The graph which contains all information taken from the mjcf file. More...

#include <mjcf-graph.hpp>

Public Types
typedef std::unordered_map< std::string, MjcfBody >	BodyMap_t

typedef std::unordered_map< std::string, MjcfClass >	ClassMap_t

typedef std::unordered_map< std::string, Eigen::VectorXd >	ConfigMap_t

typedef std::map< std::string, MjcfEquality >	EqualityMap_t

typedef std::unordered_map< std::string, MjcfMaterial >	MaterialMap_t

typedef std::unordered_map< std::string, MjcfMesh >	MeshMap_t

typedef boost::property_tree::ptree	ptree

typedef std::unordered_map< std::string, MjcfTexture >	TextureMap_t

typedef pinocchio::urdf::details::UrdfVisitor< double, 0, ::pinocchio::JointCollectionDefaultTpl >	UrdfVisitor

typedef std::vector< std::string >	VectorOfStrings

Public Member Functions
void	addKeyFrame (const Eigen::VectorXd &keyframe, const std::string &keyName)
	Add a keyframe to the model (ie reference configuration) More...

void	addSoloJoint (const MjcfJoint &jointInfo, const MjcfBody &currentBody, SE3 &bodyInJoint)
	Add a joint to the model. only needed when a body has a solo joint child. More...

Inertia	convertInertiaFromMjcf (const ptree &el) const
	Convert Inertia of an mjcf element into Inertia model of pinocchio. More...

SE3	convertPosition (const ptree &el) const
	Convert pose of an mjcf element into SE3. More...

template<typename TypeX , typename TypeY , typename TypeZ , typename TypeUnaligned >
JointModel	createJoint (const Eigen::Vector3d &axis)
	Create a joint to add to the joint composite if needed. More...

void	fillModel (const std::string &nameOfBody)
	Use all the infos that were parsed from the xml file to add a body and joint to the model. More...

void	fillReferenceConfig (const MjcfBody &currentBody)
	Fill reference configuration for a body and all it's associated dof. More...

	MjcfGraph (UrdfVisitor &urdfVisitor, const std::string &modelPath)
	graph constructor More...

void	parseAsset (const ptree &el)
	Parse all the info from the meta tag asset (mesh, material, texture) More...

void	parseCompiler (const ptree &el)
	Parse all the info from the compile node into compilerInfo. More...

void	parseContactInformation (const Model &model, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &contact_models)
	Parse the equality constraints and add them to the model. More...

void	parseDefault (ptree &el, const ptree &parent, const std::string &parentTag)
	Go through the default part of the file and get all the class name. Fill the mapOfDefault for later use. More...

void	parseEquality (const ptree &el)
	Parse all the info from the equality tag. More...

void	parseGeomTree (const GeometryType &type, GeometryModel &geomModel, ::hpp::fcl::MeshLoaderPtr &meshLoader)
	Fill geometry model with all the info taken from the mjcf model file. More...

void	parseGraph ()
	parse the mjcf file into a graph More...

void	parseGraphFromXML (const std::string &xmlStr)
	parse the mjcf file into a graph More...

void	parseJointAndBody (const ptree &el, const boost::optional< std::string > &childClass, const std::string &parentName="")
	Go through the main body of the mjcf file "worldbody" to get all the info ready to create the model. More...

void	parseKeyFrame (const ptree &el)
	Parse all the info from the meta tag keyframe. More...

void	parseMaterial (const ptree &el)
	Parse all the info from a material node. More...

void	parseMesh (const ptree &el)
	Parse all the info from a mesh node. More...

void	parseRootTree ()
	Fill the pinocchio model with all the infos from the graph. More...

void	parseTexture (const ptree &el)
	Parse all the info from a texture node. More...

Public Attributes
VectorOfStrings	bodiesList

MjcfCompiler	compilerInfo

BodyMap_t	mapOfBodies

ClassMap_t	mapOfClasses

ConfigMap_t	mapOfConfigs

EqualityMap_t	mapOfEqualities

MaterialMap_t	mapOfMaterials

MeshMap_t	mapOfMeshes

TextureMap_t	mapOfTextures

std::string	modelName

std::string	modelPath

ptree	pt

Eigen::VectorXd	referenceConfig

UrdfVisitor &	urdfVisitor

Detailed Description

The graph which contains all information taken from the mjcf file.

Definition at line 379 of file mjcf-graph.hpp.

