pinocchio::sdf::details Namespace Reference

Functions
template<GeometryType type>
static void	addLinkGeometryToGeomModel (const SdfGraph &graph, ::hpp::fcl::MeshLoaderPtr &meshLoader, ::sdf::ElementPtr link, GeometryModel &geomModel, const std::vector< std::string > &package_dirs)
void	addLinkGeometryToGeomModel (const SdfGraph &graph, ::hpp::fcl::MeshLoaderPtr &meshLoader, const ::sdf::ElementPtr link, GeometryModel &geomModel, const std::vector< std::string > &package_dirs, const GeometryType type)
const std::string	findRootLink (const SdfGraph &graph)
template<GeometryType type>
static const std::vector<::sdf::ElementPtr >	getLinkGeometryArray (const ::sdf::ElementPtr link)
	Get the array of geometries attached to a link. More...
template<>
const std::vector<::sdf::ElementPtr >	getLinkGeometryArray<::pinocchio::COLLISION > (const ::sdf::ElementPtr link)
template<>
const std::vector<::sdf::ElementPtr >	getLinkGeometryArray<::pinocchio::VISUAL > (const ::sdf::ElementPtr link)
template<GeometryType type>
static bool	hasLinkElement (const ::sdf::ElementPtr link)
	Get the first geometry attached to a link. More...
template<>
bool	hasLinkElement<::pinocchio::COLLISION > (const ::sdf::ElementPtr link)
template<>
bool	hasLinkElement<::pinocchio::VISUAL > (const ::sdf::ElementPtr link)
void	parseContactInformation (const SdfGraph &graph, const urdf::details::UrdfVisitorBase &visitor, const Model &model, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &contact_models)
void	parseRootTree (SdfGraph &graph, const std::string &rootLinkName)
void	parseTreeForGeom (const Model &model, const SdfGraph &graph, GeometryModel &geomModel, const std::string &rootLinkName, const GeometryType type, const std::vector< std::string > &package_dirs, ::hpp::fcl::MeshLoaderPtr meshLoader)
static Eigen::Vector3d	retrieveMeshScale (const ::sdf::ElementPtr sdf_mesh)

Function Documentation

addLinkGeometryToGeomModel() [1/2]

template<GeometryType type>

static void pinocchio::sdf::details::addLinkGeometryToGeomModel ( const SdfGraph &  graph, ::hpp::fcl::MeshLoaderPtr &  meshLoader, ::sdf::ElementPtr  link, GeometryModel &  geomModel, const std::vector< std::string > &  package_dirs  )

static

Definition at line 189 of file src/parsers/sdf/geometry.cpp.

addLinkGeometryToGeomModel() [2/2]

void pinocchio::sdf::details::addLinkGeometryToGeomModel	(	const SdfGraph &	graph,
		::hpp::fcl::MeshLoaderPtr &	meshLoader,
		const ::sdf::ElementPtr	link,
		GeometryModel &	geomModel,
		const std::vector< std::string > &	package_dirs,
		const GeometryType	type
	)

Definition at line 269 of file src/parsers/sdf/geometry.cpp.

findRootLink()

const std::string pinocchio::sdf::details::findRootLink

(

const SdfGraph &

graph

)

Definition at line 25 of file src/parsers/sdf/model.cpp.

getLinkGeometryArray()

template<GeometryType type>

static const std::vector<::sdf::ElementPtr> pinocchio::sdf::details::getLinkGeometryArray ( const ::sdf::ElementPtr  link )

static

Get the array of geometries attached to a link.

Parameters

[in]

link

The URDF link

Returns

the array of either collisions or visuals

getLinkGeometryArray<::pinocchio::COLLISION >()

template<>

const std::vector<::sdf::ElementPtr> pinocchio::sdf::details::getLinkGeometryArray<::pinocchio::COLLISION >

(

const ::sdf::ElementPtr

link

)

Definition at line 58 of file src/parsers/sdf/geometry.cpp.

getLinkGeometryArray<::pinocchio::VISUAL >()

template<>

const std::vector<::sdf::ElementPtr> pinocchio::sdf::details::getLinkGeometryArray<::pinocchio::VISUAL >

(

const ::sdf::ElementPtr

link

)

Definition at line 76 of file src/parsers/sdf/geometry.cpp.

hasLinkElement()

template<GeometryType type>

static bool pinocchio::sdf::details::hasLinkElement ( const ::sdf::ElementPtr  link )

static

Get the first geometry attached to a link.

Parameters

[in]

link

The URDF link

Returns

Either the first collision or visual

hasLinkElement<::pinocchio::COLLISION >()

template<>

bool pinocchio::sdf::details::hasLinkElement<::pinocchio::COLLISION >

(

const ::sdf::ElementPtr

link

)

Definition at line 34 of file src/parsers/sdf/geometry.cpp.

hasLinkElement<::pinocchio::VISUAL >()

template<>

bool pinocchio::sdf::details::hasLinkElement<::pinocchio::VISUAL >

(

const ::sdf::ElementPtr

link

)

Definition at line 40 of file src/parsers/sdf/geometry.cpp.

parseContactInformation()

void pinocchio::sdf::details::parseContactInformation	(	const SdfGraph &	graph,
		const urdf::details::UrdfVisitorBase &	visitor,
		const Model &	model,
		PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &	contact_models
	)

Definition at line 47 of file src/parsers/sdf/model.cpp.

parseRootTree()

void pinocchio::sdf::details::parseRootTree	(	SdfGraph &	graph,
		const std::string &	rootLinkName
	)

Definition at line 69 of file src/parsers/sdf/model.cpp.

parseTreeForGeom()

void pinocchio::sdf::details::parseTreeForGeom	(	const Model &	model,
		const SdfGraph &	graph,
		GeometryModel &	geomModel,
		const std::string &	rootLinkName,
		const GeometryType	type,
		const std::vector< std::string > &	package_dirs,
		::hpp::fcl::MeshLoaderPtr	meshLoader
	)

Definition at line 292 of file src/parsers/sdf/geometry.cpp.

retrieveMeshScale()

static Eigen::Vector3d pinocchio::sdf::details::retrieveMeshScale ( const ::sdf::ElementPtr  sdf_mesh )

static

Definition at line 92 of file src/parsers/sdf/geometry.cpp.