Functions
std::string	makeURDFFilePath (const std::string &package_path, const std::string &filename)

std::string	noLeadingSlash (const std::string &filename)

std::string	noTrailingSlash (const std::string &path)

std::shared_ptr< tesseract_geometry::Box >	parseBox (const tinyxml2::XMLElement *xml_element)
	Parse a xml box element. More...

std::shared_ptr< tesseract_scene_graph::JointCalibration >	parseCalibration (const tinyxml2::XMLElement *xml_element)
	Parse a xml calibration element. More...

std::shared_ptr< tesseract_geometry::Capsule >	parseCapsule (const tinyxml2::XMLElement *xml_element)
	Parse a xml capsule element. More...

std::shared_ptr< tesseract_scene_graph::Collision >	parseCollision (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, bool make_convex_meshes)
	Parse xml element collision. More...

std::shared_ptr< tesseract_geometry::Cone >	parseCone (const tinyxml2::XMLElement *xml_element)
	Parse a xml cone element. More...

std::shared_ptr< tesseract_geometry::Cylinder >	parseCylinder (const tinyxml2::XMLElement *xml_element)
	Parse a xml cylinder element. More...

std::shared_ptr< tesseract_scene_graph::JointDynamics >	parseDynamics (const tinyxml2::XMLElement *xml_element)
	Parse a xml dynamics element. More...

std::shared_ptr< tesseract_geometry::Geometry >	parseGeometry (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, bool visual, bool make_convex_meshes)
	Parse xml element geometry. More...

std::shared_ptr< tesseract_scene_graph::Inertial >	parseInertial (const tinyxml2::XMLElement *xml_element)
	Parse xml element inertial. More...

std::shared_ptr< tesseract_scene_graph::Joint >	parseJoint (const tinyxml2::XMLElement *xml_element)
	Parse xml element joint. More...

std::shared_ptr< tesseract_scene_graph::JointLimits >	parseLimits (const tinyxml2::XMLElement *xml_element)
	Parse xml element limits. More...

std::shared_ptr< tesseract_scene_graph::Link >	parseLink (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, bool make_convex_meshes, std::unordered_map< std::string, std::shared_ptr< tesseract_scene_graph::Material >> &available_materials)
	Parse xml element link. More...

tesseract_scene_graph::Link::Ptr	parseLink (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, bool make_convex_meshes, std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &available_materials)

std::shared_ptr< tesseract_scene_graph::Material >	parseMaterial (const tinyxml2::XMLElement *xml_element, std::unordered_map< std::string, std::shared_ptr< tesseract_scene_graph::Material >> &available_materials, bool allow_anonymous)
	Parse xml element material. More...

tesseract_scene_graph::Material::Ptr	parseMaterial (const tinyxml2::XMLElement *xml_element, std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &available_materials, bool allow_anonymous)

std::vector< std::shared_ptr< tesseract_geometry::PolygonMesh > >	parseMesh (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, bool visual, bool make_convex)
	Parse xml element mesh. More...

std::shared_ptr< tesseract_scene_graph::JointMimic >	parseMimic (const tinyxml2::XMLElement *xml_element)
	Parse xml element mimic. More...

std::shared_ptr< tesseract_geometry::Octree >	parseOctomap (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, bool visual)
	Parse xml element octomap. More...

std::shared_ptr< tesseract_geometry::Octree >	parseOctree (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, tesseract_geometry::OctreeSubType shape_type, bool prune)
	Parse xml element octree. More...

Eigen::Isometry3d	parseOrigin (const tinyxml2::XMLElement *xml_element)
	Parse xml element origin. More...

std::shared_ptr< tesseract_geometry::Octree >	parsePointCloud (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, tesseract_geometry::OctreeSubType shape_type, bool prune)
	Parse xml element point_cloud. More...

std::shared_ptr< tesseract_scene_graph::JointSafety >	parseSafetyController (const tinyxml2::XMLElement *xml_element)
	Parse xml element safety_controller. More...

std::vector< std::shared_ptr< tesseract_geometry::SDFMesh > >	parseSDFMesh (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, bool visual)
	Parse xml element sdf_mesh. More...

std::shared_ptr< tesseract_geometry::Sphere >	parseSphere (const tinyxml2::XMLElement *xml_element)
	Parse a xml sphere element. More...

std::unique_ptr< tesseract_scene_graph::SceneGraph >	parseURDFFile (const std::string &path, const tesseract_common::ResourceLocator &locator)
	Parse a URDF file into a Tesseract Scene Graph. More...

std::unique_ptr< tesseract_scene_graph::SceneGraph >	parseURDFString (const std::string &urdf_xml_string, const tesseract_common::ResourceLocator &locator)
	Parse a URDF string into a Tesseract Scene Graph. More...