Member Typedef Documentation

◆ BodyMap_t

typedef std::unordered_map<std::string, MjcfBody> pinocchio::mjcf::details::MjcfGraph::BodyMap_t

Definition at line 384 of file mjcf-graph.hpp.

◆ ClassMap_t

typedef std::unordered_map<std::string, MjcfClass> pinocchio::mjcf::details::MjcfGraph::ClassMap_t

Definition at line 385 of file mjcf-graph.hpp.

◆ ConfigMap_t

typedef std::unordered_map<std::string, Eigen::VectorXd> pinocchio::mjcf::details::MjcfGraph::ConfigMap_t

Definition at line 389 of file mjcf-graph.hpp.

◆ EqualityMap_t

typedef std::map<std::string, MjcfEquality> pinocchio::mjcf::details::MjcfGraph::EqualityMap_t

Definition at line 390 of file mjcf-graph.hpp.

◆ MaterialMap_t

typedef std::unordered_map<std::string, MjcfMaterial> pinocchio::mjcf::details::MjcfGraph::MaterialMap_t

Definition at line 386 of file mjcf-graph.hpp.

◆ MeshMap_t

typedef std::unordered_map<std::string, MjcfMesh> pinocchio::mjcf::details::MjcfGraph::MeshMap_t

Definition at line 387 of file mjcf-graph.hpp.

◆ ptree

typedef boost::property_tree::ptree pinocchio::mjcf::details::MjcfGraph::ptree

Definition at line 382 of file mjcf-graph.hpp.

◆ TextureMap_t

typedef std::unordered_map<std::string, MjcfTexture> pinocchio::mjcf::details::MjcfGraph::TextureMap_t

Definition at line 388 of file mjcf-graph.hpp.

◆ UrdfVisitor

typedef pinocchio::urdf::details:: UrdfVisitor<double, 0, ::pinocchio::JointCollectionDefaultTpl> pinocchio::mjcf::details::MjcfGraph::UrdfVisitor

Definition at line 425 of file mjcf-graph.hpp.

◆ VectorOfStrings

typedef std::vector<std::string> pinocchio::mjcf::details::MjcfGraph::VectorOfStrings

Definition at line 383 of file mjcf-graph.hpp.

Constructor & Destructor Documentation

◆ MjcfGraph()

pinocchio::mjcf::details::MjcfGraph::MjcfGraph	(	UrdfVisitor &	urdfVisitor,
		const std::string &	modelPath
	)

inline

graph constructor

Parameters

urdfVisitor

Definition at line 430 of file mjcf-graph.hpp.

Member Function Documentation

◆ addKeyFrame()

void pinocchio::mjcf::details::MjcfGraph::addKeyFrame	(	const Eigen::VectorXd &	keyframe,
		const std::string &	keyName
	)

Add a keyframe to the model (ie reference configuration)

Parameters

keyframe	Keyframe to add
keyName	Name of the keyframe

Definition at line 1072 of file mjcf-graph.cpp.

◆ addSoloJoint()

void pinocchio::mjcf::details::MjcfGraph::addSoloJoint	(	const MjcfJoint &	jointInfo,
		const MjcfBody &	currentBody,
		SE3 &	bodyInJoint
	)

Add a joint to the model. only needed when a body has a solo joint child.

Parameters

jointInfo	The joint to add to the tree
currentBody	The body associated with the joint
bodyInJoint	Position of the body wrt to its joint

Definition at line 875 of file mjcf-graph.cpp.

◆ convertInertiaFromMjcf()

Inertia pinocchio::mjcf::details::MjcfGraph::convertInertiaFromMjcf ( const ptree & el ) const

Convert Inertia of an mjcf element into Inertia model of pinocchio.

Parameters

el	ptree element with all the inertial information

Returns: Inertia element in pinocchio

Definition at line 356 of file mjcf-graph.cpp.

◆ convertPosition()

SE3 pinocchio::mjcf::details::MjcfGraph::convertPosition ( const ptree & el ) const

Convert pose of an mjcf element into SE3.

Parameters

el	ptree element with all the pose element

Returns: pose in SE3

Definition at line 285 of file mjcf-graph.cpp.

◆ createJoint()

template<typename TypeX , typename TypeY , typename TypeZ , typename TypeUnaligned >

JointModel pinocchio::mjcf::details::MjcfGraph::createJoint ( const Eigen::Vector3d & axis )

Create a joint to add to the joint composite if needed.

