Parse an URDF file and return a CjrlHumanoidDynamicRobot. More...

#include <jrl/dynamics/urdf/parser.hh>

Public Types
typedef boost::shared_ptr < ::urdf::Link >	UrdfLinkPtrType

typedef boost::shared_ptr < ::urdf::Joint >	UrdfJointPtrType

typedef boost::shared_ptr < ::urdf::JointLimits >	UrdfJointLimitsPtrType

typedef boost::shared_ptr < const ::urdf::Link >	UrdfLinkConstPtrType

typedef boost::shared_ptr < const ::urdf::Joint >	UrdfJointConstPtrType

typedef CjrlJoint *	JointPtrType

typedef CjrlBody *	BodyPtrType

typedef CjrlHand *	HandPtrType

typedef CjrlFoot *	FootPtrType

typedef std::map< std::string, JointPtrType >	MapJrlJoint
	Map of abstract robot dynamics compatible joints. More...

typedef std::map< std::string, UrdfJointPtrType >	MapJointType
	Map of URDF joints. More...

Public Member Functions
	Parser ()
	Default constructor, do nothing. More...

virtual	~Parser ()
	Destructor. More...

boost::shared_ptr < ::urdf::ModelInterface >	urdfModel () const
	Get parsed URDF model. More...

MapJrlJoint	mapJrlJoint () const
	Get map of created abstract robot dynamics compatible joints. More...

CjrlHumanoidDynamicRobot *	parse (const std::string &resourceName)
	Parse an URDF file and return a humanoid robot. More...

CjrlHumanoidDynamicRobot *	parseStream (const std::string &robotDescription)
	Parse an URDF sent as a stream and return a humanoid robot. More...

void	specifyREPName (const std::string &link, const std::string &repName)
	Maps link names. More...

Public Attributes
XmlRpc::XmlRpcValue	JointsNamesByRank_

Protected Member Functions
void	findSpecialJoints ()
	Find special joints using REP 120. More...

void	findSpecialJoint (const std::string &linkName, std::string &jointName)
	Retrieve joint name attached to a particular link. More...

void	parseJoints (const std::string rootJointName)
	Parse URDF model and get joints. More...

std::vector< CjrlJoint * >	actuatedJoints ()
	Get actuated joints. More...

void	connectJoints (CjrlJoint *rootJoint)
	Connect recursively joints to their children. More...

void	addBodiesToJoints ()
	Parse bodies and add them to joints. More...

void	getChildrenJoint (const std::string &jointName, std::vector< std::string > &result)

std::vector< std::string >	getChildrenJoint (const std::string &jointName)

matrix4d	getPoseInReferenceFrame (const std::string &referenceJoint, const std::string &currentJoint)

matrix4d	poseToMatrix (::urdf::Pose p)

vector3d	computeAnklePositionInLocalFrame (MapJrlJoint::const_iterator &foot, MapJrlJoint::const_iterator &ankle) const

void	computeHandsInformation (MapJrlJoint::const_iterator &hand, MapJrlJoint::const_iterator &wrist, vector3d &center, vector3d &thumbAxis, vector3d &foreFingerAxis, vector3d &palmNormal) const

void	fillHandsAndFeet ()

Detailed Description

Parse an URDF file and return a CjrlHumanoidDynamicRobot.

This class automatically reorient frames to match the abstact robot dynamics standard. I.e. rotation joints rotates along the X axis.

The humanoid robot bodies location are guessed by making the assumption that the draft REP "Coordinate Frames for Humanoids Robots" is respected. See https://github.com/laas/rep-coordinate-frames-for-biped-robots for more information. If this is not the case, the tree will exist but the pointers toward specific parts of the body will be null.

Implementation notes:

The robot data are stored as attributes and reset each time a robot is returned to the user through the parse method. Practically speaking, this class never desallocates robots nor joints. It is the user responsibility to do so.

Member Typedef Documentation

typedef CjrlBody* jrl::dynamics::urdf::Parser::BodyPtrType

typedef CjrlFoot* jrl::dynamics::urdf::Parser::FootPtrType

typedef CjrlHand* jrl::dynamics::urdf::Parser::HandPtrType

typedef CjrlJoint* jrl::dynamics::urdf::Parser::JointPtrType

typedef std::map<std::string, UrdfJointPtrType> jrl::dynamics::urdf::Parser::MapJointType

Map of URDF joints.

typedef std::map<std::string, JointPtrType> jrl::dynamics::urdf::Parser::MapJrlJoint

Map of abstract robot dynamics compatible joints.

typedef boost::shared_ptr<const ::urdf::Joint> jrl::dynamics::urdf::Parser::UrdfJointConstPtrType

typedef boost::shared_ptr< ::urdf::JointLimits> jrl::dynamics::urdf::Parser::UrdfJointLimitsPtrType

typedef boost::shared_ptr< ::urdf::Joint> jrl::dynamics::urdf::Parser::UrdfJointPtrType

typedef boost::shared_ptr<const ::urdf::Link> jrl::dynamics::urdf::Parser::UrdfLinkConstPtrType

typedef boost::shared_ptr< ::urdf::Link> jrl::dynamics::urdf::Parser::UrdfLinkPtrType

Constructor & Destructor Documentation

jrl::dynamics::urdf::Parser::Parser ( )

explicit

Default constructor, do nothing.

jrl::dynamics::urdf::Parser::~Parser ( )

virtual

Destructor.

