Inheritance diagram for urdf::ColladaModelReader:

Classes
struct	GEOMPROPERTIES

class	JointAxisBinding

class	KinematicsSceneBindings
	inter-collada bindings for a kinematics scene More...

class	LinkBinding
	bindings for links between different spaces More...

struct	USERDATA

Public Member Functions
	ColladaModelReader (urdf::ModelInterfaceSharedPtr model)

bool	InitFromData (const std::string &pdata)

bool	InitFromFile (const std::string &filename)

virtual	~ColladaModelReader ()

Protected Member Functions
bool	_checkMathML (daeElementRef pelt, const std::string &type)

size_t	_countChildren (daeElement *pelt)

urdf::GeometrySharedPtr	_CreateGeometry (const std::string &name, const std::list< GEOMPROPERTIES > &listGeomProperties)

void	_decompose (const boost::array< double, 12 > &tm, Pose &tout, Vector3 &vscale)

bool	_Extract ()
	\extract the first possible robot in the scene More...

bool	_ExtractArticulatedSystem (domInstance_articulated_systemRef ias, KinematicsSceneBindings &bindings)
	extracts an articulated system. Note that an articulated system can include other articulated systems More...

bool	_ExtractGeometry (const domGeometryRef geom, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)

void	_ExtractGeometry (const domNodeRef pdomnode, std::list< GEOMPROPERTIES > &listGeomProperties, const std::list< JointAxisBinding > &listAxisBindings, const Pose &tlink)

bool	_ExtractGeometry (const domPolylistRef triRef, const domVerticesRef vertsRef, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)

bool	_ExtractGeometry (const domTrianglesRef triRef, const domVerticesRef vertsRef, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)

bool	_ExtractGeometry (const domTrifansRef triRef, const domVerticesRef vertsRef, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)

bool	_ExtractGeometry (const domTristripsRef triRef, const domVerticesRef vertsRef, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)

boost::shared_ptr< std::string >	_ExtractInterfaceType (const domExtra_Array &arr)
	returns an openrave interface type from the extra array More...

bool	_ExtractKinematicsModel (domInstance_kinematics_modelRef ikm, KinematicsSceneBindings &bindings)

bool	_ExtractKinematicsModel (domKinematics_modelRef kmodel, domNodeRef pnode, domPhysics_modelRef pmodel, const KinematicsSceneBindings &bindings)
	append the kinematics model to the openrave kinbody More...

urdf::LinkSharedPtr	_ExtractLink (const domLinkRef pdomlink, const domNodeRef pdomnode, const Pose &tParentWorldLink, const Pose &tParentLink, const std::vector< domJointRef > &vdomjoints, const KinematicsSceneBindings &bindings)
	Extract Link info and add it to an existing body. More...

std::string	_ExtractLinkName (domLinkRef pdomlink)

domTechniqueRef	_ExtractOpenRAVEProfile (const domTechnique_Array &arr)

void	_ExtractRobotAttachedActuators (const domArticulated_systemRef as)
	extract the robot actuators More...

void	_ExtractRobotAttachedSensors (const domArticulated_systemRef as)
	Extract Sensors attached to a Robot. More...

void	_ExtractRobotManipulators (const domArticulated_systemRef as)
	extract the robot manipulators More...

void	_FillGeometryColor (const domMaterialRef pmat, GEOMPROPERTIES &geom)

daeElementRef	_getElementFromUrl (const daeURI &uri)

urdf::JointSharedPtr	_getJointFromRef (xsToken targetref, daeElementRef peltref)

USERDATA *	_getUserData (daeElement *pelt)

void	_PostProcess ()

void	_processUserData (daeElement *pelt, double scale)

virtual void	handleError (daeString msg)

virtual void	handleWarning (daeString msg)

Static Protected Member Functions
static Vector3	_add3 (const Vector3 &v0, const Vector3 &v1)

static Vector3	_cross3 (const Vector3 &v0, const Vector3 &v1)

static double	_dot3 (const Vector3 &v0, const Vector3 &v1)

template<typename T >
static boost::array< double, 12 >	_ExtractFullTransform (const T pelt)
	Travel by the transformation array and calls the _getTransform method. More...

template<typename T >
static boost::array< double, 12 >	_ExtractFullTransformFromChildren (const T pelt)
	Travel by the transformation array and calls the _getTransform method. More...

