Functions | |
| bool | allRotationsToAxis (urdf_traverser::UrdfTraverser &traverser, const std::string &fromLinkName, const Eigen::Vector3d &axis) |
| bool | joinFixedLinks (urdf_traverser::UrdfTraverser &traverser, const std::string &fromLink) |
| bool | scaleModel (urdf_traverser::UrdfTraverser &traverser, double scale_factor) |
| bool | scaleModel (urdf_traverser::UrdfTraverser &traverser, const std::string &fromLink, double scale_factor) |
| bool urdf_transform::allRotationsToAxis | ( | urdf_traverser::UrdfTraverser & | traverser, |
| const std::string & | fromLinkName, | ||
| const Eigen::Vector3d & | axis | ||
| ) |
Transform the URDF such that all rotation axises (in the joint's local reference frame) are this axis
Definition at line 129 of file AlignRotationAxis.cpp.
| bool urdf_transform::joinFixedLinks | ( | urdf_traverser::UrdfTraverser & | traverser, |
| const std::string & | fromLink | ||
| ) |
Recursively removes all fixed links down the chain in the model by adding visuals and collision geometry to the first parent link which is attached to a non-fixed link.
Definition at line 210 of file JoinFixedLinks.cpp.
| bool urdf_transform::scaleModel | ( | urdf_traverser::UrdfTraverser & | traverser, |
| double | scale_factor | ||
| ) |
Calls other scaleModel() function from root node.
Definition at line 73 of file ScaleModel.cpp.
| bool urdf_transform::scaleModel | ( | urdf_traverser::UrdfTraverser & | traverser, |
| const std::string & | fromLink, | ||
| double | scale_factor | ||
| ) |
Scales the URDF model by this factor, starting from fromLink. This means all translation parts of the joint transforms are multiplied by this. The mesh files are not touched, but the visual/collision/intertial translations are scaled as well. Meshes can be scaled using convertMeshes().
Definition at line 66 of file ScaleModel.cpp.