Member Function Documentation

std::vector< CjrlJoint * > jrl::dynamics::urdf::Parser::actuatedJoints ( )

protected

Get actuated joints.

References jrl::dynamics::urdf::createJointList().

Referenced by parseStream().

void jrl::dynamics::urdf::Parser::addBodiesToJoints ( )

protected

Parse bodies and add them to joints.

Referenced by parseStream().

vector3d jrl::dynamics::urdf::Parser::computeAnklePositionInLocalFrame	(	MapJrlJoint::const_iterator &	foot,
		MapJrlJoint::const_iterator &	ankle
	)		const

protected

Referenced by fillHandsAndFeet().

void jrl::dynamics::urdf::Parser::computeHandsInformation	(	MapJrlJoint::const_iterator &	hand,
		MapJrlJoint::const_iterator &	wrist,
		vector3d &	center,
		vector3d &	thumbAxis,
		vector3d &	foreFingerAxis,
		vector3d &	palmNormal
	)		const

protected

Referenced by fillHandsAndFeet().

void jrl::dynamics::urdf::Parser::connectJoints ( CjrlJoint * rootJoint )

protected

Connect recursively joints to their children.

References getChildrenJoint().

Referenced by parseStream().

void jrl::dynamics::urdf::Parser::fillHandsAndFeet ( )

protected

References computeAnklePositionInLocalFrame(), and computeHandsInformation().

Referenced by parseStream().

void jrl::dynamics::urdf::Parser::findSpecialJoint	(	const std::string &	linkName,
		std::string &	jointName
	)

protected

Retrieve joint name attached to a particular link.

Referenced by findSpecialJoints().

void jrl::dynamics::urdf::Parser::findSpecialJoints ( )

protected

Find special joints using REP 120.

This is not direct as abstract-robot-dynamics needs joints where as REP 120 deals with frames/robot links. We have to use the REP naming standard to identify the links and then retrieve the attached joints name.

References findSpecialJoint().

Referenced by parseStream().

void jrl::dynamics::urdf::Parser::getChildrenJoint	(	const std::string &	jointName,
		std::vector< std::string > &	result
	)

protected

Referenced by connectJoints(), and getChildrenJoint().

std::vector< std::string > jrl::dynamics::urdf::Parser::getChildrenJoint ( const std::string & jointName )

protected

References getChildrenJoint().

matrix4d jrl::dynamics::urdf::Parser::getPoseInReferenceFrame	(	const std::string &	referenceJoint,
		const std::string &	currentJoint
	)

protected

References poseToMatrix().

Referenced by parseJoints().

Parser::MapJrlJoint jrl::dynamics::urdf::Parser::mapJrlJoint ( ) const

Get map of created abstract robot dynamics compatible joints.

CjrlHumanoidDynamicRobot * jrl::dynamics::urdf::Parser::parse ( const std::string & resourceName )

Parse an URDF file and return a humanoid robot.

The URDF file location must use the resource retriever format. For instance, the following strings are allowed:

See resource_retriever documentation for more information.

Parameters

resourceName resource name using the resource_retriever format.

References parseStream().

void jrl::dynamics::urdf::Parser::parseJoints ( const std::string rootJointName )

protected

Parse URDF model and get joints.

Each joint in the URDF model is used to build the corresponding CjrlJoint object.

References getPoseInReferenceFrame(), jrl::dynamics::urdf::makeJointAnchor(), jrl::dynamics::urdf::makeJointContinuous(), jrl::dynamics::urdf::makeJointFreeFlyer(), jrl::dynamics::urdf::makeJointRotation(), and jrl::dynamics::urdf::makeJointTranslation().

Referenced by parseStream().

CjrlHumanoidDynamicRobot * jrl::dynamics::urdf::Parser::parseStream ( const std::string & robotDescription )

Parse an URDF sent as a stream and return a humanoid robot.

References actuatedJoints(), addBodiesToJoints(), connectJoints(), fillHandsAndFeet(), jrl::dynamics::urdf::findJoint(), findSpecialJoints(), JointsNamesByRank_, matrix4dTo3d(), and parseJoints().

Referenced by parse().

matrix4d jrl::dynamics::urdf::Parser::poseToMatrix ( ::urdf::Pose p )

protected

Referenced by getPoseInReferenceFrame().

void jrl::dynamics::urdf::Parser::specifyREPName	(	const std::string &	link,
		const std::string &	repName
	)

Maps link names.

between parser internal specifications and actual robot names

boost::shared_ptr<::urdf::ModelInterface > jrl::dynamics::urdf::Parser::urdfModel ( ) const

Get parsed URDF model.

Member Data Documentation

XmlRpc::XmlRpcValue jrl::dynamics::urdf::Parser::JointsNamesByRank_

Referenced by parseStream().

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation