ColladaWriter Class Reference

#include <ColladaWriter.h>

List of all members.

Classes
struct	axis_sids
struct	instance_articulated_system_output
struct	instance_kinematics_model_output
struct	instance_physics_model_output
struct	kinbody_models
struct	kinematics_model_output
struct	LINKOUTPUT
struct	physics_model_output
struct	SCENE
Public Member Functions
virtual boost::shared_ptr < instance_kinematics_model_output >	_WriteInstance_kinematics_model (BodyInfo_impl *bodyInfo, daeElementRef parent, const string &sidscope)
	Write kinematic body in a given scene.
virtual boost::shared_ptr < instance_physics_model_output >	_WriteInstance_physics_model (BodyInfo_impl *bodyInfo, daeElementRef parent, const string &sidscope)
virtual boost::shared_ptr < instance_articulated_system_output >	_WriteRobot (BodyInfo_impl *bodyInfo)
	Write kinematic body in a given scene.
	ColladaWriter (const std::list< ManipulatorInfo > &listmanipulators, const char *comment_str)
virtual void	Save (const string &filename)
	Write down a COLLADA file.
virtual bool	Write (BodyInfo_impl *bodyInfo)
virtual daeElementRef	WriteActuator (const LinkInfo &plink, const string &parentid)
virtual domEffectRef	WriteEffect (const MaterialInfo &material)
virtual domGeometryRef	WriteGeometry (BodyInfo_impl *bodyInfo, const ShapeInfo &shapeInfo, const DblArray12 &transformMatrix, const string &parentid)
	Write geometry properties.
virtual boost::shared_ptr < kinematics_model_output >	WriteKinematics_model (BodyInfo_impl *bodyInfo)
virtual boost::shared_ptr < physics_model_output >	WritePhysics_model (BodyInfo_impl *bodyInfo)
virtual daeElementRef	WriteSensor (const SensorInfo &sensor, const string &parentid)
virtual domImageRef	WriteTexture (const TextureInfo &texture)
	Write texture.
virtual	~ColladaWriter ()
Private Member Functions
virtual void	_AddKinematics_model (BodyInfo_impl *bodyInfo, boost::shared_ptr< kinematics_model_output > kmout)
virtual void	_AddPhysics_model (BodyInfo_impl *bodyInfo, boost::shared_ptr< physics_model_output > pmout)
virtual void	_CreateScene ()
	save all the loaded scene models and their current state.
virtual std::string	_GetGeometryId (BodyInfo_impl *bodyInfo, int ilink, int igeom)
virtual std::string	_GetJointNodeSid (int ijoint, int iaxis)
virtual boost::shared_ptr < kinematics_model_output >	_GetKinematics_model (BodyInfo_impl *bodyInfo)
virtual std::string	_GetLinkSid (int ilink)
virtual std::string	_GetNodeId (BodyInfo_impl *bodyInfo)
virtual std::string	_GetNodeId (BodyInfo_impl *bodyInfo, int ilink)
virtual boost::shared_ptr < physics_model_output >	_GetPhysics_model (BodyInfo_impl *bodyInfo)
virtual int	_GetRobotId (BodyInfo_impl *bodyInfo)
void	_SetRotate (domTargetable_float4Ref prot, const DblArray4 &rotation)
void	_WriteBindingsInstance_kinematics_scene (domInstance_kinematics_sceneRef ikscene, BodyInfo_impl *bodyInfo, const std::vector< axis_sids > &vaxissids, const std::vector< std::pair< std::string, std::string > > &vkinematicsbindings)
virtual LINKOUTPUT	_WriteLink (BodyInfo_impl *bodyInfo, int ilink, daeElementRef pkinparent, domNodeRef pnodeparent, const string &strModelUri, std::map< std::string, int > mapjointnames)
	Write link of a kinematic body.
void	_WriteTransformation (daeElementRef pelt, const DblArray4 &rotation, const DblArray3 &translation)
	Write transformation.
virtual void	handleError (daeString msg)
virtual void	handleWarning (daeString msg)
Static Private Member Functions
template<typename T >
static void	_SetVector3 (T &t, const DblArray3 &v)
	Set vector of three elements.
static bool	ComparePair (const std::pair< int, int > &p0, const std::pair< int, int > &p1)
Private Attributes
domTechniqueRef	_actuatorsLib
	custom actuators library
domLibrary_articulated_systemsRef	_articulatedSystemsLib
boost::shared_ptr< DAE >	_collada
daeDocument *	_doc
domCOLLADA *	_dom
domLibrary_effectsRef	_effectsLib
domLibrary_geometriesRef	_geometriesLib
domCOLLADA::domSceneRef	_globalscene
domLibrary_imagesRef	_imagesLib
domLibrary_kinematics_modelsRef	_kinematicsModelsLib
domLibrary_kinematics_scenesRef	_kinematicsScenesLib
std::list< kinbody_models >	_listkinbodies
std::list< ManipulatorInfo >	_listmanipulators
domLibrary_materialsRef	_materialsLib
int	_nextactuatorid
int	_nextsensorid
domLibrary_physics_modelsRef	_physicsModelsLib
domLibrary_physics_scenesRef	_physicsScenesLib
SCENE	_scene
domTechniqueRef	_sensorsLib
	custom sensors library
domLibrary_visual_scenesRef	_visualScenesLib

