Implements writing urdf::Model objects to a COLLADA DOM. More...

Inheritance diagram for collada_urdf::ColladaWriter:

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

Detailed Description

Implements writing urdf::Model objects to a COLLADA DOM.

Definition at line 537 of file collada_urdf.cpp.

Member Typedef Documentation

◆ MAPLINKPOSES

typedef std::map< urdf::LinkConstSharedPtr, urdf::Pose > collada_urdf::ColladaWriter::MAPLINKPOSES

private

Definition at line 550 of file collada_urdf.cpp.

Constructor & Destructor Documentation

◆ ColladaWriter()

collada_urdf::ColladaWriter::ColladaWriter	(	const urdf::Model &	robot,
		int	writeoptions
	)

inline

Definition at line 621 of file collada_urdf.cpp.

◆ ~ColladaWriter()

virtual collada_urdf::ColladaWriter::~ColladaWriter ( )

inlinevirtual

Definition at line 625 of file collada_urdf.cpp.

Member Function Documentation

◆ _buildAiMesh()

void collada_urdf::ColladaWriter::_buildAiMesh	(	const aiScene *	scene,
		aiNode *	node,
		domMeshRef	pdommesh,
		domFloat_arrayRef	parray,
		const string &	geomid,
		const urdf::Vector3 &	scale,
		urdf::Pose *	org_trans = `NULL`
	)

inlineprotected

Definition at line 1542 of file collada_urdf.cpp.

◆ _ComputeId()

static std::string collada_urdf::ColladaWriter::_ComputeId ( const std::string & name )

inlinestaticprivate

computes a collada-compliant sid from the urdf name

Definition at line 1897 of file collada_urdf.cpp.

◆ _ComputeKinematics_modelId()

static std::string collada_urdf::ColladaWriter::_ComputeKinematics_modelId ( int id )

inlinestaticprivate

Definition at line 1891 of file collada_urdf.cpp.

◆ _CreateScene()

void collada_urdf::ColladaWriter::_CreateScene ( )

inlineprotected

Definition at line 728 of file collada_urdf.cpp.

◆ _loadMesh()

void collada_urdf::ColladaWriter::_loadMesh	(	std::string const &	filename,
		domGeometryRef	pdomgeom,
		const urdf::Vector3 &	scale,
		urdf::Pose *	org_trans
	)

inlineprotected

Definition at line 1493 of file collada_urdf.cpp.

◆ _loadVertices()

void collada_urdf::ColladaWriter::_loadVertices	(	const shapes::Mesh *	mesh,
		domGeometryRef	pdomgeom
	)

inlineprotected

Definition at line 1440 of file collada_urdf.cpp.

◆ _poseInverse()

static urdf::Pose collada_urdf::ColladaWriter::_poseInverse ( const urdf::Pose & p )

inlinestaticprivate

Definition at line 1805 of file collada_urdf.cpp.

◆ _poseMult() [1/2]

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

inlinestaticprivate

Definition at line 1787 of file collada_urdf.cpp.

◆ _poseMult() [2/2]

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

inlinestaticprivate

Definition at line 1835 of file collada_urdf.cpp.

◆ _quatFromMatrix()

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

inlinestaticprivate

Definition at line 1843 of file collada_urdf.cpp.

◆ _quatMult()

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

inlinestaticprivate

Definition at line 1819 of file collada_urdf.cpp.

◆ _WriteBindingsInstance_kinematics_scene()

void collada_urdf::ColladaWriter::_WriteBindingsInstance_kinematics_scene ( )

inlineprotected

Definition at line 1771 of file collada_urdf.cpp.

◆ _WriteEffect()

domEffectRef collada_urdf::ColladaWriter::_WriteEffect	(	std::string const &	effect_id,
		urdf::Color const &	color_ambient,
		urdf::Color const &	color_diffuse
	)

inlineprotected

Definition at line 1676 of file collada_urdf.cpp.

◆ _WriteGeometry()

domGeometryRef collada_urdf::ColladaWriter::_WriteGeometry	(	urdf::GeometrySharedPtr	geometry,
		const std::string &	geometry_id,
		urdf::Pose *	org_trans = `NULL`
	)

inlineprotected

Definition at line 1282 of file collada_urdf.cpp.

◆ _WriteInstance_kinematics_model()

virtual void collada_urdf::ColladaWriter::_WriteInstance_kinematics_model	(	daeElementRef	parent,
		const string &	sidscope,
		int	id
	)

inlineprotectedvirtual

Write kinematic body in a given scene.

Definition at line 884 of file collada_urdf.cpp.

