Implements writing urdf::Model objects to a COLLADA DOM. More...
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 | |
ColladaWriter (const urdf::Model &robot, int writeoptions) | |
bool | convert () |
daeDocument * | doc () |
bool | writeTo (string const &file) |
virtual | ~ColladaWriter () |
Protected Member Functions | |
void | _buildAiMesh (const aiScene *scene, aiNode *node, domMeshRef pdommesh, domFloat_arrayRef parray, const string &geomid, const urdf::Vector3 &scale, urdf::Pose *org_trans=NULL) |
void | _CreateScene () |
void | _loadMesh (std::string const &filename, domGeometryRef pdomgeom, const urdf::Vector3 &scale, urdf::Pose *org_trans) |
void | _loadVertices (const shapes::Mesh *mesh, domGeometryRef pdomgeom) |
void | _WriteBindingsInstance_kinematics_scene () |
domEffectRef | _WriteEffect (std::string const &effect_id, urdf::Color const &color_ambient, urdf::Color const &color_diffuse) |
domGeometryRef | _WriteGeometry (urdf::GeometrySharedPtr geometry, const std::string &geometry_id, urdf::Pose *org_trans=NULL) |
virtual void | _WriteInstance_kinematics_model (daeElementRef parent, const string &sidscope, int id) |
Write kinematic body in a given scene. More... | |
boost::shared_ptr< instance_physics_model_output > | _WriteInstance_physics_model (int id, daeElementRef parent, const string &sidscope, const MAPLINKPOSES &maplinkposes) |
virtual LINKOUTPUT | _WriteLink (urdf::LinkConstSharedPtr plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string &strModelUri) |
Write link of a kinematic body. More... | |
void | _WriteMaterial (const string &geometry_id, urdf::MaterialSharedPtr material) |
void | _WritePhysics () |
void | _WriteRobot (int id=0) |
Write kinematic body in a given scene. More... | |
void | _WriteTransformation (daeElementRef pelt, const urdf::Pose &t) |
Write transformation. More... | |
virtual void | handleError (daeString msg) |
virtual void | handleWarning (daeString msg) |
virtual boost::shared_ptr< kinematics_model_output > | WriteKinematics_model (int id) |
boost::shared_ptr< physics_model_output > | WritePhysics_model (int id, const MAPLINKPOSES &maplinkposes) |
Private Types | |
typedef std::map< urdf::LinkConstSharedPtr, urdf::Pose > | MAPLINKPOSES |
Static Private Member Functions | |
static std::string | _ComputeId (const std::string &name) |
computes a collada-compliant sid from the urdf name More... | |
static std::string | _ComputeKinematics_modelId (int id) |
static urdf::Pose | _poseInverse (const urdf::Pose &p) |
static urdf::Vector3 | _poseMult (const urdf::Pose &p, const urdf::Vector3 &v) |
static urdf::Pose | _poseMult (const urdf::Pose &p0, const urdf::Pose &p1) |
static urdf::Rotation | _quatFromMatrix (const boost::array< double, 12 > &mat) |
static urdf::Rotation | _quatMult (const urdf::Rotation &quat0, const urdf::Rotation &quat1) |
Private Attributes | |
domLibrary_articulated_systemsRef | _articulatedSystemsLib |
DAE | _collada |
daeDocument * | _doc |
domCOLLADA * | _dom |
domLibrary_effectsRef | _effectsLib |
domLibrary_geometriesRef | _geometriesLib |
domCOLLADA::domSceneRef | _globalscene |
boost::shared_ptr< instance_articulated_system_output > | _iasout |
boost::shared_ptr< instance_kinematics_model_output > | _ikmout |
Assimp::Importer | _importer |
domLibrary_kinematics_modelsRef | _kinematicsModelsLib |
domLibrary_kinematics_scenesRef | _kinematicsScenesLib |
std::map< urdf::JointConstSharedPtr, int > | _mapjointindices |
std::map< urdf::LinkConstSharedPtr, int > | _maplinkindices |
std::map< urdf::MaterialConstSharedPtr, int > | _mapmaterialindices |
domLibrary_materialsRef | _materialsLib |
domLibrary_physics_modelsRef | _physicsModelsLib |
domLibrary_physics_scenesRef | _physicsScenesLib |
const urdf::Model & | _robot |
SCENE | _scene |
domTechniqueRef | _sensorsLib |
custom sensors library More... | |
domLibrary_visual_scenesRef | _visualScenesLib |
int | _writeoptions |
Implements writing urdf::Model objects to a COLLADA DOM.
Definition at line 537 of file collada_urdf.cpp.
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computes a collada-compliant sid from the urdf name
Definition at line 1897 of file collada_urdf.cpp.
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Write kinematic body in a given scene.
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Definition at line 1358 of file collada_urdf.cpp.
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Write link of a kinematic body.
link | Link to write |
pkinparent | Kinbody parent |
pnodeparent | Node parent |
strModelUri |
Definition at line 1137 of file collada_urdf.cpp.
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Write kinematic body in a given scene.
Definition at line 766 of file collada_urdf.cpp.
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Write transformation.
pelt | Element to transform |
t | Transform to write |
Definition at line 1733 of file collada_urdf.cpp.
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< documented profile on robot extensions
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!inertial));
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custom sensors library
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