static void	_ExtractKinematicsVisualBindings (domInstance_with_extraRef viscene, domInstance_kinematics_sceneRef kiscene, KinematicsSceneBindings &bindings)
	go through all kinematics binds to get a kinematics/visual pair More...

static void	_ExtractPhysicsBindings (domCOLLADA::domSceneRef allscene, KinematicsSceneBindings &bindings)

template<typename T >
static boost::array< double, 12 >	_getNodeParentTransform (const T pelt)

static boost::array< double, 12 >	_getTransform (daeElementRef pelt)
	Gets all transformations applied to the node. More...

static double	_GetUnitScale (daeElement *pelt)

static boost::array< double, 12 >	_matrixFromAxisAngle (const Vector3 &axis, double angle)

static boost::array< double, 12 >	_matrixFromPose (const Pose &t)

static boost::array< double, 12 >	_matrixFromQuat (const Rotation &quat)

static boost::array< double, 12 >	_matrixIdentity ()

static Vector3	_normalize3 (const Vector3 &v0)

static Pose	_poseFromMatrix (const boost::array< double, 12 > &m)

static Pose	_poseInverse (const Pose &p)

static Vector3	_poseMult (const boost::array< double, 12 > &m, const Vector3 &v)

static boost::array< double, 12 >	_poseMult (const boost::array< double, 12 > &m0, const boost::array< double, 12 > &m1)

static Vector3	_poseMult (const Pose &p, const Vector3 &v)

static Pose	_poseMult (const Pose &p0, const Pose &p1)

static Rotation	_quatFromAxisAngle (double x, double y, double z, double angle)

static Rotation	_quatFromMatrix (const boost::array< double, 12 > &mat)

static Rotation	_quatMult (const Rotation &quat0, const Rotation &quat1)

static Vector3	_sub3 (const Vector3 &v0, const Vector3 &v1)

template<typename U >
static xsBoolean	resolveBool (domCommon_bool_or_paramRef paddr, const U &parent)

static bool	resolveCommon_float_or_param (daeElementRef pcommon, daeElementRef parent, float &f)

template<typename U >
static domFloat	resolveFloat (domCommon_float_or_paramRef paddr, const U &parent)

static daeElement *	searchBinding (daeString ref, daeElementRef parent)

static daeElement *	searchBinding (domCommon_sidref_or_paramRef paddr, daeElementRef parent)

static daeElement *	searchBindingArray (daeString ref, const domInstance_articulated_system_Array &paramArray)

static daeElement *	searchBindingArray (daeString ref, const domInstance_kinematics_model_Array &paramArray)

Protected Attributes
boost::shared_ptr< DAE >	_collada

domCOLLADA *	_dom

std::string	_filename

urdf::ModelInterfaceSharedPtr	_model

int	_nGlobalManipulatorId

int	_nGlobalSensorId

std::string	_resourcedir

Pose	_RootOrigin

Pose	_VisualRootOrigin

std::vector< USERDATA >	_vuserdata

Private Types
enum	GeomType { GeomNone = 0, GeomBox = 1, GeomSphere = 2, GeomCylinder = 3, GeomTrimesh = 4 }

Detailed Description

Definition at line 95 of file collada_parser.cpp.

Member Enumeration Documentation

◆ GeomType

enum urdf::ColladaModelReader::GeomType

private

Enumerator
GeomNone
GeomBox
GeomSphere
GeomCylinder
GeomTrimesh

Definition at line 190 of file collada_parser.cpp.

Constructor & Destructor Documentation

◆ ColladaModelReader()

urdf::ColladaModelReader::ColladaModelReader ( urdf::ModelInterfaceSharedPtr model )

inline

Definition at line 420 of file collada_parser.cpp.

◆ ~ColladaModelReader()

virtual urdf::ColladaModelReader::~ColladaModelReader ( )

inlinevirtual

Definition at line 424 of file collada_parser.cpp.

Member Function Documentation

◆ _add3()

static Vector3 urdf::ColladaModelReader::_add3	(	const Vector3 &	v0,
		const Vector3 &	v1
	)

inlinestaticprotected

Definition at line 2788 of file collada_parser.cpp.

◆ _checkMathML()

bool urdf::ColladaModelReader::_checkMathML	(	daeElementRef	pelt,
		const std::string &	type
	)

inlineprotected

Definition at line 2414 of file collada_parser.cpp.

◆ _countChildren()

size_t urdf::ColladaModelReader::_countChildren ( daeElement * pelt )

inlineprotected

Definition at line 2535 of file collada_parser.cpp.

