Classes
struct	UrdfTree

Functions
template<typename GeometryType >
static void	addLinkGeometryToGeomModel (const UrdfTree &tree, ::hpp::fcl::MeshLoaderPtr &meshLoader, ::urdf::LinkConstSharedPtr link, UrdfGeomVisitorBase &visitor, GeometryModel &geomModel, const std::vector< std::string > &package_dirs)
	Add the geometries attached to a URDF link to a GeometryModel, looking either for collisions or visuals. More...

static Inertia	convertFromUrdf (const ::urdf::Inertial &Y)
	Convert URDF Inertial quantity to Spatial Inertia. More...

static Inertia	convertFromUrdf (const ::urdf::InertialSharedPtr &Y)

SE3	convertFromUrdf (const ::urdf::Pose &M)
	Convert URDF Pose quantity to SE3. More...

template<>
PINOCCHIO_URDF_SHARED_PTR(const T) getLinkGeometry(const inline ::urdf::CollisionConstSharedPtr	getLinkGeometry<::urdf::Collision > (const ::urdf::LinkConstSharedPtr link)
	Get the first geometry attached to a link. More...

template<>
inline ::urdf::VisualConstSharedPtr	getLinkGeometry<::urdf::Visual > (const ::urdf::LinkConstSharedPtr link)

template<typename T >
const std::vector< PINOCCHIO_URDF_SHARED_PTR(T)> &	getLinkGeometryArray (const ::urdf::LinkConstSharedPtr link)
	Get the array of geometries attached to a link. More...

template<>
const std::vector<::urdf::CollisionSharedPtr > &	getLinkGeometryArray<::urdf::Collision > (const ::urdf::LinkConstSharedPtr link)

template<>
const std::vector<::urdf::VisualSharedPtr > &	getLinkGeometryArray<::urdf::Visual > (const ::urdf::LinkConstSharedPtr link)

static FrameIndex	getParentLinkFrame (const ::urdf::LinkConstSharedPtr link, UrdfVisitorBase &model)

template<typename urdfObject >
bool	getVisualMaterial (const PINOCCHIO_URDF_SHARED_PTR(urdfObject) urdf_object, std::string &meshTexturePath, Eigen::Vector4d &meshColor, const std::vector< std::string > &package_dirs)
	Get the material values from the link visual object. More...

template<>
bool	getVisualMaterial<::urdf::Collision > (const ::urdf::CollisionSharedPtr, std::string &meshTexturePath, Eigen::Vector4d &meshColor, const std::vector< std::string > &)

template<>
bool	getVisualMaterial<::urdf::Visual > (const ::urdf::VisualSharedPtr urdf_visual, std::string &meshTexturePath, Eigen::Vector4d &meshColor, const std::vector< std::string > &package_dirs)

void	parseRootTree (const ::urdf::ModelInterface *urdfTree, UrdfVisitorBase &model)
	Parse a tree with a specific root joint linking the model to the environment. The function returns an exception as soon as a necessary Inertia or Joint information are missing. More...

void	parseRootTree (const std::string &filename, UrdfVisitorBase &model)

void	parseRootTreeFromXML (const std::string &xmlString, UrdfVisitorBase &model)

void	parseTree (::urdf::LinkConstSharedPtr link, UrdfVisitorBase &model)
	Recursive procedure for reading the URDF tree. The function returns an exception as soon as a necessary Inertia or Joint information are missing. More...

void	parseTreeForGeom (UrdfGeomVisitorBase &visitor, const std::istream &xmlStream, const GeometryType type, GeometryModel &geomModel, const std::vector< std::string > &package_dirs, ::hpp::fcl::MeshLoaderPtr meshLoader)

void	recursiveParseTreeForGeom (const UrdfTree &tree, ::hpp::fcl::MeshLoaderPtr &meshLoader, ::urdf::LinkConstSharedPtr link, UrdfGeomVisitorBase &visitor, GeometryModel &geomModel, const std::vector< std::string > &package_dirs, const GeometryType type)
	Recursive procedure for reading the URDF tree, looking for geometries This function fill the geometric model with geometry objects retrieved from the URDF tree. More...

template<typename Vector3 >
static void	retrieveMeshScale (const ::urdf::MeshSharedPtr &mesh, const Eigen::MatrixBase< Vector3 > &scale)

Function Documentation

◆ addLinkGeometryToGeomModel()

template<typename GeometryType >

static void pinocchio::urdf::details::addLinkGeometryToGeomModel	(	const UrdfTree &	tree,
		::hpp::fcl::MeshLoaderPtr &	meshLoader,
		::urdf::LinkConstSharedPtr	link,
		UrdfGeomVisitorBase &	visitor,
		GeometryModel &	geomModel,
		const std::vector< std::string > &	package_dirs
	)

static

Add the geometries attached to a URDF link to a GeometryModel, looking either for collisions or visuals.

Parameters

[in]	tree	The URDF kinematic tree
[in]	meshLoader	The FCL mesh loader to avoid duplications of already loaded geometries
[in]	link	The current URDF link
	model	The model to which is the GeometryModel associated
	geomModel	The GeometryModel where the Collision Objects must be added
[in]	package_dirs	A vector containing the different directories where to search for packages

Definition at line 363 of file src/parsers/urdf/geometry.cpp.

◆ convertFromUrdf() [1/3]

static Inertia pinocchio::urdf::details::convertFromUrdf ( const ::urdf::Inertial & Y )

static

Convert URDF Inertial quantity to Spatial Inertia.

Parameters

[in] Y The input URDF Inertia.

Returns: The converted Spatial Inertia pinocchio::Inertia.

Definition at line 30 of file src/parsers/urdf/model.cpp.

◆ convertFromUrdf() [2/3]

static Inertia pinocchio::urdf::details::convertFromUrdf ( const ::urdf::InertialSharedPtr & Y )

static

Definition at line 44 of file src/parsers/urdf/model.cpp.

◆ convertFromUrdf() [3/3]

SE3 pinocchio::urdf::details::convertFromUrdf ( const ::urdf::Pose & M )

Convert URDF Pose quantity to SE3.

Parameters

[in] M The input URDF Pose.

Returns: The converted pose/transform pinocchio::SE3.

Definition at line 10 of file utils.cpp.

◆ getLinkGeometry<::urdf::Collision >()

template<>

PINOCCHIO_URDF_SHARED_PTR (const T) getLinkGeometry( const inline ::urdf::CollisionConstSharedPtr pinocchio::urdf::details::getLinkGeometry<::urdf::Collision > ( const ::urdf::LinkConstSharedPtr link ) const

inline

Get the first geometry attached to a link.

Parameters

[in] link The URDF link

Returns: Either the first collision or visual

Definition at line 260 of file src/parsers/urdf/geometry.cpp.

◆ getLinkGeometry<::urdf::Visual >()

template<>

inline ::urdf::VisualConstSharedPtr pinocchio::urdf::details::getLinkGeometry<::urdf::Visual > ( const ::urdf::LinkConstSharedPtr link )

Definition at line 267 of file src/parsers/urdf/geometry.cpp.

◆ getLinkGeometryArray()

template<typename T >

const std::vector<PINOCCHIO_URDF_SHARED_PTR(T)>& pinocchio::urdf::details::getLinkGeometryArray ( const ::urdf::LinkConstSharedPtr link )

inline

Get the array of geometries attached to a link.

Parameters

[in] link The URDF link

Returns: the array of either collisions or visuals

◆ getLinkGeometryArray<::urdf::Collision >()

template<>

const std::vector<::urdf::CollisionSharedPtr>& pinocchio::urdf::details::getLinkGeometryArray<::urdf::Collision > ( const ::urdf::LinkConstSharedPtr link )

inline

Definition at line 336 of file src/parsers/urdf/geometry.cpp.

◆ getLinkGeometryArray<::urdf::Visual >()

template<>

const std::vector<::urdf::VisualSharedPtr>& pinocchio::urdf::details::getLinkGeometryArray<::urdf::Visual > ( const ::urdf::LinkConstSharedPtr link )

inline

Definition at line 343 of file src/parsers/urdf/geometry.cpp.

◆ getParentLinkFrame()

static FrameIndex pinocchio::urdf::details::getParentLinkFrame	(	const ::urdf::LinkConstSharedPtr	link,
		UrdfVisitorBase &	model
	)

static

Definition at line 52 of file src/parsers/urdf/model.cpp.

◆ getVisualMaterial()

template<typename urdfObject >

bool pinocchio::urdf::details::getVisualMaterial	(	const PINOCCHIO_URDF_SHARED_PTR(urdfObject)	urdf_object,
		std::string &	meshTexturePath,
		Eigen::Vector4d &	meshColor,
		const std::vector< std::string > &	package_dirs
	)

inline

Get the material values from the link visual object.

Parameters

[in]	Visual/Collision	The Visual or the Collision object.
[out]	meshTexturePath	The absolute file path containing the texture description.
[out]	meshColor	The mesh RGBA vector.
[in]	package_dirs	A vector containing the different directories where to search for packages

◆ getVisualMaterial<::urdf::Collision >()

template<>

bool pinocchio::urdf::details::getVisualMaterial<::urdf::Collision >	(	const ::urdf::CollisionSharedPtr	,
		std::string &	meshTexturePath,
		Eigen::Vector4d &	meshColor,
		const std::vector< std::string > &
	)

inline

Definition at line 290 of file src/parsers/urdf/geometry.cpp.

◆ getVisualMaterial<::urdf::Visual >()

template<>

bool pinocchio::urdf::details::getVisualMaterial<::urdf::Visual >	(	const ::urdf::VisualSharedPtr	urdf_visual,
		std::string &	meshTexturePath,
		Eigen::Vector4d &	meshColor,
		const std::vector< std::string > &	package_dirs
	)

inline

Definition at line 302 of file src/parsers/urdf/geometry.cpp.

◆ parseRootTree() [1/2]

void pinocchio::urdf::details::parseRootTree	(	const ::urdf::ModelInterface *	urdfTree,
		UrdfVisitorBase &	model
	)

Parse a tree with a specific root joint linking the model to the environment. The function returns an exception as soon as a necessary Inertia or Joint information are missing.

Parameters

[in]	link	The current URDF link.
[in]	model	The model where the link must be added.

Definition at line 266 of file src/parsers/urdf/model.cpp.

◆ parseRootTree() [2/2]

void pinocchio::urdf::details::parseRootTree	(	const std::string &	filename,
		UrdfVisitorBase &	model
	)

Definition at line 279 of file src/parsers/urdf/model.cpp.

◆ parseRootTreeFromXML()

void pinocchio::urdf::details::parseRootTreeFromXML	(	const std::string &	xmlString,
		UrdfVisitorBase &	model
	)

Definition at line 291 of file src/parsers/urdf/model.cpp.

◆ parseTree()

void pinocchio::urdf::details::parseTree	(	::urdf::LinkConstSharedPtr	link,
		UrdfVisitorBase &	model
	)

Recursive procedure for reading the URDF tree. The function returns an exception as soon as a necessary Inertia or Joint information are missing.

Parameters

[in]	link	The current URDF link.
[in]	model	The model where the link must be added.

Definition at line 67 of file src/parsers/urdf/model.cpp.

◆ parseTreeForGeom()

void pinocchio::urdf::details::parseTreeForGeom	(	UrdfGeomVisitorBase &	visitor,
		const std::istream &	xmlStream,
		const GeometryType	type,
		GeometryModel &	geomModel,
		const std::vector< std::string > &	package_dirs,
		::hpp::fcl::MeshLoaderPtr	meshLoader
	)

Definition at line 487 of file src/parsers/urdf/geometry.cpp.

◆ recursiveParseTreeForGeom()

void pinocchio::urdf::details::recursiveParseTreeForGeom	(	const UrdfTree &	tree,
		::hpp::fcl::MeshLoaderPtr &	meshLoader,
		::urdf::LinkConstSharedPtr	link,
		UrdfGeomVisitorBase &	visitor,
		GeometryModel &	geomModel,
		const std::vector< std::string > &	package_dirs,
		const GeometryType	type
	)

Recursive procedure for reading the URDF tree, looking for geometries This function fill the geometric model with geometry objects retrieved from the URDF tree.

Parameters

[in]	tree	The URDF kinematic tree
[in]	meshLoader	The FCL mesh loader to avoid duplications of already loaded geometries
[in]	link	The current URDF link
	model	The model to which is the GeometryModel associated
	geomModel	The GeometryModel where the Collision Objects must be added
[in]	package_dirs	A vector containing the different directories where to search for packages
[in]	type	The type of objects that must be loaded ( can be VISUAL or COLLISION)

Definition at line 456 of file src/parsers/urdf/geometry.cpp.

◆ retrieveMeshScale()

template<typename Vector3 >

static void pinocchio::urdf::details::retrieveMeshScale	(	const ::urdf::MeshSharedPtr &	mesh,
		const Eigen::MatrixBase< Vector3 > &	scale
	)

static

Definition at line 118 of file src/parsers/urdf/geometry.cpp.

Classes

Functions

Function Documentation

◆ addLinkGeometryToGeomModel()

◆ convertFromUrdf() [1/3]

◆ convertFromUrdf() [2/3]

◆ convertFromUrdf() [3/3]

◆ getLinkGeometry<::urdf::Collision >()

◆ getLinkGeometry<::urdf::Visual >()

◆ getLinkGeometryArray()

◆ getLinkGeometryArray<::urdf::Collision >()

◆ getLinkGeometryArray<::urdf::Visual >()

◆ getParentLinkFrame()

◆ getVisualMaterial()

◆ getVisualMaterial<::urdf::Collision >()

◆ getVisualMaterial<::urdf::Visual >()

◆ parseRootTree() [1/2]

◆ parseRootTree() [2/2]

◆ parseRootTreeFromXML()

◆ parseTree()

◆ parseTreeForGeom()

◆ recursiveParseTreeForGeom()

◆ retrieveMeshScale()