◆ _WriteInstance_physics_model()

boost::shared_ptr<instance_physics_model_output> collada_urdf::ColladaWriter::_WriteInstance_physics_model	(	int	id,
		daeElementRef	parent,
		const string &	sidscope,
		const MAPLINKPOSES &	maplinkposes
	)

inlineprotected

Definition at line 1358 of file collada_urdf.cpp.

◆ _WriteLink()

virtual LINKOUTPUT collada_urdf::ColladaWriter::_WriteLink	(	urdf::LinkConstSharedPtr	plink,
		daeElementRef	pkinparent,
		domNodeRef	pnodeparent,
		const string &	strModelUri
	)

inlineprotectedvirtual

Write link of a kinematic body.

Parameters

link	Link to write
pkinparent	Kinbody parent
pnodeparent	Node parent
strModelUri

Definition at line 1137 of file collada_urdf.cpp.

◆ _WriteMaterial()

void collada_urdf::ColladaWriter::_WriteMaterial	(	const string &	geometry_id,
		urdf::MaterialSharedPtr	material
	)

inlineprotected

Definition at line 1321 of file collada_urdf.cpp.

◆ _WritePhysics()

void collada_urdf::ColladaWriter::_WritePhysics ( )

inlineprotected

Definition at line 758 of file collada_urdf.cpp.

◆ _WriteRobot()

void collada_urdf::ColladaWriter::_WriteRobot ( int id = 0 )

inlineprotected

Write kinematic body in a given scene.

Definition at line 766 of file collada_urdf.cpp.

◆ _WriteTransformation()

void collada_urdf::ColladaWriter::_WriteTransformation	(	daeElementRef	pelt,
		const urdf::Pose &	t
	)

inlineprotected

Write transformation.

Parameters

pelt	Element to transform
t	Transform to write

Definition at line 1733 of file collada_urdf.cpp.

◆ convert()

bool collada_urdf::ColladaWriter::convert ( )

inline

< documented profile on robot extensions

Definition at line 632 of file collada_urdf.cpp.

◆ doc()

daeDocument* collada_urdf::ColladaWriter::doc ( )

inline

Definition at line 628 of file collada_urdf.cpp.

◆ handleError()

virtual void collada_urdf::ColladaWriter::handleError ( daeString msg )

inlineprotectedvirtual

Definition at line 721 of file collada_urdf.cpp.

◆ handleWarning()

virtual void collada_urdf::ColladaWriter::handleWarning ( daeString msg )

inlineprotectedvirtual

Definition at line 724 of file collada_urdf.cpp.

◆ WriteKinematics_model()

virtual boost::shared_ptr<kinematics_model_output> collada_urdf::ColladaWriter::WriteKinematics_model ( int id )

inlineprotectedvirtual

Definition at line 937 of file collada_urdf.cpp.

◆ WritePhysics_model()

boost::shared_ptr<physics_model_output> collada_urdf::ColladaWriter::WritePhysics_model	(	int	id,
		const MAPLINKPOSES &	maplinkposes
	)

inlineprotected

!inertial));

Definition at line 1385 of file collada_urdf.cpp.

◆ writeTo()

bool collada_urdf::ColladaWriter::writeTo ( string const & file )

inline

Definition at line 710 of file collada_urdf.cpp.

Member Data Documentation

◆ _articulatedSystemsLib

domLibrary_articulated_systemsRef collada_urdf::ColladaWriter::_articulatedSystemsLib

private

Definition at line 1919 of file collada_urdf.cpp.

◆ _collada

DAE collada_urdf::ColladaWriter::_collada

private

Definition at line 1911 of file collada_urdf.cpp.

◆ _doc

daeDocument* collada_urdf::ColladaWriter::_doc

private

Definition at line 1913 of file collada_urdf.cpp.

◆ _dom

domCOLLADA* collada_urdf::ColladaWriter::_dom

private

Definition at line 1912 of file collada_urdf.cpp.

◆ _effectsLib

domLibrary_effectsRef collada_urdf::ColladaWriter::_effectsLib

private

Definition at line 1923 of file collada_urdf.cpp.

◆ _geometriesLib

domLibrary_geometriesRef collada_urdf::ColladaWriter::_geometriesLib

private

Definition at line 1924 of file collada_urdf.cpp.

◆ _globalscene

domCOLLADA::domSceneRef collada_urdf::ColladaWriter::_globalscene

private

Definition at line 1914 of file collada_urdf.cpp.

◆ _iasout

boost::shared_ptr<instance_articulated_system_output> collada_urdf::ColladaWriter::_iasout

private

Definition at line 1929 of file collada_urdf.cpp.

