Struct SdfGraph
Defined in File model.hxx
Struct Documentation
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struct SdfGraph
Public Types
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typedef std::map<std::string, ::sdf::ElementPtr> ElementMap_t
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typedef std::map<std::string, SE3, std::less<std::string>, Eigen::aligned_allocator<std::pair<const std::string, SE3>>> ChildPoseMap
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typedef std::map<std::string, std::vector<std::string>> StringVectorMap_t
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typedef std::vector<std::string> VectorOfStrings
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typedef std::vector<JointIndex> VectorOfIndexes
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typedef ContactDetailsTpl<double, 0> ContactDetails
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typedef pinocchio::urdf::details::UrdfVisitor<double, 0, ::pinocchio::JointCollectionDefaultTpl> UrdfVisitor
Public Functions
- PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR (ContactDetails) contact_details
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inline SdfGraph(UrdfVisitor &urdfVisitor)
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inline void setParentGuidance(const VectorOfStrings &parentGuidance_in)
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inline void parseGraphFromXML(const std::string &xmlString)
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inline void parseGraphFromFile(const std::string &filename)
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inline void parseGraph(::sdf::SDFPtr sdfElement)
- inline int getConstraintIdFromChild (const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(ContactDetails) &contact_details, const std::string &childName)
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inline void recursiveFillModel(const ::sdf::ElementPtr jointElement)
Recursive procedure for reading the SDF tree. The function returns an exception as soon as a necessary Inertia or Joint information are missing.
- Parameters:
link – [in] The current SDF link.
model – [in] The model where the link must be added.
Public Members
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ElementMap_t mapOfLinks
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ElementMap_t mapOfJoints
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StringVectorMap_t childrenOfLinks
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StringVectorMap_t parentOfLinks
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VectorOfStrings linksWithMultipleParents
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VectorOfStrings parentGuidance
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VectorOfIndexes parentOrderWithGuidance
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ChildPoseMap childPoseMap
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std::string modelName
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UrdfVisitor &urdfVisitor
Public Static Functions
- static inline bool existConstraint (const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(ContactDetails) &contact_details, const std::string &jointName)
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static inline bool existChildName(const std::vector<std::string> &listOfNames, const std::string &childName)
- static inline int getConstraintId (const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(ContactDetails) &contact_details, const std::string &jointName)
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typedef std::map<std::string, ::sdf::ElementPtr> ElementMap_t