◆ _CreateGeometry()

urdf::GeometrySharedPtr urdf::ColladaModelReader::_CreateGeometry	(	const std::string &	name,
		const std::list< GEOMPROPERTIES > &	listGeomProperties
	)

inlineprotected

Definition at line 1193 of file collada_parser.cpp.

◆ _cross3()

static Vector3 urdf::ColladaModelReader::_cross3	(	const Vector3 &	v0,
		const Vector3 &	v1
	)

inlinestaticprotected

Definition at line 2772 of file collada_parser.cpp.

◆ _decompose()

void urdf::ColladaModelReader::_decompose	(	const boost::array< double, 12 > &	tm,
		Pose &	tout,
		Vector3 &	vscale
	)

inlineprotected

Definition at line 2354 of file collada_parser.cpp.

◆ _dot3()

static double urdf::ColladaModelReader::_dot3	(	const Vector3 &	v0,
		const Vector3 &	v1
	)

inlinestaticprotected

Definition at line 2768 of file collada_parser.cpp.

◆ _Extract()

bool urdf::ColladaModelReader::_Extract ( )

inlineprotected

\extract the first possible robot in the scene

Definition at line 470 of file collada_parser.cpp.

◆ _ExtractArticulatedSystem()

bool urdf::ColladaModelReader::_ExtractArticulatedSystem	(	domInstance_articulated_systemRef	ias,
		KinematicsSceneBindings &	bindings
	)

inlineprotected

extracts an articulated system. Note that an articulated system can include other articulated systems

Definition at line 535 of file collada_parser.cpp.

◆ _ExtractFullTransform()

template<typename T >

static boost::array<double,12> urdf::ColladaModelReader::_ExtractFullTransform ( const T pelt )

inlinestaticprotected

Travel by the transformation array and calls the _getTransform method.

Definition at line 2335 of file collada_parser.cpp.

◆ _ExtractFullTransformFromChildren()

template<typename T >

static boost::array<double,12> urdf::ColladaModelReader::_ExtractFullTransformFromChildren ( const T pelt )

inlinestaticprotected

Travel by the transformation array and calls the _getTransform method.

Definition at line 2344 of file collada_parser.cpp.

◆ _ExtractGeometry() [1/6]

bool urdf::ColladaModelReader::_ExtractGeometry	(	const domGeometryRef	geom,
		const std::map< std::string, domMaterialRef > &	mapmaterials,
		std::list< GEOMPROPERTIES > &	listGeomProperties
	)

inlineprotected

Extract the Geometry and adds it to OpenRave

Parameters

geom	Geometry to extract of the COLLADA's model
mapmaterials	Materials applied to the geometry

Definition at line 1872 of file collada_parser.cpp.

◆ _ExtractGeometry() [2/6]

void urdf::ColladaModelReader::_ExtractGeometry	(	const domNodeRef	pdomnode,
		std::list< GEOMPROPERTIES > &	listGeomProperties,
		const std::list< JointAxisBinding > &	listAxisBindings,
		const Pose &	tlink
	)

inlineprotected

Extract Geometry and apply the transformations of the node

Parameters

pdomnode	Node to extract the goemetry
plink	Link of the kinematics model

Definition at line 1384 of file collada_parser.cpp.

◆ _ExtractGeometry() [3/6]

bool urdf::ColladaModelReader::_ExtractGeometry	(	const domPolylistRef	triRef,
		const domVerticesRef	vertsRef,
		const std::map< std::string, domMaterialRef > &	mapmaterials,
		std::list< GEOMPROPERTIES > &	listGeomProperties
	)

inlineprotected

Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave

Parameters

triRef	Array of Triangle Strips of the COLLADA's model
vertsRef	Array of vertices of the COLLADA's model
mapmaterials	Materials applied to the geometry

Definition at line 1793 of file collada_parser.cpp.

◆ _ExtractGeometry() [4/6]

bool urdf::ColladaModelReader::_ExtractGeometry	(	const domTrianglesRef	triRef,
		const domVerticesRef	vertsRef,
		const std::map< std::string, domMaterialRef > &	mapmaterials,
		std::list< GEOMPROPERTIES > &	listGeomProperties
	)

inlineprotected

Extract the Geometry in TRIANGLES and adds it to OpenRave

Parameters

triRef	Array of triangles of the COLLADA's model
vertsRef	Array of vertices of the COLLADA's model
mapmaterials	Materials applied to the geometry
plink	Link of the kinematics model

Definition at line 1527 of file collada_parser.cpp.