◆ _ikmout

boost::shared_ptr<instance_kinematics_model_output> collada_urdf::ColladaWriter::_ikmout

private

Definition at line 1928 of file collada_urdf.cpp.

◆ _importer

Assimp::Importer collada_urdf::ColladaWriter::_importer

private

Definition at line 1933 of file collada_urdf.cpp.

◆ _kinematicsModelsLib

domLibrary_kinematics_modelsRef collada_urdf::ColladaWriter::_kinematicsModelsLib

private

Definition at line 1918 of file collada_urdf.cpp.

◆ _kinematicsScenesLib

domLibrary_kinematics_scenesRef collada_urdf::ColladaWriter::_kinematicsScenesLib

private

Definition at line 1917 of file collada_urdf.cpp.

◆ _mapjointindices

std::map< urdf::JointConstSharedPtr, int > collada_urdf::ColladaWriter::_mapjointindices

private

Definition at line 1930 of file collada_urdf.cpp.

◆ _maplinkindices

std::map< urdf::LinkConstSharedPtr, int > collada_urdf::ColladaWriter::_maplinkindices

private

Definition at line 1931 of file collada_urdf.cpp.

◆ _mapmaterialindices

std::map< urdf::MaterialConstSharedPtr, int > collada_urdf::ColladaWriter::_mapmaterialindices

private

Definition at line 1932 of file collada_urdf.cpp.

◆ _materialsLib

domLibrary_materialsRef collada_urdf::ColladaWriter::_materialsLib

private

Definition at line 1922 of file collada_urdf.cpp.

◆ _physicsModelsLib

domLibrary_physics_modelsRef collada_urdf::ColladaWriter::_physicsModelsLib

private

Definition at line 1921 of file collada_urdf.cpp.

◆ _physicsScenesLib

domLibrary_physics_scenesRef collada_urdf::ColladaWriter::_physicsScenesLib

private

Definition at line 1920 of file collada_urdf.cpp.

◆ _robot

const urdf::Model& collada_urdf::ColladaWriter::_robot

private

Definition at line 1910 of file collada_urdf.cpp.

◆ _scene

SCENE collada_urdf::ColladaWriter::_scene

private

Definition at line 1926 of file collada_urdf.cpp.

◆ _sensorsLib

domTechniqueRef collada_urdf::ColladaWriter::_sensorsLib

private

custom sensors library

Definition at line 1925 of file collada_urdf.cpp.

◆ _visualScenesLib

domLibrary_visual_scenesRef collada_urdf::ColladaWriter::_visualScenesLib

private

Definition at line 1916 of file collada_urdf.cpp.

◆ _writeoptions

int collada_urdf::ColladaWriter::_writeoptions

private

Definition at line 1908 of file collada_urdf.cpp.

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

collada_urdf.cpp

Classes

Public Member Functions

Protected Member Functions

Private Types

Static Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ MAPLINKPOSES

Constructor & Destructor Documentation

◆ ColladaWriter()

◆ ~ColladaWriter()

Member Function Documentation

◆ _buildAiMesh()

◆ _ComputeId()

◆ _ComputeKinematics_modelId()

◆ _CreateScene()

◆ _loadMesh()

◆ _loadVertices()

◆ _poseInverse()

◆ _poseMult() [1/2]

◆ _poseMult() [2/2]

◆ _quatFromMatrix()

◆ _quatMult()

◆ _WriteBindingsInstance_kinematics_scene()

◆ _WriteEffect()

◆ _WriteGeometry()

◆ _WriteInstance_kinematics_model()

◆ _WriteInstance_physics_model()

◆ _WriteLink()

◆ _WriteMaterial()

◆ _WritePhysics()

◆ _WriteRobot()

◆ _WriteTransformation()

◆ convert()

◆ doc()

◆ handleError()

◆ handleWarning()

◆ WriteKinematics_model()

◆ WritePhysics_model()

◆ writeTo()

Member Data Documentation

◆ _articulatedSystemsLib

◆ _collada

◆ _doc

◆ _dom

◆ _effectsLib

◆ _geometriesLib

◆ _globalscene

◆ _iasout

◆ _ikmout

◆ _importer

◆ _kinematicsModelsLib

◆ _kinematicsScenesLib

◆ _mapjointindices

◆ _maplinkindices

◆ _mapmaterialindices

◆ _materialsLib

◆ _physicsModelsLib

◆ _physicsScenesLib

◆ _robot

◆ _scene

◆ _sensorsLib

◆ _visualScenesLib

◆ _writeoptions