src/parsers/urdf/geometry.cpp File Reference

#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/parsers/urdf/types.hpp"
#include "pinocchio/parsers/urdf/utils.hpp"
#include "pinocchio/parsers/utils.hpp"
#include <boost/property_tree/xml_parser.hpp>
#include <boost/property_tree/ptree.hpp>
#include <urdf_model/model.h>
#include <urdf_parser/urdf_parser.h>

Include dependency graph for src/parsers/urdf/geometry.cpp:

Go to the source code of this file.

Classes
struct	pinocchio::urdf::details::UrdfTree

Namespaces
	pinocchio
	Main pinocchio namespace.
	pinocchio::urdf
	URDF parsing.
	pinocchio::urdf::details

Functions
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 a URDF link to a GeometryModel, looking either for collisions or visuals. More...
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...
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...
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...
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 with geometry objects retrieved from the URDF tree. More...
template<typename Vector3 >
static void	pinocchio::urdf::details::retrieveMeshScale (const ::urdf::MeshSharedPtr &mesh, const Eigen::MatrixBase< Vector3 > &scale)