---

Detailed Description

Definition at line 55 of file ColladaWriter.h.

---

Constructor & Destructor Documentation

ColladaWriter::ColladaWriter	(	const std::list< ManipulatorInfo > &	listmanipulators,
		const char *	comment_str
	)		[inline]

Definition at line 142 of file ColladaWriter.h.

virtual ColladaWriter::~ColladaWriter

(

)

[inline, virtual]

Definition at line 221 of file ColladaWriter.h.

---

Member Function Documentation

virtual void ColladaWriter::_AddKinematics_model	(	BodyInfo_impl *	bodyInfo,
		boost::shared_ptr< kinematics_model_output >	kmout
	)		[inline, private, virtual]

Definition at line 1363 of file ColladaWriter.h.

virtual void ColladaWriter::_AddPhysics_model	(	BodyInfo_impl *	bodyInfo,
		boost::shared_ptr< physics_model_output >	pmout
	)		[inline, private, virtual]

Definition at line 1391 of file ColladaWriter.h.

virtual void ColladaWriter::_CreateScene

(

)

[inline, private, virtual]

save all the loaded scene models and their current state.

Definition at line 1172 of file ColladaWriter.h.

virtual std::string ColladaWriter::_GetGeometryId	(	BodyInfo_impl *	bodyInfo,
		int	ilink,
		int	igeom
	)		[inline, private, virtual]

Definition at line 1433 of file ColladaWriter.h.

virtual std::string ColladaWriter::_GetJointNodeSid	(	int	ijoint,
		int	iaxis
	)		[inline, private, virtual]

Definition at line 1436 of file ColladaWriter.h.

virtual boost::shared_ptr<kinematics_model_output> ColladaWriter::_GetKinematics_model

(

BodyInfo_impl *

bodyInfo

)

[inline, private, virtual]

Definition at line 1382 of file ColladaWriter.h.

virtual std::string ColladaWriter::_GetLinkSid

(

int

ilink

)

[inline, private, virtual]

Definition at line 1429 of file ColladaWriter.h.

virtual std::string ColladaWriter::_GetNodeId

(

BodyInfo_impl *

bodyInfo

)

[inline, private, virtual]

Definition at line 1422 of file ColladaWriter.h.

virtual std::string ColladaWriter::_GetNodeId	(	BodyInfo_impl *	bodyInfo,
		int	ilink
	)		[inline, private, virtual]

Definition at line 1425 of file ColladaWriter.h.

virtual boost::shared_ptr<physics_model_output> ColladaWriter::_GetPhysics_model

(

BodyInfo_impl *

bodyInfo

)

[inline, private, virtual]

Definition at line 1410 of file ColladaWriter.h.

virtual int ColladaWriter::_GetRobotId

(

BodyInfo_impl *

bodyInfo

)

[inline, private, virtual]

Definition at line 1419 of file ColladaWriter.h.

void ColladaWriter::_SetRotate	(	domTargetable_float4Ref	prot,
		const DblArray4 &	rotation
	)		[inline, private]

Definition at line 1321 of file ColladaWriter.h.

template<typename T >

static void ColladaWriter::_SetVector3	(	T &	t,
		const DblArray3 &	v
	)		[inline, static, private]

Set vector of three elements.

Definition at line 1356 of file ColladaWriter.h.

void ColladaWriter::_WriteBindingsInstance_kinematics_scene	(	domInstance_kinematics_sceneRef	ikscene,
		BodyInfo_impl *	bodyInfo,
		const std::vector< axis_sids > &	vaxissids,
		const std::vector< std::pair< std::string, std::string > > &	vkinematicsbindings
	)		[inline, private]

Definition at line 1340 of file ColladaWriter.h.

virtual boost::shared_ptr<instance_kinematics_model_output> ColladaWriter::_WriteInstance_kinematics_model	(	BodyInfo_impl *	bodyInfo,
		daeElementRef	parent,
		const string &	sidscope
	)		[inline, virtual]

Write kinematic body in a given scene.

Definition at line 471 of file ColladaWriter.h.

virtual boost::shared_ptr<instance_physics_model_output> ColladaWriter::_WriteInstance_physics_model	(	BodyInfo_impl *	bodyInfo,
		daeElementRef	parent,
		const string &	sidscope
	)		[inline, virtual]

Definition at line 517 of file ColladaWriter.h.

virtual LINKOUTPUT ColladaWriter::_WriteLink	(	BodyInfo_impl *	bodyInfo,
		int	ilink,
		daeElementRef	pkinparent,
		domNodeRef	pnodeparent,
		const string &	strModelUri,
		std::map< std::string, int >	mapjointnames
	)		[inline, private, virtual]

Write link of a kinematic body.

Parameters:

link	Link to write
pkinparent	Kinbody parent
pnodeparent	Node parent
strModelUri
vjoints	Vector of joints

Definition at line 1210 of file ColladaWriter.h.

virtual boost::shared_ptr<instance_articulated_system_output> ColladaWriter::_WriteRobot

(

BodyInfo_impl *

bodyInfo

)

[inline, virtual]

Write kinematic body in a given scene.

Definition at line 250 of file ColladaWriter.h.

void ColladaWriter::_WriteTransformation	(	daeElementRef	pelt,
		const DblArray4 &	rotation,
		const DblArray3 &	translation
	)		[inline, private]

Write transformation.

Parameters:

pelt	Element to transform
t	Transform to write

Definition at line 1333 of file ColladaWriter.h.

static bool ColladaWriter::ComparePair	(	const std::pair< int, int > &	p0,
		const std::pair< int, int > &	p1
	)		[inline, static, private]

Definition at line 57 of file ColladaWriter.h.

virtual void ColladaWriter::handleError

(

daeString

msg

)

[inline, private, virtual]

Definition at line 1440 of file ColladaWriter.h.

virtual void ColladaWriter::handleWarning

(

daeString

msg

)

[inline, private, virtual]

Definition at line 1445 of file ColladaWriter.h.

virtual void ColladaWriter::Save

(

const string &

filename

)

[inline, virtual]

Write down a COLLADA file.

Definition at line 228 of file ColladaWriter.h.

virtual bool ColladaWriter::Write

(

BodyInfo_impl *

bodyInfo

)

[inline, virtual]

Definition at line 240 of file ColladaWriter.h.

virtual daeElementRef ColladaWriter::WriteActuator	(	const LinkInfo &	plink,
		const string &	parentid
	)		[inline, virtual]

Definition at line 1145 of file ColladaWriter.h.

virtual domEffectRef ColladaWriter::WriteEffect

(

const MaterialInfo &

material

)

[inline, virtual]

Write light effect vambient Ambient light color vdiffuse Diffuse light color

Definition at line 1013 of file ColladaWriter.h.

virtual domGeometryRef ColladaWriter::WriteGeometry	(	BodyInfo_impl *	bodyInfo,
		const ShapeInfo &	shapeInfo,
		const DblArray12 &	transformMatrix,
		const string &	parentid
	)		[inline, virtual]

Write geometry properties.

Parameters:

geom	Link geometry
parentid	Parent Identifier

Definition at line 801 of file ColladaWriter.h.

virtual boost::shared_ptr<kinematics_model_output> ColladaWriter::WriteKinematics_model

(

BodyInfo_impl *

bodyInfo

)

[inline, virtual]

Definition at line 552 of file ColladaWriter.h.

virtual boost::shared_ptr<physics_model_output> ColladaWriter::WritePhysics_model

(

BodyInfo_impl *

bodyInfo

)

[inline, virtual]

Definition at line 700 of file ColladaWriter.h.

virtual daeElementRef ColladaWriter::WriteSensor	(	const SensorInfo &	sensor,
		const string &	parentid
	)		[inline, virtual]

Definition at line 1073 of file ColladaWriter.h.

virtual domImageRef ColladaWriter::WriteTexture

(

const TextureInfo &

texture

)

[inline, virtual]

Write texture.

Definition at line 1061 of file ColladaWriter.h.

---

Member Data Documentation

domTechniqueRef ColladaWriter::_actuatorsLib [private]

custom actuators library

Definition at line 1465 of file ColladaWriter.h.

domLibrary_articulated_systemsRef ColladaWriter::_articulatedSystemsLib [private]

Definition at line 1457 of file ColladaWriter.h.

boost::shared_ptr<DAE> ColladaWriter::_collada [private]

Definition at line 1450 of file ColladaWriter.h.

daeDocument* ColladaWriter::_doc [private]

Definition at line 1452 of file ColladaWriter.h.

domCOLLADA* ColladaWriter::_dom [private]

Definition at line 1451 of file ColladaWriter.h.

domLibrary_effectsRef ColladaWriter::_effectsLib [private]

Definition at line 1461 of file ColladaWriter.h.

domLibrary_geometriesRef ColladaWriter::_geometriesLib [private]

Definition at line 1463 of file ColladaWriter.h.

domCOLLADA::domSceneRef ColladaWriter::_globalscene [private]

Definition at line 1453 of file ColladaWriter.h.

domLibrary_imagesRef ColladaWriter::_imagesLib [private]

Definition at line 1462 of file ColladaWriter.h.

domLibrary_kinematics_modelsRef ColladaWriter::_kinematicsModelsLib [private]

Definition at line 1456 of file ColladaWriter.h.

domLibrary_kinematics_scenesRef ColladaWriter::_kinematicsScenesLib [private]

Definition at line 1455 of file ColladaWriter.h.

std::list<kinbody_models> ColladaWriter::_listkinbodies [private]

Definition at line 1468 of file ColladaWriter.h.

std::list<ManipulatorInfo> ColladaWriter::_listmanipulators [private]

Definition at line 1469 of file ColladaWriter.h.

domLibrary_materialsRef ColladaWriter::_materialsLib [private]

Definition at line 1460 of file ColladaWriter.h.

int ColladaWriter::_nextactuatorid [private]

Definition at line 1466 of file ColladaWriter.h.

int ColladaWriter::_nextsensorid [private]

Definition at line 1466 of file ColladaWriter.h.

domLibrary_physics_modelsRef ColladaWriter::_physicsModelsLib [private]

Definition at line 1459 of file ColladaWriter.h.

domLibrary_physics_scenesRef ColladaWriter::_physicsScenesLib [private]

Definition at line 1458 of file ColladaWriter.h.

SCENE ColladaWriter::_scene [private]

Definition at line 1467 of file ColladaWriter.h.

domTechniqueRef ColladaWriter::_sensorsLib [private]

custom sensors library

Definition at line 1464 of file ColladaWriter.h.

domLibrary_visual_scenesRef ColladaWriter::_visualScenesLib [private]

Definition at line 1454 of file ColladaWriter.h.

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

• ColladaWriter.h