Template Parameters

TypeX	joint with axis X
TypeY	joint with axis Y
TypeZ	joint with axis Z
TypeUnaligned	joint with axis unaligned

Parameters

axis	axis of the joint

Returns: one of the joint with the right axis

Definition at line 863 of file mjcf-graph.cpp.

◆ fillModel()

void pinocchio::mjcf::details::MjcfGraph::fillModel ( const std::string & nameOfBody )

Use all the infos that were parsed from the xml file to add a body and joint to the model.

Parameters

nameOfBody Name of the body to add

Definition at line 930 of file mjcf-graph.cpp.

◆ fillReferenceConfig()

void pinocchio::mjcf::details::MjcfGraph::fillReferenceConfig ( const MjcfBody & currentBody )

Fill reference configuration for a body and all it's associated dof.

Parameters

currentBody body to check

Definition at line 1050 of file mjcf-graph.cpp.

◆ parseAsset()

void pinocchio::mjcf::details::MjcfGraph::parseAsset ( const ptree & el )

Parse all the info from the meta tag asset (mesh, material, texture)

Parameters

el	ptree texture node

Definition at line 601 of file mjcf-graph.cpp.

◆ parseCompiler()

void pinocchio::mjcf::details::MjcfGraph::parseCompiler ( const ptree & el )

Parse all the info from the compile node into compilerInfo.

Parameters

el	ptree compile node

Definition at line 651 of file mjcf-graph.cpp.

◆ parseContactInformation()

void pinocchio::mjcf::details::MjcfGraph::parseContactInformation	(	const Model &	model,
		PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &	contact_models
	)

Parse the equality constraints and add them to the model.

Parameters

model	Model to add the constraints to
contact_models	Vector of contact models to add the constraints to

Definition at line 1125 of file mjcf-graph.cpp.

◆ parseDefault()

void pinocchio::mjcf::details::MjcfGraph::parseDefault	(	ptree &	el,
		const ptree &	parent,
		const std::string &	parentTag
	)

Go through the default part of the file and get all the class name. Fill the mapOfDefault for later use.

Parameters

el	ptree element. Root of the default

Definition at line 619 of file mjcf-graph.cpp.

◆ parseEquality()

void pinocchio::mjcf::details::MjcfGraph::parseEquality ( const ptree & el )

Parse all the info from the equality tag.

Parameters

el	ptree equality node

Definition at line 764 of file mjcf-graph.cpp.

◆ parseGeomTree()

void pinocchio::mjcf::details::MjcfGraph::parseGeomTree	(	const GeometryType &	type,
		GeometryModel &	geomModel,
		::hpp::fcl::MeshLoaderPtr &	meshLoader
	)

Fill geometry model with all the info taken from the mjcf model file.

Parameters

type	Type of geometry to parse (COLLISION or VISUAL)
geomModel	geometry model to fill
meshLoader	mesh loader from hpp::fcl

Definition at line 512 of file mjcf-graph-geom.cpp.

◆ parseGraph()

void pinocchio::mjcf::details::MjcfGraph::parseGraph ( )

parse the mjcf file into a graph

Definition at line 811 of file mjcf-graph.cpp.

◆ parseGraphFromXML()

void pinocchio::mjcf::details::MjcfGraph::parseGraphFromXML ( const std::string & xmlStr )

parse the mjcf file into a graph

Parameters

xmlStr xml file name

Definition at line 856 of file mjcf-graph.cpp.

◆ parseJointAndBody()

void pinocchio::mjcf::details::MjcfGraph::parseJointAndBody	(	const ptree &	el,
		const boost::optional< std::string > &	childClass,
		const std::string &	parentName = `""`
	)

Go through the main body of the mjcf file "worldbody" to get all the info ready to create the model.

Parameters

el	root of the tree
parentName	name of the parentBody in the robot tree

Definition at line 404 of file mjcf-graph.cpp.

◆ parseKeyFrame()

void pinocchio::mjcf::details::MjcfGraph::parseKeyFrame ( const ptree & el )

Parse all the info from the meta tag keyframe.

Parameters

el	ptree keyframe node

Definition at line 743 of file mjcf-graph.cpp.

◆ parseMaterial()

void pinocchio::mjcf::details::MjcfGraph::parseMaterial ( const ptree & el )

Parse all the info from a material node.

Parameters

el	ptree material node

Definition at line 548 of file mjcf-graph.cpp.

◆ parseMesh()

void pinocchio::mjcf::details::MjcfGraph::parseMesh ( const ptree & el )

Parse all the info from a mesh node.

