_listkinbodies

private

Definition at line 1473 of file ColladaWriter.h.

◆ _listmanipulators

std::list<ManipulatorInfo> ColladaWriter::_listmanipulators

private

Definition at line 1474 of file ColladaWriter.h.

◆ _materialsLib

domLibrary_materialsRef ColladaWriter::_materialsLib

private

Definition at line 1465 of file ColladaWriter.h.

◆ _nextactuatorid

int ColladaWriter::_nextactuatorid

private

Definition at line 1471 of file ColladaWriter.h.

◆ _nextsensorid

int ColladaWriter::_nextsensorid

private

Definition at line 1471 of file ColladaWriter.h.

◆ _physicsModelsLib

domLibrary_physics_modelsRef ColladaWriter::_physicsModelsLib

private

Definition at line 1464 of file ColladaWriter.h.

◆ _physicsScenesLib

domLibrary_physics_scenesRef ColladaWriter::_physicsScenesLib

private

Definition at line 1463 of file ColladaWriter.h.

◆ _scene

SCENE ColladaWriter::_scene

private

Definition at line 1472 of file ColladaWriter.h.

◆ _sensorsLib

domTechniqueRef ColladaWriter::_sensorsLib

private

custom sensors library

Definition at line 1469 of file ColladaWriter.h.

◆ _visualScenesLib

domLibrary_visual_scenesRef ColladaWriter::_visualScenesLib

private

Definition at line 1459 of file ColladaWriter.h.

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

ColladaWriter.h

Classes

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ColladaWriter()

◆ ~ColladaWriter()

Member Function Documentation

◆ _AddKinematics_model()

◆ _AddPhysics_model()

◆ _CreateScene()

◆ _GetGeometryId()

◆ _GetJointNodeSid()

◆ _GetKinematics_model()

◆ _GetLinkSid()

◆ _GetNodeId() [1/2]

◆ _GetNodeId() [2/2]

◆ _GetPhysics_model()

◆ _GetRobotId()

◆ _SetRotate()

◆ _SetVector3()

◆ _WriteBindingsInstance_kinematics_scene()

◆ _WriteInstance_kinematics_model()

◆ _WriteInstance_physics_model()

◆ _WriteLink()

◆ _WriteRobot()

◆ _WriteTransformation()

◆ ComparePair()

◆ handleError()

◆ handleWarning()

◆ Save()

◆ Write()

◆ WriteActuator()

◆ WriteEffect()

◆ WriteGeometry()

◆ WriteKinematics_model()

◆ WritePhysics_model()

◆ WriteSensor()

◆ WriteTexture()

Member Data Documentation

◆ _actuatorsLib

◆ _articulatedSystemsLib

◆ _collada

◆ _doc

◆ _dom

◆ _effectsLib

◆ _geometriesLib

◆ _globalscene

◆ _imagesLib

◆ _kinematicsModelsLib

◆ _kinematicsScenesLib

◆ _listkinbodies

◆ _listmanipulators

◆ _materialsLib

◆ _nextactuatorid

◆ _nextsensorid

◆ _physicsModelsLib

◆ _physicsScenesLib

◆ _scene

◆ _sensorsLib

◆ _visualScenesLib