◆ _ExtractGeometry() [5/6]

bool urdf::ColladaModelReader::_ExtractGeometry	(	const domTrifansRef	triRef,
		const domVerticesRef	vertsRef,
		const std::map< std::string, domMaterialRef > &	mapmaterials,
		std::list< GEOMPROPERTIES > &	listGeomProperties
	)

inlineprotected

Extract the Geometry in TRIGLE FANS and adds it to OpenRave

Parameters

triRef	Array of triangle fans of the COLLADA's model
vertsRef	Array of vertices of the COLLADA's model
mapmaterials	Materials applied to the geometry

Definition at line 1608 of file collada_parser.cpp.

◆ _ExtractGeometry() [6/6]

bool urdf::ColladaModelReader::_ExtractGeometry	(	const domTristripsRef	triRef,
		const domVerticesRef	vertsRef,
		const std::map< std::string, domMaterialRef > &	mapmaterials,
		std::list< GEOMPROPERTIES > &	listGeomProperties
	)

inlineprotected

Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave

Parameters

triRef	Array of Triangle Strips of the COLLADA's model
vertsRef	Array of vertices of the COLLADA's model
mapmaterials	Materials applied to the geometry

Definition at line 1699 of file collada_parser.cpp.

◆ _ExtractInterfaceType()

boost::shared_ptr<std::string> urdf::ColladaModelReader::_ExtractInterfaceType ( const domExtra_Array & arr )

inlineprotected

returns an openrave interface type from the extra array

Definition at line 2386 of file collada_parser.cpp.

◆ _ExtractKinematicsModel() [1/2]

bool urdf::ColladaModelReader::_ExtractKinematicsModel	(	domInstance_kinematics_modelRef	ikm,
		KinematicsSceneBindings &	bindings
	)

inlineprotected

Definition at line 616 of file collada_parser.cpp.

◆ _ExtractKinematicsModel() [2/2]

bool urdf::ColladaModelReader::_ExtractKinematicsModel	(	domKinematics_modelRef	kmodel,
		domNodeRef	pnode,
		domPhysics_modelRef	pmodel,
		const KinematicsSceneBindings &	bindings
	)

inlineprotected

append the kinematics model to the openrave kinbody

Definition at line 664 of file collada_parser.cpp.

◆ _ExtractKinematicsVisualBindings()

static void urdf::ColladaModelReader::_ExtractKinematicsVisualBindings	(	domInstance_with_extraRef	viscene,
		domInstance_kinematics_sceneRef	kiscene,
		KinematicsSceneBindings &	bindings
	)

inlinestaticprotected

go through all kinematics binds to get a kinematics/visual pair

Parameters

kiscene	instance of one kinematics scene, binds the kinematic and visual models
bindings	the extracted bindings

Definition at line 2460 of file collada_parser.cpp.

◆ _ExtractLink()

urdf::LinkSharedPtr urdf::ColladaModelReader::_ExtractLink	(	const domLinkRef	pdomlink,
		const domNodeRef	pdomnode,
		const Pose &	tParentWorldLink,
		const Pose &	tParentLink,
		const std::vector< domJointRef > &	vdomjoints,
		const KinematicsSceneBindings &	bindings
	)

inlineprotected

Extract Link info and add it to an existing body.

Definition at line 812 of file collada_parser.cpp.

◆ _ExtractLinkName()

std::string urdf::ColladaModelReader::_ExtractLinkName ( domLinkRef pdomlink )

inlineprotected

Definition at line 2401 of file collada_parser.cpp.

◆ _ExtractOpenRAVEProfile()

domTechniqueRef urdf::ColladaModelReader::_ExtractOpenRAVEProfile ( const domTechnique_Array & arr )

inlineprotected

Definition at line 2375 of file collada_parser.cpp.

◆ _ExtractPhysicsBindings()

static void urdf::ColladaModelReader::_ExtractPhysicsBindings	(	domCOLLADA::domSceneRef	allscene,
		KinematicsSceneBindings &	bindings
	)

inlinestaticprotected

Definition at line 2512 of file collada_parser.cpp.

◆ _ExtractRobotAttachedActuators()

void urdf::ColladaModelReader::_ExtractRobotAttachedActuators ( const domArticulated_systemRef as )

inlineprotected

extract the robot actuators

Definition at line 2026 of file collada_parser.cpp.

◆ _ExtractRobotAttachedSensors()

void urdf::ColladaModelReader::_ExtractRobotAttachedSensors ( const domArticulated_systemRef as )

inlineprotected

Extract Sensors attached to a Robot.

Definition at line 2069 of file collada_parser.cpp.

◆ _ExtractRobotManipulators()

void urdf::ColladaModelReader::_ExtractRobotManipulators ( const domArticulated_systemRef as )

inlineprotected

extract the robot manipulators

Definition at line 2063 of file collada_parser.cpp.

◆ _FillGeometryColor()

void urdf::ColladaModelReader::_FillGeometryColor	(	const domMaterialRef	pmat,
		GEOMPROPERTIES &	geom
	)

inlineprotected

Paint the Geometry with the color material

Parameters

pmat	Material info of the COLLADA's model
geom	Geometry properties in OpenRAVE

Definition at line 1496 of file collada_parser.cpp.

◆ _getElementFromUrl()

daeElementRef urdf::ColladaModelReader::_getElementFromUrl ( const daeURI & uri )

inlineprotected

Definition at line 2074 of file collada_parser.cpp.

◆ _getJointFromRef()

urdf::JointSharedPtr urdf::ColladaModelReader::_getJointFromRef	(	xsToken	targetref,
		daeElementRef	peltref
	)

inlineprotected

Definition at line 2428 of file collada_parser.cpp.

◆ _getNodeParentTransform()

template<typename T >

static boost::array<double,12> urdf::ColladaModelReader::_getNodeParentTransform ( const T pelt )

inlinestaticprotected

Travels recursively the node parents of the given one to extract the Transform arrays that affects the node given

Definition at line 2326 of file collada_parser.cpp.

◆ _getTransform()

static boost::array<double,12> urdf::ColladaModelReader::_getTransform ( daeElementRef pelt )

inlinestaticprotected

Gets all transformations applied to the node.

Definition at line 2272 of file collada_parser.cpp.

◆ _GetUnitScale()

static double urdf::ColladaModelReader::_GetUnitScale ( daeElement * pelt )

inlinestaticprotected

Definition at line 2370 of file collada_parser.cpp.

◆ _getUserData()

USERDATA* urdf::ColladaModelReader::_getUserData ( daeElement * pelt )

inlineprotected

Definition at line 2564 of file collada_parser.cpp.

◆ _matrixFromAxisAngle()

static boost::array<double,12> urdf::ColladaModelReader::_matrixFromAxisAngle	(	const Vector3 &	axis,
		double	angle
	)

inlinestaticprotected

Definition at line 2659 of file collada_parser.cpp.

◆ _matrixFromPose()

static boost::array<double,12> urdf::ColladaModelReader::_matrixFromPose ( const Pose & t )

inlinestaticprotected

Definition at line 2695 of file collada_parser.cpp.

◆ _matrixFromQuat()

static boost::array<double,12> urdf::ColladaModelReader::_matrixFromQuat ( const Rotation & quat )

inlinestaticprotected

Definition at line 2664 of file collada_parser.cpp.

◆ _matrixIdentity()

static boost::array<double,12> urdf::ColladaModelReader::_matrixIdentity ( )

inlinestaticprotected

Definition at line 2265 of file collada_parser.cpp.

◆ _normalize3()

static Vector3 urdf::ColladaModelReader::_normalize3 ( const Vector3 & v0 )

inlinestaticprotected

Definition at line 2796 of file collada_parser.cpp.

◆ _poseFromMatrix()

static Pose urdf::ColladaModelReader::_poseFromMatrix ( const boost::array< double, 12 > & m )

inlinestaticprotected

Definition at line 2685 of file collada_parser.cpp.

◆ _poseInverse()

static Pose urdf::ColladaModelReader::_poseInverse ( const Pose & p )

inlinestaticprotected

Definition at line 2629 of file collada_parser.cpp.

◆ _poseMult() [1/4]

static Vector3 urdf::ColladaModelReader::_poseMult	(	const boost::array< double, 12 > &	m,
		const Vector3 &	v
	)

inlinestaticprotected

Definition at line 2594 of file collada_parser.cpp.

◆ _poseMult() [2/4]

static boost::array<double,12> urdf::ColladaModelReader::_poseMult	(	const boost::array< double, 12 > &	m0,
		const boost::array< double, 12 > &	m1
	)

inlinestaticprotected

Definition at line 2603 of file collada_parser.cpp.