Parameters

el	ptree mesh node

Definition at line 579 of file mjcf-graph.cpp.

◆ parseRootTree()

void pinocchio::mjcf::details::MjcfGraph::parseRootTree ( )

Fill the pinocchio model with all the infos from the graph.

Definition at line 1156 of file mjcf-graph.cpp.

◆ parseTexture()

void pinocchio::mjcf::details::MjcfGraph::parseTexture ( const ptree & el )

Parse all the info from a texture node.

Parameters

el	ptree texture node

Definition at line 510 of file mjcf-graph.cpp.

Member Data Documentation

◆ bodiesList

VectorOfStrings pinocchio::mjcf::details::MjcfGraph::bodiesList

Definition at line 416 of file mjcf-graph.hpp.

◆ compilerInfo

MjcfCompiler pinocchio::mjcf::details::MjcfGraph::compilerInfo

Definition at line 393 of file mjcf-graph.hpp.

◆ mapOfBodies

BodyMap_t pinocchio::mjcf::details::MjcfGraph::mapOfBodies

Definition at line 397 of file mjcf-graph.hpp.

◆ mapOfClasses

ClassMap_t pinocchio::mjcf::details::MjcfGraph::mapOfClasses

Definition at line 395 of file mjcf-graph.hpp.

◆ mapOfConfigs

ConfigMap_t pinocchio::mjcf::details::MjcfGraph::mapOfConfigs

Definition at line 405 of file mjcf-graph.hpp.

◆ mapOfEqualities

EqualityMap_t pinocchio::mjcf::details::MjcfGraph::mapOfEqualities

Definition at line 407 of file mjcf-graph.hpp.

◆ mapOfMaterials

MaterialMap_t pinocchio::mjcf::details::MjcfGraph::mapOfMaterials

Definition at line 399 of file mjcf-graph.hpp.

◆ mapOfMeshes

MeshMap_t pinocchio::mjcf::details::MjcfGraph::mapOfMeshes

Definition at line 401 of file mjcf-graph.hpp.

◆ mapOfTextures

TextureMap_t pinocchio::mjcf::details::MjcfGraph::mapOfTextures

Definition at line 403 of file mjcf-graph.hpp.

◆ modelName

std::string pinocchio::mjcf::details::MjcfGraph::modelName

Definition at line 419 of file mjcf-graph.hpp.

◆ modelPath

std::string pinocchio::mjcf::details::MjcfGraph::modelPath

Definition at line 420 of file mjcf-graph.hpp.

◆ pt

ptree pinocchio::mjcf::details::MjcfGraph::pt

Definition at line 413 of file mjcf-graph.hpp.

◆ referenceConfig

Eigen::VectorXd pinocchio::mjcf::details::MjcfGraph::referenceConfig

Definition at line 410 of file mjcf-graph.hpp.

◆ urdfVisitor

UrdfVisitor& pinocchio::mjcf::details::MjcfGraph::urdfVisitor

Definition at line 426 of file mjcf-graph.hpp.

The documentation for this struct was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ BodyMap_t

◆ ClassMap_t

◆ ConfigMap_t

◆ EqualityMap_t

◆ MaterialMap_t

◆ MeshMap_t

◆ ptree

◆ TextureMap_t

◆ UrdfVisitor

◆ VectorOfStrings

Constructor & Destructor Documentation

◆ MjcfGraph()

Member Function Documentation

◆ addKeyFrame()

◆ addSoloJoint()

◆ convertInertiaFromMjcf()

◆ convertPosition()

◆ createJoint()

◆ fillModel()

◆ fillReferenceConfig()

◆ parseAsset()

◆ parseCompiler()

◆ parseContactInformation()

◆ parseDefault()

◆ parseEquality()

◆ parseGeomTree()

◆ parseGraph()

◆ parseGraphFromXML()

◆ parseJointAndBody()

◆ parseKeyFrame()

◆ parseMaterial()

◆ parseMesh()

◆ parseRootTree()

◆ parseTexture()

Member Data Documentation

◆ bodiesList

◆ compilerInfo

◆ mapOfBodies

◆ mapOfClasses

◆ mapOfConfigs

◆ mapOfEqualities

◆ mapOfMaterials

◆ mapOfMeshes

◆ mapOfTextures

◆ modelName

◆ modelPath

◆ pt

◆ referenceConfig

◆ urdfVisitor