std::shared_ptr< tesseract_scene_graph::Visual >	parseVisual (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, std::unordered_map< std::string, std::shared_ptr< tesseract_scene_graph::Material >> &available_materials)
	Parse xml element visual. More...

tesseract_scene_graph::Visual::Ptr	parseVisual (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &available_materials)

std::string	toString (const double &float_value, int precision=3)

std::string	trailingSlash (const std::string &path)

tinyxml2::XMLElement *	writeBox (const std::shared_ptr< const tesseract_geometry::Box > &box, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeCalibration (const std::shared_ptr< const tesseract_scene_graph::JointCalibration > &calibration, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeCapsule (const std::shared_ptr< const tesseract_geometry::Capsule > &capsule, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeCollision (const std::shared_ptr< const tesseract_scene_graph::Collision > &collision, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &link_name, int id)
	writeCollision Write collision object to URDF XML More...

tinyxml2::XMLElement *	writeCone (const std::shared_ptr< const tesseract_geometry::Cone > &cone, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeCylinder (const std::shared_ptr< const tesseract_geometry::Cylinder > &cylinder, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeDynamics (const std::shared_ptr< const tesseract_scene_graph::JointDynamics > &dynamics, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeGeometry (const std::shared_ptr< const tesseract_geometry::Geometry > &geometry, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeGeometry Write geometry to URDF XML More...

tinyxml2::XMLElement *	writeInertial (const std::shared_ptr< const tesseract_scene_graph::Inertial > &inertial, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeJoint (const std::shared_ptr< const tesseract_scene_graph::Joint > &joint, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeLimits (const std::shared_ptr< const tesseract_scene_graph::JointLimits > &limits, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeLink (const std::shared_ptr< const tesseract_scene_graph::Link > &link, tinyxml2::XMLDocument &doc, const std::string &package_path)
	writeLink Write a link to URDF XML More...

tinyxml2::XMLElement *	writeMaterial (const std::shared_ptr< const tesseract_scene_graph::Material > &material, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeMesh (const std::shared_ptr< const tesseract_geometry::PolygonMesh > &mesh, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeMesh Write a mesh to URDF XML and PLY file More...

void	writeMeshToFile (const std::shared_ptr< const tesseract_geometry::PolygonMesh > &mesh, const std::string &filepath)

tinyxml2::XMLElement *	writeMimic (const std::shared_ptr< const tesseract_scene_graph::JointMimic > &mimic, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeOctomap (const std::shared_ptr< const tesseract_geometry::Octree > &octree, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeOctomap Write octomap to URDF XML. This is non-standard URDF / tesseract-exclusive More...

tinyxml2::XMLElement *	writeOctree (const std::shared_ptr< const tesseract_geometry::Octree > &octree, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeOctree Write octree out to file, and generate appropriate xml More...

tinyxml2::XMLElement *	writeOctree (const tesseract_geometry::Octree::ConstPtr &octree, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)

tinyxml2::XMLElement *	writeOrigin (const Eigen::Isometry3d &origin, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeSafetyController (const std::shared_ptr< const tesseract_scene_graph::JointSafety > &safety, tinyxml2::XMLDocument &doc)

tinyxml2::XMLElement *	writeSDFMesh (const std::shared_ptr< const tesseract_geometry::SDFMesh > &sdf_mesh, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeSDFMesh Write SDF Mesh to URDF XML. This is non-standard URDF / tesseract-exclusive More...

tinyxml2::XMLElement *	writeSphere (const std::shared_ptr< const tesseract_geometry::Sphere > &sphere, tinyxml2::XMLDocument &doc)

void	writeURDFFile (const std::shared_ptr< const tesseract_scene_graph::SceneGraph > &sg, const std::string &package_path, const std::string &urdf_name="")

tinyxml2::XMLElement *	writeVisual (const std::shared_ptr< const tesseract_scene_graph::Visual > &visual, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &link_name, int id)
	writeVisual Write one visual geometry object to URDF XML More...

