#include <urdf2gazebo.h>

Public Member Functions
void	addCollision (boost::shared_ptr< urdf::Link > link, std::string group_name, boost::shared_ptr< urdf::Collision > collision)
void	addKeyValue (TiXmlElement *elem, const std::string &key, const std::string &value)
void	addTransform (TiXmlElement *elem, const ::gazebo::math::Pose &transform)
void	addVisual (boost::shared_ptr< urdf::Link > link, std::string group_name, boost::shared_ptr< urdf::Visual > visual)
bool	convert (TiXmlDocument &urdf_in, TiXmlDocument &gazebo_xml_out, bool enforce_limits, urdf::Vector3 initial_xyz, urdf::Vector3 initial_rpy, std::string model_name=std::string(), std::string robot_namespace=std::string(), bool xml_declaration=false)
void	convertLink (TiXmlElement *root, boost::shared_ptr< const urdf::Link > link, const gazebo::math::Pose &transform, bool enforce_limits, bool reduce_fixed_joints)
gazebo::math::Pose	copyPose (urdf::Pose pose)
urdf::Pose	copyPose (gazebo::math::Pose pose)
void	createBody (TiXmlElement *root, boost::shared_ptr< const urdf::Link > link, gazebo::math::Pose &currentTransform, bool enforce_limits, bool reduce_fixed_joints)
void	createGeom (TiXmlElement *elem, boost::shared_ptr< const urdf::Link > link, std::string collision_type, boost::shared_ptr< urdf::Collision > collision, boost::shared_ptr< urdf::Visual > visual, int linkGeomSize, double linkSize[3], std::string original_reference=std::string(""))
void	createJoint (TiXmlElement *root, boost::shared_ptr< const urdf::Link > link, gazebo::math::Pose &currentTransform, bool enforce_limits, bool reduce_fixed_joints)
void	createVisual (TiXmlElement *geom, boost::shared_ptr< const urdf::Link > link, std::string collision_type, boost::shared_ptr< urdf::Collision > collision, boost::shared_ptr< urdf::Visual > visual, std::string original_reference)
std::string	getGazeboValue (TiXmlElement *elem)
std::string	getGeometryBoundingBox (boost::shared_ptr< urdf::Geometry > geometry, double *sizeVals)
std::string	getGeometrySize (boost::shared_ptr< urdf::Geometry > geometry, int sizeCount, double sizeVals)
void	insertGazeboExtensionBody (TiXmlElement *elem, std::string link_name)
void	insertGazeboExtensionGeom (TiXmlElement *elem, std::string link_name)
void	insertGazeboExtensionJoint (TiXmlElement *elem, std::string joint_name)
void	insertGazeboExtensionRobot (TiXmlElement *elem)
void	insertGazeboExtensionVisual (TiXmlElement *elem, std::string link_name)
gazebo::math::Pose	inverseTransformToParentFrame (gazebo::math::Pose transform_in_link_frame, urdf::Pose parent_to_link_transform)
void	listGazeboExtensions ()
void	listGazeboExtensions (std::string reference)
void	parseGazeboExtension (TiXmlDocument &urdf_in)
urdf::Vector3	parseVector3 (TiXmlNode *key, double scale=1.0)
void	printCollisionGroups (boost::shared_ptr< urdf::Link > link)
void	printMass (boost::shared_ptr< urdf::Link > link)
void	printMass (std::string link_name, dMass mass)
void	reduceFixedJoints (TiXmlElement *root, boost::shared_ptr< urdf::Link > link)
void	reduceGazeboExtensionToParent (boost::shared_ptr< urdf::Link > link)
urdf::Pose	transformToParentFrame (urdf::Pose transform_in_link_frame, urdf::Pose parent_to_link_transform)
	returns the same transform in parent frame
gazebo::math::Pose	transformToParentFrame (gazebo::math::Pose transform_in_link_frame, urdf::Pose parent_to_link_transform)
gazebo::math::Pose	transformToParentFrame (gazebo::math::Pose transform_in_link_frame, gazebo::math::Pose parent_to_link_transform)
void	updateGazeboExtensionBlobsReductionTransform (GazeboExtension *ge)
void	updateGazeboExtensionFrameReplace (GazeboExtension *ge, boost::shared_ptr< urdf::Link > link, std::string new_link_name)
	URDF2Gazebo ()
std::string	values2str (unsigned int count, const double values, double(conv)(double))
std::string	vector32str (const urdf::Vector3 vector, double(*conv)(double))
void	walkChildAddNamespace (TiXmlNode *robot_xml, std::string robot_namespace)
	~URDF2Gazebo ()
Public Attributes
std::map< std::string, std::vector< GazeboExtension * > >	gazebo_extensions_

Detailed Description

Definition at line 185 of file urdf2gazebo.h.

Constructor & Destructor Documentation

URDF2Gazebo::URDF2Gazebo ( )

Definition at line 50 of file urdf2gazebo.cpp.

URDF2Gazebo::~URDF2Gazebo ( )

Definition at line 79 of file urdf2gazebo.cpp.

Member Function Documentation

void URDF2Gazebo::addCollision	(	boost::shared_ptr< urdf::Link >	link,
		std::string	group_name,
		boost::shared_ptr< urdf::Collision >	collision
	)

Definition at line 166 of file urdf2gazebo.cpp.

void URDF2Gazebo::addKeyValue	(	TiXmlElement *	elem,
		const std::string &	key,
		const std::string &	value
	)

Definition at line 213 of file urdf2gazebo.cpp.

void URDF2Gazebo::addTransform	(	TiXmlElement *	elem,
		const ::gazebo::math::Pose &	transform
	)

Definition at line 232 of file urdf2gazebo.cpp.

void URDF2Gazebo::addVisual	(	boost::shared_ptr< urdf::Link >	link,
		std::string	group_name,
		boost::shared_ptr< urdf::Visual >	visual
	)

Definition at line 144 of file urdf2gazebo.cpp.

bool URDF2Gazebo::convert	(	TiXmlDocument &	urdf_in,
		TiXmlDocument &	gazebo_xml_out,
		bool	enforce_limits,
		urdf::Vector3	initial_xyz,
		urdf::Vector3	initial_rpy,
		std::string	model_name = `std::string()`,
		std::string	robot_namespace = `std::string()`,
		bool	xml_declaration = `false`
	)

Definition at line 1889 of file urdf2gazebo.cpp.

void URDF2Gazebo::convertLink	(	TiXmlElement *	root,
		boost::shared_ptr< const urdf::Link >	link,
		const gazebo::math::Pose &	transform,
		bool	enforce_limits,
		bool	reduce_fixed_joints
	)

Definition at line 1437 of file urdf2gazebo.cpp.

gazebo::math::Pose URDF2Gazebo::copyPose ( urdf::Pose pose )

Definition at line 1467 of file urdf2gazebo.cpp.

urdf::Pose URDF2Gazebo::copyPose ( gazebo::math::Pose pose )

Definition at line 1479 of file urdf2gazebo.cpp.

void URDF2Gazebo::createBody	(	TiXmlElement *	root,
		boost::shared_ptr< const urdf::Link >	link,
		gazebo::math::Pose &	currentTransform,
		bool	enforce_limits,
		bool	reduce_fixed_joints
	)

Definition at line 1492 of file urdf2gazebo.cpp.

void URDF2Gazebo::createGeom	(	TiXmlElement *	elem,
		boost::shared_ptr< const urdf::Link >	link,
		std::string	collision_type,
		boost::shared_ptr< urdf::Collision >	collision,
		boost::shared_ptr< urdf::Visual >	visual,
		int	linkGeomSize,
		double	linkSize[3],
		std::string	original_reference = `std::string("")`
	)

Definition at line 1694 of file urdf2gazebo.cpp.

void URDF2Gazebo::createJoint	(	TiXmlElement *	root,
		boost::shared_ptr< const urdf::Link >	link,
		gazebo::math::Pose &	currentTransform,
		bool	enforce_limits,
		bool	reduce_fixed_joints
	)

Definition at line 1595 of file urdf2gazebo.cpp.

void URDF2Gazebo::createVisual	(	TiXmlElement *	geom,
		boost::shared_ptr< const urdf::Link >	link,
		std::string	collision_type,
		boost::shared_ptr< urdf::Collision >	collision,
		boost::shared_ptr< urdf::Visual >	visual,
		std::string	original_reference
	)

Definition at line 1769 of file urdf2gazebo.cpp.

std::string URDF2Gazebo::getGazeboValue ( TiXmlElement * elem )

Definition at line 249 of file urdf2gazebo.cpp.

std::string URDF2Gazebo::getGeometryBoundingBox	(	boost::shared_ptr< urdf::Geometry >	geometry,
		double *	sizeVals
	)

Definition at line 669 of file urdf2gazebo.cpp.

std::string URDF2Gazebo::getGeometrySize	(	boost::shared_ptr< urdf::Geometry >	geometry,
		int *	sizeCount,
		double *	sizeVals
	)

Definition at line 613 of file urdf2gazebo.cpp.

void URDF2Gazebo::insertGazeboExtensionBody	(	TiXmlElement *	elem,
		std::string	link_name
	)

Definition at line 522 of file urdf2gazebo.cpp.

void URDF2Gazebo::insertGazeboExtensionGeom	(	TiXmlElement *	elem,
		std::string	link_name
	)

Definition at line 468 of file urdf2gazebo.cpp.

void URDF2Gazebo::insertGazeboExtensionJoint	(	TiXmlElement *	elem,
		std::string	joint_name
	)

Definition at line 556 of file urdf2gazebo.cpp.

void URDF2Gazebo::insertGazeboExtensionRobot ( TiXmlElement * elem )

Definition at line 585 of file urdf2gazebo.cpp.

void URDF2Gazebo::insertGazeboExtensionVisual	(	TiXmlElement *	elem,
		std::string	link_name
	)

Definition at line 505 of file urdf2gazebo.cpp.

gazebo::math::Pose URDF2Gazebo::inverseTransformToParentFrame	(	gazebo::math::Pose	transform_in_link_frame,
		urdf::Pose	parent_to_link_transform
	)

Definition at line 961 of file urdf2gazebo.cpp.

void URDF2Gazebo::listGazeboExtensions ( )

Definition at line 1392 of file urdf2gazebo.cpp.

void URDF2Gazebo::listGazeboExtensions ( std::string reference )

Definition at line 1415 of file urdf2gazebo.cpp.

void URDF2Gazebo::parseGazeboExtension ( TiXmlDocument & urdf_in )

Definition at line 263 of file urdf2gazebo.cpp.

urdf::Vector3 URDF2Gazebo::parseVector3	(	TiXmlNode *	key,
		double	scale = `1.0`
	)

Definition at line 84 of file urdf2gazebo.cpp.

void URDF2Gazebo::printCollisionGroups ( boost::shared_ptr< urdf::Link > link )

Definition at line 921 of file urdf2gazebo.cpp.

void URDF2Gazebo::printMass ( boost::shared_ptr< urdf::Link > link )

Definition at line 732 of file urdf2gazebo.cpp.

void URDF2Gazebo::printMass	(	std::string	link_name,
		dMass	mass
	)

Definition at line 722 of file urdf2gazebo.cpp.

void URDF2Gazebo::reduceFixedJoints	(	TiXmlElement *	root,
		boost::shared_ptr< urdf::Link >	link
	)

Definition at line 743 of file urdf2gazebo.cpp.

void URDF2Gazebo::reduceGazeboExtensionToParent ( boost::shared_ptr< urdf::Link > link )

Definition at line 980 of file urdf2gazebo.cpp.

urdf::Pose URDF2Gazebo::transformToParentFrame	(	urdf::Pose	transform_in_link_frame,
		urdf::Pose	parent_to_link_transform
	)

returns the same transform in parent frame

Definition at line 934 of file urdf2gazebo.cpp.

gazebo::math::Pose URDF2Gazebo::transformToParentFrame	(	gazebo::math::Pose	transform_in_link_frame,
		urdf::Pose	parent_to_link_transform
	)

Definition at line 941 of file urdf2gazebo.cpp.

gazebo::math::Pose URDF2Gazebo::transformToParentFrame	(	gazebo::math::Pose	transform_in_link_frame,
		gazebo::math::Pose	parent_to_link_transform
	)

Definition at line 948 of file urdf2gazebo.cpp.

void URDF2Gazebo::updateGazeboExtensionBlobsReductionTransform ( GazeboExtension * ge )

Definition at line 1305 of file urdf2gazebo.cpp.

void URDF2Gazebo::updateGazeboExtensionFrameReplace	(	GazeboExtension *	ge,
		boost::shared_ptr< urdf::Link >	link,
		std::string	new_link_name
	)

Definition at line 1041 of file urdf2gazebo.cpp.

std::string URDF2Gazebo::values2str	(	unsigned int	count,
		const double *	values,
		double(*)(double)	conv = `NULL`
	)

Definition at line 201 of file urdf2gazebo.cpp.

std::string URDF2Gazebo::vector32str	(	const urdf::Vector3	vector,
		double(*)(double)	conv = `NULL`
	)

Definition at line 190 of file urdf2gazebo.cpp.

void URDF2Gazebo::walkChildAddNamespace	(	TiXmlNode *	robot_xml,
		std::string	robot_namespace
	)

Definition at line 1865 of file urdf2gazebo.cpp.

Member Data Documentation

std::map<std::string, std::vector<GazeboExtension*> > urdf2gazebo::URDF2Gazebo::gazebo_extensions_

Definition at line 251 of file urdf2gazebo.h.

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation