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dynamicsJRLJapan Namespace Reference

Namespaces

namespace  Geometry
 

Classes

class  BodyGeometricalData
 
class  DynamicBody
 This class implements a body. More...
 
class  Foot
 
class  Hand
 This class represents a hand. More...
 
class  Joint
 This class represents a robot joint. More...
 
class  JointAnchor
 Anchor joint. More...
 
class  JointFreeflyer
 Free flyer joint. More...
 
class  JointRotation
 Rotation joint. More...
 
class  JointTranslation
 Translation joint. More...
 
class  ObjectFactory
 Hooks for to create objects. More...
 

Functions

DYN_JRL_JAPAN_EXPORT int parseOpenHRPVRMLFile (CjrlHumanoidDynamicRobot &ajrlHumanoidDynamicRobot, std::string &OpenHRPVRMLFile, std::string &MapJointToRankFileName, std::string &FileOfSpecificities)
 
DYN_JRL_JAPAN_EXPORT int parseOpenHRPVRMLFile (CjrlHumanoidDynamicRobot &ajrlHumanoidDynamicRobot, std::string &OpenHRPVRMLFile, std::string &MapJointToRankFileName, std::string &FileOfSpecificities, std::vector< BodyGeometricalData > &GeometricalDataonBodies, bool ReadGeometricalInformation=false)
 

Function Documentation

◆ parseOpenHRPVRMLFile() [1/2]

DYN_JRL_JAPAN_EXPORT int dynamicsJRLJapan::parseOpenHRPVRMLFile ( CjrlHumanoidDynamicRobot ajrlHumanoidDynamicRobot,
std::string &  OpenHRPVRMLFile,
std::string &  MapJointToRankFileName,
std::string &  FileOfSpecificities 
)

Populate a CjrlHumanoidDynamicRobot instance from a OpenHRP vrml file and a file of specificities to add semantic information. Right now this will fail it is not a dynamicsJRLJapan instanciated object.

Parameters
OpenHRPVRMLFileFilename which containes the humanoid description using OpenHRP format.
MapJointToRankFileNameFile describing the joint mapping from the VRML ID to the state vector.
FileOfSpecificitiesDescribe which joints are hands, arm... and so on.
Geometricalinformation returns bodies geometry description.
Return values
ajrlHumanoidDynamicRobotThe robot built by parsing the file.
Returns
Negative value if failed, 0 otherwise.

◆ parseOpenHRPVRMLFile() [2/2]

DYN_JRL_JAPAN_EXPORT int dynamicsJRLJapan::parseOpenHRPVRMLFile ( CjrlHumanoidDynamicRobot ajrlHumanoidDynamicRobot,
std::string &  OpenHRPVRMLFile,
std::string &  MapJointToRankFileName,
std::string &  FileOfSpecificities,
std::vector< BodyGeometricalData > &  GeometricalDataonBodies,
bool  ReadGeometricalInformation = false 
)