URDF parsing. More...

Enumerations
enum	CartesianAxis { AXIS_X =0, AXIS_Y =1, AXIS_Z =2, AXIS_UNALIGNED }
	The four possible cartesian types of an 3D axis.

Functions
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const GeometryType type, GeometryModel &geomModel, const std::vector< std::string > &packageDirs=std::vector< std::string >(),::hpp::fcl::MeshLoaderPtr meshLoader=::hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const GeometryType type, GeometryModel &geomModel, const std::string &packageDir, hpp::fcl::MeshLoaderPtr meshLoader=hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::istream &xmlStream, const GeometryType type, GeometryModel &geomModel, const std::vector< std::string > &packageDirs=std::vector< std::string >(), hpp::fcl::MeshLoaderPtr meshLoader=hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::istream &xmlStream, const GeometryType type, GeometryModel &geomModel, const std::string &packageDir, hpp::fcl::MeshLoaderPtr meshLoader=hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::string &filename, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF file with a particular joint as root of the model tree inside the model given as reference argument. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::string &filename, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF file with a fixed joint as root of the model tree. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const ::urdf::ModelInterfaceSharedPtr &urdfTree, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF model with a particular joint as root of the model tree inside the model given as reference argument. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const ::urdf::ModelInterfaceSharedPtr &urdfTree, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a URDF model. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xmlStream, const JointModelVariant &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from an XML stream with a particular joint as root of the model tree inside the model given as reference argument. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xmlStream, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from an XML stream. More...

Inertia	convertFromUrdf (const ::urdf::Inertial &Y)
	Convert URDF Inertial quantity to Spatial Inertia. More...

SE3	convertFromUrdf (const ::urdf::Pose &M)
	Convert URDF Pose quantity to SE3. More...

CartesianAxis	extractCartesianAxis (const ::urdf::Vector3 &axis)
	Extract the cartesian property of a particular 3D axis. More...

Detailed Description

URDF parsing.

Function Documentation

GeometryModel& pinocchio::urdf::buildGeom	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::string &	filename,
		const GeometryType	type,
		GeometryModel &	geomModel,
		const std::vector< std::string > &	packageDirs = `std::vector< std::string >()`,
		::hpp::fcl::MeshLoaderPtr	meshLoader = `::hpp::fcl::MeshLoaderPtr()`
	)

Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Parameters

[in]	model	The model of the robot, built with urdf::buildModel
[in]	filename	The URDF complete (absolute) file path
[in]	packageDirs	A vector containing the different directories where to search for models and meshes, typically obtained from calling pinocchio::rosPaths()
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	meshLoader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geomModel	Reference where to put the parsed information.

Returns: Returns the reference on geom model for convenience.

Warning: If hpp-fcl has not been found during compilation, COLLISION objects can not be loaded

Referenced by buildGeom().

GeometryModel& pinocchio::urdf::buildGeom	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::string &	filename,
		const GeometryType	type,
		GeometryModel &	geomModel,
		const std::string &	packageDir,
		hpp::fcl::MeshLoaderPtr	meshLoader = `hpp::fcl::MeshLoaderPtr()`
	)

Build The GeometryModel from a URDF file. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Parameters

[in]	model	The model of the robot, built with urdf::buildModel
[in]	filename	The URDF complete (absolute) file path
[in]	packageDir	A string containing the path to the directories of the meshes, typically obtained from calling pinocchio::rosPaths().
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	meshLoader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geomModel	Reference where to put the parsed information.

Returns: Returns the reference on geom model for convenience.

Warning: If hpp-fcl has not been found during compilation, COLLISION objects can not be loaded

Definition at line 182 of file urdf.hpp.

References buildGeom().

GeometryModel& pinocchio::urdf::buildGeom	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::istream &	xmlStream,
		const GeometryType	type,
		GeometryModel &	geomModel,
		const std::vector< std::string > &	packageDirs = `std::vector< std::string >()`,
		hpp::fcl::MeshLoaderPtr	meshLoader = `hpp::fcl::MeshLoaderPtr()`
	)

Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Parameters

[in]	model	The model of the robot, built with urdf::buildModel
[in]	xmlStream	Stream containing the URDF model
[in]	packageDirs	A vector containing the different directories where to search for models and meshes, typically obtained from calling pinocchio::rosPaths()
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	meshLoader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geomModel	Reference where to put the parsed information.

Returns: Returns the reference on geom model for convenience.

Warning: If hpp-fcl has not been found during compilation, COLLISION objects cannot be loaded

GeometryModel& pinocchio::urdf::buildGeom	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::istream &	xmlStream,
		const GeometryType	type,
		GeometryModel &	geomModel,
		const std::string &	packageDir,
		hpp::fcl::MeshLoaderPtr	meshLoader = `hpp::fcl::MeshLoaderPtr()`
	)

Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user first and then in the environment variable ROS_PACKAGE_PATH.

Parameters

[in]	model	The model of the robot, built with urdf::buildModel
[in]	xmlStream	Stream containing the URDF model
[in]	packageDir	A string containing the path to the directories of the meshes, typically obtained from calling pinocchio::rosPaths().
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	meshLoader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geomModel	Reference where to put the parsed information.

Returns: Returns the reference on geom model for convenience.

Warning: If hpp-fcl has not been found during compilation, COLLISION objects cannot be loaded

Definition at line 244 of file urdf.hpp.

ModelTpl<Scalar,Options,JointCollectionTpl>& pinocchio::urdf::buildModel	(	const std::string &	filename,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = `false`
	)

Build the model from a URDF file with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	filemane	The URDF complete file path.
[in]	rootJoint	The joint at the root of the model tree.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns: Return the reference on argument model for convenience.

ModelTpl<Scalar,Options,JointCollectionTpl>& pinocchio::urdf::buildModel	(	const std::string &	filename,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = `false`
	)

Build the model from a URDF file with a fixed joint as root of the model tree.

Parameters

[in]	filemane	The URDF complete file path.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns: Return the reference on argument model for convenience.

ModelTpl<Scalar,Options,JointCollectionTpl>& pinocchio::urdf::buildModel	(	const ::urdf::ModelInterfaceSharedPtr &	urdfTree,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = `false`
	)

Build the model from a URDF model with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	urdfTree	the tree build from the URDF
[in]	rootJoint	The joint at the root of the model tree.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns: Return the reference on argument model for convenience.

Note: urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

ModelTpl<Scalar,Options,JointCollectionTpl>& pinocchio::urdf::buildModel	(	const ::urdf::ModelInterfaceSharedPtr &	urdfTree,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = `false`
	)

Build the model from a URDF model.

Parameters

[in]	urdfTree	the tree build from the URDF
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns: Return the reference on argument model for convenience.

Note: urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

ModelTpl<Scalar,Options,JointCollectionTpl>& pinocchio::urdf::buildModelFromXML	(	const std::string &	xmlStream,
		const JointModelVariant &	rootJoint,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = `false`
	)

Build the model from an XML stream with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	xmlStream	stream containing the URDF model.
[in]	rootJoint	The joint at the root of the model tree.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns: Return the reference on argument model for convenience.

Note: urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

ModelTpl<Scalar,Options,JointCollectionTpl>& pinocchio::urdf::buildModelFromXML	(	const std::string &	xmlStream,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = `false`
	)

Build the model from an XML stream.

Parameters

[in]	xmlStream	stream containing the URDF model.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns: Return the reference on argument model for convenience.

Note: urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

Inertia pinocchio::urdf::convertFromUrdf ( const ::urdf::Inertial & Y )

inline

Convert URDF Inertial quantity to Spatial Inertia.

Parameters

[in] Y The input URDF Inertia.

Returns: The converted Spatial Inertia pinocchio::Inertia.

Definition at line 25 of file urdf/utils.hpp.

SE3 pinocchio::urdf::convertFromUrdf ( const ::urdf::Pose & M )

inline

Convert URDF Pose quantity to SE3.

Parameters

[in] M The input URDF Pose.

Returns: The converted pose/transform pinocchio::SE3.

Definition at line 47 of file urdf/utils.hpp.

CartesianAxis pinocchio::urdf::extractCartesianAxis ( const ::urdf::Vector3 & axis )

inline

Extract the cartesian property of a particular 3D axis.

Parameters

[in] axis The input URDF axis.

Returns: The property of the particular axis pinocchio::urdf::CartesianAxis.

Definition at line 66 of file urdf/utils.hpp.

Enumerations

Functions

Detailed Description

Function Documentation