Variables
static constexpr std::string_view	BOX_ELEMENT_NAME = "box"

static constexpr std::string_view	CALIBRATION_ELEMENT_NAME = "calibration"

static constexpr std::string_view	CAPSULE_ELEMENT_NAME = "tesseract:capsule"

static constexpr std::string_view	COLLISION_ELEMENT_NAME = "collision"

static constexpr std::string_view	CONE_ELEMENT_NAME = "tesseract:cone"

static constexpr std::string_view	CYLINDER_ELEMENT_NAME = "cylinder"

static constexpr std::string_view	DYNAMICS_ELEMENT_NAME = "dynamics"

static constexpr std::string_view	GEOMETRY_ELEMENT_NAME = "geometry"

static constexpr std::string_view	INERTIAL_ELEMENT_NAME = "inertial"

static constexpr std::string_view	JOINT_ELEMENT_NAME = "joint"

static constexpr std::string_view	LIMITS_ELEMENT_NAME = "limit"

static constexpr std::string_view	LINK_ELEMENT_NAME = "link"

static constexpr std::string_view	MATERIAL_ELEMENT_NAME = "material"

static constexpr std::string_view	MESH_ELEMENT_NAME = "mesh"

static constexpr std::string_view	MIMIC_ELEMENT_NAME = "mimic"

static constexpr std::string_view	OCTOMAP_ELEMENT_NAME = "tesseract:octomap"

static constexpr std::string_view	OCTREE_ELEMENT_NAME = "tesseract:octree"

static constexpr std::string_view	ORIGIN_ELEMENT_NAME = "origin"

static constexpr std::string_view	POINT_CLOUD_ELEMENT_NAME = "tesseract:point_cloud"

static constexpr std::string_view	SAFETY_CONTROLLER_ELEMENT_NAME = "safety_controller"

static constexpr std::string_view	SDF_MESH_ELEMENT_NAME = "tesseract:sdf_mesh"

static constexpr std::string_view	SPHERE_ELEMENT_NAME = "sphere"

static constexpr std::string_view	VISUAL_ELEMENT_NAME = "visual"

Function Documentation

◆ makeURDFFilePath()

std::string tesseract_urdf::makeURDFFilePath	(	const std::string &	package_path,
		const std::string &	filename
	)

Definition at line 55 of file utils.cpp.

◆ noLeadingSlash()

std::string tesseract_urdf::noLeadingSlash ( const std::string & filename )

Definition at line 45 of file utils.cpp.

◆ noTrailingSlash()

std::string tesseract_urdf::noTrailingSlash ( const std::string & path )

Definition at line 35 of file utils.cpp.

◆ parseBox()

tesseract_geometry::Box::Ptr tesseract_urdf::parseBox ( const tinyxml2::XMLElement * xml_element )

Parse a xml box element.

Parameters

xml_element The xml element

Returns: Tesseract Geometry Box

Definition at line 41 of file box.cpp.

◆ parseCalibration()

tesseract_scene_graph::JointCalibration::Ptr tesseract_urdf::parseCalibration ( const tinyxml2::XMLElement * xml_element )

Parse a xml calibration element.

Parameters

xml_element The xml element

Returns: Tesseract JointCalibration

Definition at line 41 of file calibration.cpp.

◆ parseCapsule()

tesseract_geometry::Capsule::Ptr tesseract_urdf::parseCapsule ( const tinyxml2::XMLElement * xml_element )

Parse a xml capsule element.

Parameters

xml_element The xml element

Returns: Tesseract Geometry Capsule

Definition at line 40 of file capsule.cpp.

◆ parseCollision()

tesseract_scene_graph::Collision::Ptr tesseract_urdf::parseCollision	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		bool	make_convex_meshes
	)

Parse xml element collision.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
make_convex_meshes	Flag to indicate if the meshes should be converted to convex hulls

Returns: A Collision object

Definition at line 45 of file collision.cpp.

◆ parseCone()

tesseract_geometry::Cone::Ptr tesseract_urdf::parseCone ( const tinyxml2::XMLElement * xml_element )

Parse a xml cone element.

Parameters

xml_element The xml element

Returns: Tesseract Geometry Cone

Definition at line 40 of file cone.cpp.

◆ parseCylinder()

tesseract_geometry::Cylinder::Ptr tesseract_urdf::parseCylinder ( const tinyxml2::XMLElement * xml_element )

Parse a xml cylinder element.

Parameters

xml_element The xml element

Returns: Tesseract Geometry Cylinder

Definition at line 40 of file cylinder.cpp.

◆ parseDynamics()

tesseract_scene_graph::JointDynamics::Ptr tesseract_urdf::parseDynamics ( const tinyxml2::XMLElement * xml_element )

Parse a xml dynamics element.

Parameters

xml_element The xml element

Returns: Tesseract JointDynamics

Definition at line 41 of file dynamics.cpp.

◆ parseGeometry()

tesseract_geometry::Geometry::Ptr tesseract_urdf::parseGeometry	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		bool	visual,
		bool	make_convex_meshes
	)

Parse xml element geometry.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
visual	Indicate if visual
make_convex_meshes	Flag to indicate if the meshes should be converted to convex hulls

Returns: A Tesseract Geometry

Definition at line 51 of file geometry.cpp.

