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| template<typename GeometryType > |
| static void | pinocchio::urdf::details::addLinkGeometryToGeomModel (const UrdfTree &tree,::hpp::fcl::MeshLoaderPtr &meshLoader,::urdf::LinkConstSharedPtr link, UrdfGeomVisitorBase &visitor, GeometryModel &geomModel, const std::vector< std::string > &package_dirs) |
| | Add the geometries attached to an URDF link to a GeometryModel, looking either for collisions or visuals. More...
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| |
| template<> |
| PINOCCHIO_URDF_SHARED_PTR(const T) getLinkGeometry(const inline::urdf::CollisionConstSharedPtr | pinocchio::urdf::details::getLinkGeometry< ::urdf::Collision > (const ::urdf::LinkConstSharedPtr link) |
| | Get the first geometry attached to a link. More...
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| |
| template<> |
| inline::urdf::VisualConstSharedPtr | pinocchio::urdf::details::getLinkGeometry< ::urdf::Visual > (const ::urdf::LinkConstSharedPtr link) |
| |
| template<typename T > |
| const std::vector< PINOCCHIO_URDF_SHARED_PTR(T) > & | pinocchio::urdf::details::getLinkGeometryArray (const ::urdf::LinkConstSharedPtr link) |
| | Get the array of geometries attached to a link. More...
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| |
| template<> |
| const std::vector< ::urdf::CollisionSharedPtr > & | pinocchio::urdf::details::getLinkGeometryArray< ::urdf::Collision > (const ::urdf::LinkConstSharedPtr link) |
| |
| template<> |
| const std::vector< ::urdf::VisualSharedPtr > & | pinocchio::urdf::details::getLinkGeometryArray< ::urdf::Visual > (const ::urdf::LinkConstSharedPtr link) |
| |
| template<typename urdfObject > |
| bool | pinocchio::urdf::details::getVisualMaterial (const PINOCCHIO_URDF_SHARED_PTR(urdfObject) urdf_object, std::string &meshTexturePath, Eigen::Vector4d &meshColor, const std::vector< std::string > &package_dirs) |
| | Get the material values from the link visual object. More...
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| |
| template<> |
| bool | pinocchio::urdf::details::getVisualMaterial< ::urdf::Collision > (const ::urdf::CollisionSharedPtr, std::string &meshTexturePath, Eigen::Vector4d &meshColor, const std::vector< std::string > &) |
| |
| template<> |
| bool | pinocchio::urdf::details::getVisualMaterial< ::urdf::Visual > (const ::urdf::VisualSharedPtr urdf_visual, std::string &meshTexturePath, Eigen::Vector4d &meshColor, const std::vector< std::string > &package_dirs) |
| |
| void | pinocchio::urdf::details::parseTreeForGeom (UrdfGeomVisitorBase &visitor, const std::istream &xmlStream, const GeometryType type, GeometryModel &geomModel, const std::vector< std::string > &package_dirs,::hpp::fcl::MeshLoaderPtr meshLoader) |
| |
| void | pinocchio::urdf::details::recursiveParseTreeForGeom (const UrdfTree &tree,::hpp::fcl::MeshLoaderPtr &meshLoader,::urdf::LinkConstSharedPtr link, UrdfGeomVisitorBase &visitor, GeometryModel &geomModel, const std::vector< std::string > &package_dirs, const GeometryType type) |
| | Recursive procedure for reading the URDF tree, looking for geometries This function fill the geometric model whith geometry objects retrieved from the URDF tree. More...
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| |
| template<typename Vector3 > |
| static void | pinocchio::urdf::details::retrieveMeshScale (const ::urdf::MeshSharedPtr &mesh, const Eigen::MatrixBase< Vector3 > &scale) |
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