◆ _poseMult() [3/4]

static Vector3 urdf::ColladaModelReader::_poseMult	(	const Pose &	p,
		const Vector3 &	v
	)

inlinestaticprotected

Definition at line 2576 of file collada_parser.cpp.

◆ _poseMult() [4/4]

static Pose urdf::ColladaModelReader::_poseMult	(	const Pose &	p0,
		const Pose &	p1
	)

inlinestaticprotected

Definition at line 2621 of file collada_parser.cpp.

◆ _PostProcess()

void urdf::ColladaModelReader::_PostProcess ( )

inlineprotected

Definition at line 510 of file collada_parser.cpp.

◆ _processUserData()

void urdf::ColladaModelReader::_processUserData	(	daeElement *	pelt,
		double	scale
	)

inlineprotected

Definition at line 2545 of file collada_parser.cpp.

◆ _quatFromAxisAngle()

static Rotation urdf::ColladaModelReader::_quatFromAxisAngle	(	double	x,
		double	y,
		double	z,
		double	angle
	)

inlinestaticprotected

Definition at line 2704 of file collada_parser.cpp.

◆ _quatFromMatrix()

static Rotation urdf::ColladaModelReader::_quatFromMatrix ( const boost::array< double, 12 > & mat )

inlinestaticprotected

Definition at line 2720 of file collada_parser.cpp.

◆ _quatMult()

static Rotation urdf::ColladaModelReader::_quatMult	(	const Rotation &	quat0,
		const Rotation &	quat1
	)

inlinestaticprotected

Definition at line 2643 of file collada_parser.cpp.

◆ _sub3()

static Vector3 urdf::ColladaModelReader::_sub3	(	const Vector3 &	v0,
		const Vector3 &	v1
	)

inlinestaticprotected

Definition at line 2780 of file collada_parser.cpp.

◆ handleError()

virtual void urdf::ColladaModelReader::handleError ( daeString msg )

inlineprotectedvirtual

Definition at line 2360 of file collada_parser.cpp.

◆ handleWarning()

virtual void urdf::ColladaModelReader::handleWarning ( daeString msg )

inlineprotectedvirtual

Definition at line 2365 of file collada_parser.cpp.

◆ InitFromData()

bool urdf::ColladaModelReader::InitFromData ( const std::string & pdata )

inline

Definition at line 449 of file collada_parser.cpp.

◆ InitFromFile()

bool urdf::ColladaModelReader::InitFromFile ( const std::string & filename )

inline

Definition at line 430 of file collada_parser.cpp.

◆ resolveBool()

template<typename U >

static xsBoolean urdf::ColladaModelReader::resolveBool	(	domCommon_bool_or_paramRef	paddr,
		const U &	parent
	)

inlinestaticprotected

Definition at line 2187 of file collada_parser.cpp.

◆ resolveCommon_float_or_param()

static bool urdf::ColladaModelReader::resolveCommon_float_or_param	(	daeElementRef	pcommon,
		daeElementRef	parent,
		float &	f
	)

inlinestaticprotected

Definition at line 2242 of file collada_parser.cpp.

◆ resolveFloat()

template<typename U >

static domFloat urdf::ColladaModelReader::resolveFloat	(	domCommon_float_or_paramRef	paddr,
		const U &	parent
	)

inlinestaticprotected

Definition at line 2214 of file collada_parser.cpp.

◆ searchBinding() [1/2]

static daeElement* urdf::ColladaModelReader::searchBinding	(	daeString	ref,
		daeElementRef	parent
	)

inlinestaticprotected

Search a given parameter reference and stores the new reference to search.

Parameters

ref	the reference name to search
parent	The array of parameter where the method searchs.

Definition at line 2093 of file collada_parser.cpp.

◆ searchBinding() [2/2]

static daeElement* urdf::ColladaModelReader::searchBinding	(	domCommon_sidref_or_paramRef	paddr,
		daeElementRef	parent
	)

inlinestaticprotected

Definition at line 2079 of file collada_parser.cpp.

◆ searchBindingArray() [1/2]

static daeElement* urdf::ColladaModelReader::searchBindingArray	(	daeString	ref,
		const domInstance_articulated_system_Array &	paramArray
	)

inlinestaticprotected

Definition at line 2165 of file collada_parser.cpp.

