src/parsers/urdf/model.cpp File Reference

#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/parsers/urdf/utils.hpp"
#include "pinocchio/parsers/urdf/model.hxx"
#include <urdf_model/model.h>
#include <urdf_parser/urdf_parser.h>
#include <sstream>
#include <boost/foreach.hpp>
#include <limits>

Include dependency graph for src/parsers/urdf/model.cpp:

Go to the source code of this file.

Namespaces
	pinocchio
	Main pinocchio namespace.
	pinocchio::urdf
	URDF parsing.
	pinocchio::urdf::details

Functions
static Inertia	pinocchio::urdf::details::convertFromUrdf (const ::urdf::Inertial &Y)
	Convert URDF Inertial quantity to Spatial Inertia. More...
static Inertia	pinocchio::urdf::details::convertFromUrdf (const ::urdf::InertialSharedPtr &Y)
static FrameIndex	pinocchio::urdf::details::getParentLinkFrame (const ::urdf::LinkConstSharedPtr link, UrdfVisitorBase &model)
void	pinocchio::urdf::details::parseRootTree (const ::urdf::ModelInterface *urdfTree, UrdfVisitorBase &model, const bool mimic)
	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	pinocchio::urdf::details::parseRootTree (const std::string &filename, UrdfVisitorBase &model, const bool mimic)
void	pinocchio::urdf::details::parseRootTreeFromXML (const std::string &xmlString, UrdfVisitorBase &model, const bool mimic)
void	pinocchio::urdf::details::parseTree (::urdf::LinkConstSharedPtr link, UrdfVisitorBase &model, const bool mimic)
	Recursive procedure for reading the URDF tree. The function returns an exception as soon as a necessary Inertia or Joint information are missing. More...