◆ parseInertial()

tesseract_scene_graph::Inertial::Ptr tesseract_urdf::parseInertial ( const tinyxml2::XMLElement * xml_element )

Parse xml element inertial.

Parameters

xml_element	The xml element
version	The version number

Returns: A Tesseract Inertial

Definition at line 41 of file inertial.cpp.

◆ parseJoint()

tesseract_scene_graph::Joint::Ptr tesseract_urdf::parseJoint ( const tinyxml2::XMLElement * xml_element )

Parse xml element joint.

Parameters

xml_element	The xml element
version	The version number

Returns: A Tesseract Joint

Definition at line 48 of file joint.cpp.

◆ parseLimits()

tesseract_scene_graph::JointLimits::Ptr tesseract_urdf::parseLimits ( const tinyxml2::XMLElement * xml_element )

Parse xml element limits.

Parameters

xml_element	The xml element
version	The version number

Returns: A Tesseract JointLimits

Definition at line 41 of file limits.cpp.

◆ parseLink() [1/2]

std::shared_ptr<tesseract_scene_graph::Link> tesseract_urdf::parseLink	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		bool	make_convex_meshes,
		std::unordered_map< std::string, std::shared_ptr< tesseract_scene_graph::Material >> &	available_materials
	)

Parse xml element link.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
available_materials	The current available materials
make_convex_meshes	Flag to indicate if the meshes should be converted to convex hulls

Returns: A Tesseract Link

◆ parseLink() [2/2]

tesseract_scene_graph::Link::Ptr tesseract_urdf::parseLink	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		bool	make_convex_meshes,
		std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &	available_materials
	)

Definition at line 47 of file link.cpp.

◆ parseMaterial() [1/2]

std::shared_ptr<tesseract_scene_graph::Material> tesseract_urdf::parseMaterial	(	const tinyxml2::XMLElement *	xml_element,
		std::unordered_map< std::string, std::shared_ptr< tesseract_scene_graph::Material >> &	available_materials,
		bool	allow_anonymous
	)

Parse xml element material.

Parameters

xml_element	The xml element
available_materials	The current available materials
allow_anonymous	Indicate if anonymouse materials are allowed
version	The version number

Returns: A Tesseract Material

◆ parseMaterial() [2/2]

tesseract_scene_graph::Material::Ptr tesseract_urdf::parseMaterial	(	const tinyxml2::XMLElement *	xml_element,
		std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &	available_materials,
		bool	allow_anonymous
	)

Definition at line 45 of file material.cpp.

◆ parseMesh()

std::vector< tesseract_geometry::PolygonMesh::Ptr > tesseract_urdf::parseMesh	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		bool	visual,
		bool	make_convex
	)

Parse xml element mesh.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
visual	Indicate if visual
make_convex	Flag to indicate if the mesh should be converted to a convex hull

Returns: A vector of Tesseract Meshes

Definition at line 47 of file mesh.cpp.

◆ parseMimic()

tesseract_scene_graph::JointMimic::Ptr tesseract_urdf::parseMimic ( const tinyxml2::XMLElement * xml_element )

Parse xml element mimic.

Parameters

xml_element	The xml element
version	The version number

Returns: A Tesseract JointMimic

Definition at line 42 of file mimic.cpp.

◆ parseOctomap()

tesseract_geometry::Octree::Ptr tesseract_urdf::parseOctomap	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		bool	visual
	)

Parse xml element octomap.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
visual	Indicate if visual
version	The version number

Returns: A Tesseract Geometry Octree

Definition at line 47 of file octomap.cpp.

◆ parseOctree()

tesseract_geometry::Octree::Ptr tesseract_urdf::parseOctree	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		tesseract_geometry::OctreeSubType	shape_type,
		bool	prune
	)

Parse xml element octree.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
shape_type	The collision/visual shape type to use
prune	Indicate if the octree should be pruned

Returns: A Tesseract Geometry Octree

Definition at line 45 of file octree.cpp.

◆ parseOrigin()

Eigen::Isometry3d tesseract_urdf::parseOrigin ( const tinyxml2::XMLElement * xml_element )

Parse xml element origin.

Parameters

xml_element	The xml element
version	The version number

Returns: A Eigen::Isometry3d

Definition at line 42 of file origin.cpp.

◆ parsePointCloud()

tesseract_geometry::Octree::Ptr tesseract_urdf::parsePointCloud	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		tesseract_geometry::OctreeSubType	shape_type,
		bool	prune
	)

Parse xml element point_cloud.

Parameters

xml_element	The xml element
locator	The Tesseract locator
shape_type	The collision/visual geometry to use
prune	Indicate if the octree should be pruned
version	The version number

Returns: A Tesseract Geometry Octree

Definition at line 45 of file point_cloud.cpp.

◆ parseSafetyController()

tesseract_scene_graph::JointSafety::Ptr tesseract_urdf::parseSafetyController ( const tinyxml2::XMLElement * xml_element )

Parse xml element safety_controller.

Parameters

xml_element	The xml element
version	The version number

Returns: A Tesseract JointSafety

Definition at line 41 of file safety_controller.cpp.

◆ parseSDFMesh()

std::vector< tesseract_geometry::SDFMesh::Ptr > tesseract_urdf::parseSDFMesh	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		bool	visual
	)

Parse xml element sdf_mesh.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
visual	Indicate if visual
version	The version number

Returns: A vector of Tesseract SDFMeshes

Definition at line 46 of file sdf_mesh.cpp.

◆ parseSphere()

tesseract_geometry::Sphere::Ptr tesseract_urdf::parseSphere ( const tinyxml2::XMLElement * xml_element )

Parse a xml sphere element.

Parameters

xml_element The xml element

Returns: Tesseract Geometry Sphere

Definition at line 40 of file sphere.cpp.

◆ parseURDFFile()

std::unique_ptr< tesseract_scene_graph::SceneGraph > tesseract_urdf::parseURDFFile	(	const std::string &	path,
		const tesseract_common::ResourceLocator &	locator
	)

Parse a URDF file into a Tesseract Scene Graph.

Parameters

URDF	file path
The	resource locator function

Exceptions

std::nested_exception Thrown if error occurs during parsing. Use printNestedException to print contents of the nested exception.

Returns: Tesseract Scene Graph, nullptr if failed to parse URDF

Definition at line 197 of file urdf_parser.cpp.

◆ parseURDFString()

std::unique_ptr< tesseract_scene_graph::SceneGraph > tesseract_urdf::parseURDFString	(	const std::string &	urdf_xml_string,
		const tesseract_common::ResourceLocator &	locator
	)

Parse a URDF string into a Tesseract Scene Graph.

Parameters

urdf_xml_string	URDF xml string
locator	The resource locator function

Exceptions

std::nested_exception Thrown if error occurs during parsing. Use printNestedException to print contents of the nested exception.

Returns: Tesseract Scene Graph, nullptr if failed to parse URDF

Definition at line 53 of file urdf_parser.cpp.

◆ parseVisual() [1/2]

std::shared_ptr<tesseract_scene_graph::Visual> tesseract_urdf::parseVisual	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		std::unordered_map< std::string, std::shared_ptr< tesseract_scene_graph::Material >> &	available_materials
	)

Parse xml element visual.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator

Returns: A Visual object

◆ parseVisual() [2/2]

tesseract_scene_graph::Visual::Ptr tesseract_urdf::parseVisual	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &	available_materials
	)

Definition at line 47 of file visual.cpp.

◆ toString()

std::string tesseract_urdf::toString	(	const double &	float_value,
		int	precision = `3`
	)

Definition at line 12 of file utils.cpp.

◆ trailingSlash()

std::string tesseract_urdf::trailingSlash ( const std::string & path )

Definition at line 20 of file utils.cpp.

◆ writeBox()

tinyxml2::XMLElement * tesseract_urdf::writeBox	(	const std::shared_ptr< const tesseract_geometry::Box > &	box,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 70 of file box.cpp.

◆ writeCalibration()

tinyxml2::XMLElement * tesseract_urdf::writeCalibration	(	const std::shared_ptr< const tesseract_scene_graph::JointCalibration > &	calibration,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 66 of file calibration.cpp.

◆ writeCapsule()

tinyxml2::XMLElement * tesseract_urdf::writeCapsule	(	const std::shared_ptr< const tesseract_geometry::Capsule > &	capsule,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 52 of file capsule.cpp.

◆ writeCollision()

tinyxml2::XMLElement * tesseract_urdf::writeCollision	(	const std::shared_ptr< const tesseract_scene_graph::Collision > &	collision,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	link_name,
		int	id = `-1`
	)

writeCollision Write collision object to URDF XML

Parameters

collision	Collision object to be written
doc	XML Document to which XML will belong
package_path	/<path>/<to>/<your-package>. If set, geometry will be saved relative to the package. If not set, geometry will be saved with absolute paths.
link_name	Name of link to which collision object is attached
id	If set, this ID will be appended to the geometry name for saving to distinguish between multiple collision geometries on the same link.

Returns: An XML element representing the collision object in URDF format.

Definition at line 90 of file collision.cpp.

◆ writeCone()

tinyxml2::XMLElement * tesseract_urdf::writeCone	(	const std::shared_ptr< const tesseract_geometry::Cone > &	cone,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 52 of file cone.cpp.

◆ writeCylinder()

tinyxml2::XMLElement * tesseract_urdf::writeCylinder	(	const std::shared_ptr< const tesseract_geometry::Cylinder > &	cylinder,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 52 of file cylinder.cpp.

◆ writeDynamics()

tinyxml2::XMLElement * tesseract_urdf::writeDynamics	(	const std::shared_ptr< const tesseract_scene_graph::JointDynamics > &	dynamics,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 66 of file dynamics.cpp.

◆ writeGeometry()

tinyxml2::XMLElement * tesseract_urdf::writeGeometry	(	const std::shared_ptr< const tesseract_geometry::Geometry > &	geometry,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeGeometry Write geometry to URDF XML

Parameters

geometry	Geometry to be written
doc	XML Document to which xml will belong
package_path	/<path>/<to>/<your-package>. If set, geometry will be saved relative to the package. If not set, geometry will be saved with absolute paths.
filename	The desired filename. The extension will be added according to geometry type. If package_path is set, this should be relative to the package (e.g. "collision/link1_geometry"). If package_path is not set, this should be an absolute path (e.g. "/tmp/link1_geometry")

Returns: xml element representing the geometry in URDF format.

Definition at line 196 of file geometry.cpp.

◆ writeInertial()

tinyxml2::XMLElement * tesseract_urdf::writeInertial	(	const std::shared_ptr< const tesseract_scene_graph::Inertial > &	inertial,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 89 of file inertial.cpp.

◆ writeJoint()

tinyxml2::XMLElement * tesseract_urdf::writeJoint	(	const std::shared_ptr< const tesseract_scene_graph::Joint > &	joint,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 233 of file joint.cpp.

◆ writeLimits()

tinyxml2::XMLElement * tesseract_urdf::writeLimits	(	const std::shared_ptr< const tesseract_scene_graph::JointLimits > &	limits,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 74 of file limits.cpp.

◆ writeLink()

tinyxml2::XMLElement * tesseract_urdf::writeLink	(	const std::shared_ptr< const tesseract_scene_graph::Link > &	link,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path
	)

writeLink Write a link to URDF XML

Parameters

link	Link object to be written
doc	XML Document to which element will belong
package_path	/<path>/<to>/<your-package>. If set, geometry will be saved relative to the package. If not set, geometry will be saved with absolute paths.

Returns: XML element representing link in URDF format

Definition at line 111 of file link.cpp.

◆ writeMaterial()

tinyxml2::XMLElement * tesseract_urdf::writeMaterial	(	const std::shared_ptr< const tesseract_scene_graph::Material > &	material,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 124 of file material.cpp.

◆ writeMesh()

tinyxml2::XMLElement * tesseract_urdf::writeMesh	(	const std::shared_ptr< const tesseract_geometry::PolygonMesh > &	mesh,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeMesh Write a mesh to URDF XML and PLY file

Parameters

mesh	Mesh to be saved out and described in XML
doc	XML Document to manage generated XML
package_path	/<path>/<to>/<your-package>. If set, geometry will be saved relative to the package. If not set, geometry will be saved with absolute paths.
filename	Desired file location. If package_path is set, this should be relative to the package, If not, this should be an absolute path

Returns: XML element representing the mesh object in URDF format.

Definition at line 131 of file mesh.cpp.

◆ writeMeshToFile()

void tesseract_urdf::writeMeshToFile	(	const std::shared_ptr< const tesseract_geometry::PolygonMesh > &	mesh,
		const std::string &	filepath
	)

Definition at line 140 of file utils.cpp.

◆ writeMimic()

tinyxml2::XMLElement * tesseract_urdf::writeMimic	(	const std::shared_ptr< const tesseract_scene_graph::JointMimic > &	mimic,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 66 of file mimic.cpp.

◆ writeOctomap()

tinyxml2::XMLElement * tesseract_urdf::writeOctomap	(	const std::shared_ptr< const tesseract_geometry::Octree > &	octree,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeOctomap Write octomap to URDF XML. This is non-standard URDF / tesseract-exclusive

Parameters

octree	Octomap to be written to XML
doc	XML document to manage generated xml
package_path	/<path>/<to>/<your-package>. If set, geometry will be saved relative to the package. If not set, geometry will be saved with absolute paths.
filename	Desired file location. If package_path is set, this should be relative to the package. Otherwise, this should be an absolute path.

Returns: XML element representing the octomap object in URDF Format

Definition at line 101 of file octomap.cpp.

◆ writeOctree() [1/2]

tinyxml2::XMLElement* tesseract_urdf::writeOctree	(	const std::shared_ptr< const tesseract_geometry::Octree > &	octree,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeOctree Write octree out to file, and generate appropriate xml

Parameters

octree	The geometry element containing octree data
doc	The XML document to which to add the xml data
package_path	/<path>/<to>/<your-package>. If set, geometry will be saved relative to the package. If not set, geometry will be saved with absolute paths.
filename	Desired filename relative to the working directory ("octree.ot" or "collision/octree.ot")

Returns: An XML element containing information on the saved file.

◆ writeOctree() [2/2]

tinyxml2::XMLElement* tesseract_urdf::writeOctree	(	const tesseract_geometry::Octree::ConstPtr &	octree,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

Definition at line 73 of file octree.cpp.

◆ writeOrigin()

tinyxml2::XMLElement * tesseract_urdf::writeOrigin	(	const Eigen::Isometry3d &	origin,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 129 of file origin.cpp.

◆ writeSafetyController()

tinyxml2::XMLElement * tesseract_urdf::writeSafetyController	(	const std::shared_ptr< const tesseract_scene_graph::JointSafety > &	safety,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 76 of file safety_controller.cpp.

◆ writeSDFMesh()

tinyxml2::XMLElement * tesseract_urdf::writeSDFMesh	(	const std::shared_ptr< const tesseract_geometry::SDFMesh > &	sdf_mesh,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeSDFMesh Write SDF Mesh to URDF XML. This is non-standard URDF / tesseract-exclusive

Parameters

sdf_mesh	Mesh to be written
doc	XML Document to manage generated XML
package_path	/<path>/<to>/<your-package>. If set, geometry will be saved relative to the package. If not set, geometry will be saved with absolute paths.
filename	Desired file location. If package_path is set, this should be relative to the package. Otherwise, this should be an absolute path

Returns: XML element representing the sdf mesh object in URDF format

Definition at line 96 of file sdf_mesh.cpp.

◆ writeSphere()

tinyxml2::XMLElement * tesseract_urdf::writeSphere	(	const std::shared_ptr< const tesseract_geometry::Sphere > &	sphere,
		tinyxml2::XMLDocument &	doc
	)

Definition at line 49 of file sphere.cpp.

◆ writeURDFFile()

void tesseract_urdf::writeURDFFile	(	const std::shared_ptr< const tesseract_scene_graph::SceneGraph > &	sg,
		const std::string &	package_path,
		const std::string &	urdf_name = `""`
	)

Definition at line 218 of file urdf_parser.cpp.

◆ writeVisual()

tinyxml2::XMLElement * tesseract_urdf::writeVisual	(	const std::shared_ptr< const tesseract_scene_graph::Visual > &	visual,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	link_name,
		int	id = `-1`
	)

writeVisual Write one visual geometry object to URDF XML

Parameters

visual	Visual object to be written
doc	XML Document to which XML will belong
package_path	/<path>/<to>/<your-package>. If set, geometry will be saved relative to the package. If not set, geometry will be saved with absolute paths.
link_name	Name of link to which collision object is attached
id	If set, this ID will be appended to the geometry name for distinguishing between multiple geometries on the same link.

Returns: An XML element representing the collision object in URDF format.

Definition at line 110 of file visual.cpp.

Variable Documentation

◆ BOX_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::BOX_ELEMENT_NAME = "box"

staticconstexpr

Definition at line 45 of file box.h.

◆ CALIBRATION_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::CALIBRATION_ELEMENT_NAME = "calibration"

staticconstexpr

Definition at line 45 of file calibration.h.

◆ CAPSULE_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::CAPSULE_ELEMENT_NAME = "tesseract:capsule"

staticconstexpr

Definition at line 45 of file capsule.h.

◆ COLLISION_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::COLLISION_ELEMENT_NAME = "collision"

staticconstexpr

Definition at line 46 of file collision.h.

◆ CONE_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::CONE_ELEMENT_NAME = "tesseract:cone"

staticconstexpr

Definition at line 45 of file cone.h.

◆ CYLINDER_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::CYLINDER_ELEMENT_NAME = "cylinder"

staticconstexpr

Definition at line 45 of file cylinder.h.

◆ DYNAMICS_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::DYNAMICS_ELEMENT_NAME = "dynamics"

staticconstexpr

Definition at line 45 of file dynamics.h.

◆ GEOMETRY_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::GEOMETRY_ELEMENT_NAME = "geometry"

staticconstexpr

Definition at line 46 of file geometry.h.

◆ INERTIAL_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::INERTIAL_ELEMENT_NAME = "inertial"

staticconstexpr

Definition at line 45 of file inertial.h.

◆ JOINT_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::JOINT_ELEMENT_NAME = "joint"

staticconstexpr

Definition at line 45 of file joint.h.

◆ LIMITS_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::LIMITS_ELEMENT_NAME = "limit"

staticconstexpr

Definition at line 45 of file limits.h.

◆ LINK_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::LINK_ELEMENT_NAME = "link"

staticconstexpr

Definition at line 47 of file link.h.

◆ MATERIAL_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::MATERIAL_ELEMENT_NAME = "material"

staticconstexpr

Definition at line 46 of file material.h.

◆ MESH_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::MESH_ELEMENT_NAME = "mesh"

staticconstexpr

Definition at line 47 of file mesh.h.

◆ MIMIC_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::MIMIC_ELEMENT_NAME = "mimic"

staticconstexpr

Definition at line 45 of file mimic.h.

◆ OCTOMAP_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::OCTOMAP_ELEMENT_NAME = "tesseract:octomap"

staticconstexpr

Definition at line 46 of file octomap.h.

◆ OCTREE_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::OCTREE_ELEMENT_NAME = "tesseract:octree"

staticconstexpr

Definition at line 46 of file octree.h.

◆ ORIGIN_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::ORIGIN_ELEMENT_NAME = "origin"

staticconstexpr

Definition at line 43 of file origin.h.

◆ POINT_CLOUD_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::POINT_CLOUD_ELEMENT_NAME = "tesseract:point_cloud"

staticconstexpr

Definition at line 46 of file point_cloud.h.

◆ SAFETY_CONTROLLER_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::SAFETY_CONTROLLER_ELEMENT_NAME = "safety_controller"

staticconstexpr

Definition at line 45 of file safety_controller.h.

◆ SDF_MESH_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::SDF_MESH_ELEMENT_NAME = "tesseract:sdf_mesh"

staticconstexpr

Definition at line 46 of file sdf_mesh.h.

◆ SPHERE_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::SPHERE_ELEMENT_NAME = "sphere"

staticconstexpr

Definition at line 45 of file sphere.h.

◆ VISUAL_ELEMENT_NAME

constexpr std::string_view tesseract_urdf::VISUAL_ELEMENT_NAME = "visual"

staticconstexpr

Definition at line 47 of file visual.h.

Functions

Variables

Function Documentation

◆ makeURDFFilePath()

◆ noLeadingSlash()

◆ noTrailingSlash()

◆ parseBox()

◆ parseCalibration()

◆ parseCapsule()

◆ parseCollision()

◆ parseCone()

◆ parseCylinder()

◆ parseDynamics()

◆ parseGeometry()

◆ parseInertial()

◆ parseJoint()

◆ parseLimits()

◆ parseLink() [1/2]

◆ parseLink() [2/2]

◆ parseMaterial() [1/2]

◆ parseMaterial() [2/2]

◆ parseMesh()

◆ parseMimic()

◆ parseOctomap()

◆ parseOctree()

◆ parseOrigin()

◆ parsePointCloud()

◆ parseSafetyController()

◆ parseSDFMesh()

◆ parseSphere()

◆ parseURDFFile()

◆ parseURDFString()

◆ parseVisual() [1/2]

◆ parseVisual() [2/2]

◆ toString()

◆ trailingSlash()

◆ writeBox()

◆ writeCalibration()

◆ writeCapsule()

◆ writeCollision()

◆ writeCone()

◆ writeCylinder()

◆ writeDynamics()

◆ writeGeometry()

◆ writeInertial()

◆ writeJoint()

◆ writeLimits()

◆ writeLink()

◆ writeMaterial()

◆ writeMesh()

◆ writeMeshToFile()

◆ writeMimic()

◆ writeOctomap()

◆ writeOctree() [1/2]

◆ writeOctree() [2/2]

◆ writeOrigin()

◆ writeSafetyController()

◆ writeSDFMesh()

◆ writeSphere()

◆ writeURDFFile()

◆ writeVisual()

Variable Documentation

◆ BOX_ELEMENT_NAME

◆ CALIBRATION_ELEMENT_NAME

◆ CAPSULE_ELEMENT_NAME

◆ COLLISION_ELEMENT_NAME

◆ CONE_ELEMENT_NAME

◆ CYLINDER_ELEMENT_NAME

◆ DYNAMICS_ELEMENT_NAME

◆ GEOMETRY_ELEMENT_NAME

◆ INERTIAL_ELEMENT_NAME

◆ JOINT_ELEMENT_NAME

◆ LIMITS_ELEMENT_NAME

◆ LINK_ELEMENT_NAME

◆ MATERIAL_ELEMENT_NAME

◆ MESH_ELEMENT_NAME

◆ MIMIC_ELEMENT_NAME

◆ OCTOMAP_ELEMENT_NAME

◆ OCTREE_ELEMENT_NAME

◆ ORIGIN_ELEMENT_NAME