◆ searchBindingArray() [2/2]

static daeElement* urdf::ColladaModelReader::searchBindingArray	(	daeString	ref,
		const domInstance_kinematics_model_Array &	paramArray
	)

inlinestaticprotected

Definition at line 2176 of file collada_parser.cpp.

Member Data Documentation

◆ _collada

boost::shared_ptr<DAE> urdf::ColladaModelReader::_collada

protected

Definition at line 2806 of file collada_parser.cpp.

◆ _dom

domCOLLADA* urdf::ColladaModelReader::_dom

protected

Definition at line 2807 of file collada_parser.cpp.

◆ _filename

std::string urdf::ColladaModelReader::_filename

protected

Definition at line 2810 of file collada_parser.cpp.

◆ _model

urdf::ModelInterfaceSharedPtr urdf::ColladaModelReader::_model

protected

Definition at line 2812 of file collada_parser.cpp.

◆ _nGlobalManipulatorId

int urdf::ColladaModelReader::_nGlobalManipulatorId

protected

Definition at line 2809 of file collada_parser.cpp.

◆ _nGlobalSensorId

int urdf::ColladaModelReader::_nGlobalSensorId

protected

Definition at line 2809 of file collada_parser.cpp.

◆ _resourcedir

std::string urdf::ColladaModelReader::_resourcedir

protected

Definition at line 2811 of file collada_parser.cpp.

◆ _RootOrigin

Pose urdf::ColladaModelReader::_RootOrigin

protected

Definition at line 2813 of file collada_parser.cpp.

◆ _VisualRootOrigin

Pose urdf::ColladaModelReader::_VisualRootOrigin

protected

Definition at line 2814 of file collada_parser.cpp.

◆ _vuserdata

std::vector<USERDATA> urdf::ColladaModelReader::_vuserdata

protected

Definition at line 2808 of file collada_parser.cpp.

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

collada_parser.cpp

Classes

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Types

Detailed Description

Member Enumeration Documentation

◆ GeomType

Constructor & Destructor Documentation

◆ ColladaModelReader()

◆ ~ColladaModelReader()

Member Function Documentation

◆ _add3()

◆ _checkMathML()

◆ _countChildren()

◆ _CreateGeometry()

◆ _cross3()

◆ _decompose()

◆ _dot3()

◆ _Extract()

◆ _ExtractArticulatedSystem()

◆ _ExtractFullTransform()

◆ _ExtractFullTransformFromChildren()

◆ _ExtractGeometry() [1/6]

◆ _ExtractGeometry() [2/6]

◆ _ExtractGeometry() [3/6]

◆ _ExtractGeometry() [4/6]

◆ _ExtractGeometry() [5/6]

◆ _ExtractGeometry() [6/6]

◆ _ExtractInterfaceType()

◆ _ExtractKinematicsModel() [1/2]

◆ _ExtractKinematicsModel() [2/2]

◆ _ExtractKinematicsVisualBindings()

◆ _ExtractLink()

◆ _ExtractLinkName()

◆ _ExtractOpenRAVEProfile()

◆ _ExtractPhysicsBindings()

◆ _ExtractRobotAttachedActuators()

◆ _ExtractRobotAttachedSensors()

◆ _ExtractRobotManipulators()

◆ _FillGeometryColor()

◆ _getElementFromUrl()

◆ _getJointFromRef()

◆ _getNodeParentTransform()

◆ _getTransform()

◆ _GetUnitScale()

◆ _getUserData()

◆ _matrixFromAxisAngle()

◆ _matrixFromPose()

◆ _matrixFromQuat()

◆ _matrixIdentity()

◆ _normalize3()

◆ _poseFromMatrix()

◆ _poseInverse()

◆ _poseMult() [1/4]

◆ _poseMult() [2/4]

◆ _poseMult() [3/4]

◆ _poseMult() [4/4]

◆ _PostProcess()

◆ _processUserData()

◆ _quatFromAxisAngle()

◆ _quatFromMatrix()

◆ _quatMult()

◆ _sub3()

◆ handleError()

◆ handleWarning()

◆ InitFromData()

◆ InitFromFile()

◆ resolveBool()

◆ resolveCommon_float_or_param()

◆ resolveFloat()

◆ searchBinding() [1/2]

◆ searchBinding() [2/2]

◆ searchBindingArray() [1/2]

◆ searchBindingArray() [2/2]

Member Data Documentation

◆ _collada

◆ _dom

◆ _filename