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hpp-pinocchio 6.0.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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Functions | |
| void | loadRobotModel (const DevicePtr_t &robot, const FrameIndex &baseFrame, const std::string &prefix, const std::string &rootJointType, const std::string &package, const std::string &modelName, const std::string &urdfSuffix, const std::string &srdfSuffix, const SE3 &bMr=SE3::Identity()) |
| void | loadRobotModel (const DevicePtr_t &robot, const std::string &rootJointType, const std::string &package, const std::string &modelName, const std::string &urdfSuffix, const std::string &srdfSuffix) |
| void | setupHumanoidRobot (const HumanoidRobotPtr_t &robot, const std::string &prefix="") |
| void | loadUrdfModel (const DevicePtr_t &robot, const FrameIndex &baseFrame, const std::string &prefix, const std::string &rootJointType, const std::string &package, const std::string &filename, const SE3 &bMr=SE3::Identity()) |
| void | loadUrdfModel (const DevicePtr_t &robot, const std::string &rootJointType, const std::string &package, const std::string &filename) |
| void | loadModel (const DevicePtr_t &robot, const FrameIndex &baseFrame, const std::string &prefix, const std::string &rootType, const std::string &urdfPath, const std::string &srdfPath, const SE3 &bMr=SE3::Identity()) |
| void | loadModelFromString (const DevicePtr_t &robot, const FrameIndex &baseFrame, const std::string &prefix, const std::string &rootType, const std::string &urdfString, const std::string &srdfString, const SE3 &bMr=SE3::Identity()) |
| void | loadSRDFModel (const DevicePtr_t &robot, std::string prefix, const std::string &srdfPath) |
| Read SRDF file. | |
| void | loadSRDFModelFromString (const DevicePtr_t &robot, std::string prefix, const std::string &srdfString) |
| Read SRDF string. | |
| void hpp::pinocchio::urdf::loadModel | ( | const DevicePtr_t & | robot, |
| const FrameIndex & | baseFrame, | ||
| const std::string & | prefix, | ||
| const std::string & | rootType, | ||
| const std::string & | urdfPath, | ||
| const std::string & | srdfPath, | ||
| const SE3 & | bMr = SE3::Identity() |
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| ) |
This is the base function which is called by the other function. It reads a URDF file, and optionnally a SRDF file, and build the robot.
| srdfPath | if empty, do not try to parse SRDF. |
| void hpp::pinocchio::urdf::loadModelFromString | ( | const DevicePtr_t & | robot, |
| const FrameIndex & | baseFrame, | ||
| const std::string & | prefix, | ||
| const std::string & | rootType, | ||
| const std::string & | urdfString, | ||
| const std::string & | srdfString, | ||
| const SE3 & | bMr = SE3::Identity() |
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| ) |
Read URDF and, optionnally SRDF, as XML string.
| srdfString | if empty, do not try to parse SRDF. |
| void hpp::pinocchio::urdf::loadRobotModel | ( | const DevicePtr_t & | robot, |
| const FrameIndex & | baseFrame, | ||
| const std::string & | prefix, | ||
| const std::string & | rootJointType, | ||
| const std::string & | package, | ||
| const std::string & | modelName, | ||
| const std::string & | urdfSuffix, | ||
| const std::string & | srdfSuffix, | ||
| const SE3 & | bMr = SE3::Identity() |
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| ) |
Load robot model by name
| robot | Empty robot created before calling the function. Users can pass an instance of a class deriving from Device. |
| baseFrame | frame to which the joint tree is added. |
| prefix | string to insert before all names (joint, link, body names) |
| rootJointType | type of root joint among "anchor", "freeflyer", "planar", |
| package | ros package containing the model |
| modelName | robot model name |
| urdfSuffix | suffix for urdf file |
| srdfSuffix | suffix for srdf file |
| bMr | position of the root joint of the new model in the base frame. |
package://${package}/urdf/${modelName}${urdfSuffix}.urdf package://${package}/srdf/${modelName}${srdfSuffix}.srdf | void hpp::pinocchio::urdf::loadRobotModel | ( | const DevicePtr_t & | robot, |
| const std::string & | rootJointType, | ||
| const std::string & | package, | ||
| const std::string & | modelName, | ||
| const std::string & | urdfSuffix, | ||
| const std::string & | srdfSuffix | ||
| ) |
| void hpp::pinocchio::urdf::loadSRDFModel | ( | const DevicePtr_t & | robot, |
| std::string | prefix, | ||
| const std::string & | srdfPath | ||
| ) |
Read SRDF file.
| void hpp::pinocchio::urdf::loadSRDFModelFromString | ( | const DevicePtr_t & | robot, |
| std::string | prefix, | ||
| const std::string & | srdfString | ||
| ) |
Read SRDF string.
| void hpp::pinocchio::urdf::loadUrdfModel | ( | const DevicePtr_t & | robot, |
| const FrameIndex & | baseFrame, | ||
| const std::string & | prefix, | ||
| const std::string & | rootJointType, | ||
| const std::string & | package, | ||
| const std::string & | filename, | ||
| const SE3 & | bMr = SE3::Identity() |
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| ) |
Load only urdf model file
| robot | Empty robot created before calling the function. Users can pass an instance of a class deriving from Device. |
| baseFrame | frame to which the joint tree is added. |
| prefix | string to insert before all names (joint, link, body names) |
| rootJointType | type of root joint among "anchor", "freeflyer", "planar", |
| package | ros package containing the model |
| filename | name of the file containing the model. |
| void hpp::pinocchio::urdf::loadUrdfModel | ( | const DevicePtr_t & | robot, |
| const std::string & | rootJointType, | ||
| const std::string & | package, | ||
| const std::string & | filename | ||
| ) |
| void hpp::pinocchio::urdf::setupHumanoidRobot | ( | const HumanoidRobotPtr_t & | robot, |
| const std::string & | prefix = "" |
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| ) |
Set the special joints of the robot (chest, waist...) and initialize the gaze origin and direction