urdf2graspit::xmlfuncs Namespace Reference

Classes
class	FingerChain
	A chain of links joined by joints, described in DH parameters. More...
Functions
std::string	getDOF (float defaultVel, float maxEffort, float kp=1e+9, float kd=1e+7, float draggerScale=20, const std::string &type="r")
std::string	getEigenGraspXML (const std::vector< DHParam > &dhparams, bool negateJointValues)
std::string	getFingerChain (const FingerChain &c, const Eigen::Vector3d &palmTranslation, const Eigen::Quaterniond &palmRotation, bool negateJointValues)
std::string	getLinkDescXML (const LinkPtr &link, const std::string &mesh_output_extension, const std::string &material="plastic")
std::string	getWorldFileTemplate (const std::string &robotName, const std::vector< DHParam > &dhparams, const std::string &worldFilePathRelToGraspitRoot, bool negateJointValues)

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Function Documentation

std::string urdf2graspit::xmlfuncs::getDOF	(	float	defaultVel,
		float	maxEffort,
		float	kp = 1e+9,
		float	kd = 1e+7,
		float	draggerScale = 20,
		const std::string &	type = "r"
	)

Definition at line 221 of file XMLFuncs.cpp.

std::string urdf2graspit::xmlfuncs::getEigenGraspXML	(	const std::vector< DHParam > &	dhparams,
		bool	negateJointValues
	)

Definition at line 105 of file XMLFuncs.cpp.

std::string urdf2graspit::xmlfuncs::getFingerChain	(	const FingerChain &	c,
		const Eigen::Vector3d &	palmTranslation,
		const Eigen::Quaterniond &	palmRotation,
		bool	negateJointValues
	)

Parameters:

palmTranslation

and palmRotation: the transform from the origin of the palm (which is also the origin of the robot) to the base of this chain, which is where the first joint in the chain is placed.

Definition at line 186 of file XMLFuncs.cpp.

std::string urdf2graspit::xmlfuncs::getLinkDescXML	(	const LinkPtr &	link,
		const std::string &	mesh_output_extension,
		const std::string &	material = "plastic"
	)

Definition at line 237 of file XMLFuncs.cpp.

std::string urdf2graspit::xmlfuncs::getWorldFileTemplate	(	const std::string &	robotName,
		const std::vector< DHParam > &	dhparams,
		const std::string &	worldFilePathRelToGraspitRoot,
		bool	negateJointValues
	)

Definition at line 278 of file XMLFuncs.cpp.