Parse an URDF file and return a hpp::model::HumanoidRobotPtr_t. More...
#include <hpp/model/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 DevicePtr_t | RobotPtrType |
typedef Joint | JointType |
typedef Body | BodyType |
typedef fcl::BVHModel < fcl::OBBRSS > | PolyhedronType |
typedef boost::shared_ptr < PolyhedronType > | PolyhedronPtrType |
typedef Transform3f | MatrixHomogeneousType |
typedef std::map< const std::string, JointPtr_t > | MapHppJointType |
Map of abstract robot dynamics compatible joints. | |
typedef std::map< std::string, UrdfJointPtrType > | MapJointType |
Map of URDF joints. | |
Public Member Functions | |
Parser (const std::string &rootJointType, const RobotPtrType &robot, const JointPtr_t &baseJoint=JointPtr_t()) | |
Default constructor. | |
virtual | ~Parser () |
Destructor. | |
void | parse (const std::string &resourceName) |
Parse an URDF file and return a robot. | |
void | parseFromParameter (const std::string ¶meterName) |
Parse a ROS parameter containing a urdf robot description. | |
void | buildRobot () |
Build the robot from the urdf description. | |
void | setSpecialJoints () |
Set special joints in robot. | |
void | fillGaze () |
Fill gaze. | |
void | prefix (const std::string &prefix) |
Set the prefix of all joints. | |
Friends | |
class | srdf::Parser |
Parse an URDF file and return a hpp::model::HumanoidRobotPtr_t.
typedef Body hpp::model::urdf::Parser::BodyType |
typedef Joint hpp::model::urdf::Parser::JointType |
typedef std::map<const std::string, JointPtr_t> hpp::model::urdf::Parser::MapHppJointType |
Map of abstract robot dynamics compatible joints.
typedef std::map<std::string, UrdfJointPtrType> hpp::model::urdf::Parser::MapJointType |
Map of URDF joints.
typedef Transform3f hpp::model::urdf::Parser::MatrixHomogeneousType |
typedef boost::shared_ptr<PolyhedronType> hpp::model::urdf::Parser::PolyhedronPtrType |
typedef fcl::BVHModel< fcl::OBBRSS > hpp::model::urdf::Parser::PolyhedronType |
typedef DevicePtr_t hpp::model::urdf::Parser::RobotPtrType |
typedef boost::shared_ptr<const ::urdf::Joint> hpp::model::urdf::Parser::UrdfJointConstPtrType |
typedef boost::shared_ptr< ::urdf::JointLimits> hpp::model::urdf::Parser::UrdfJointLimitsPtrType |
typedef boost::shared_ptr< ::urdf::Joint> hpp::model::urdf::Parser::UrdfJointPtrType |
typedef boost::shared_ptr<const ::urdf::Link> hpp::model::urdf::Parser::UrdfLinkConstPtrType |
typedef boost::shared_ptr< ::urdf::Link> hpp::model::urdf::Parser::UrdfLinkPtrType |
hpp::model::urdf::Parser::Parser | ( | const std::string & | rootJointType, |
const RobotPtrType & | robot, | ||
const JointPtr_t & | baseJoint = JointPtr_t() |
||
) | [explicit] |
Default constructor.
rootJointType | type of root joint among "anchor", "freeflyer", "planar", | |
[in,out] | robot | the RobotPtrType to be filled, |
[in,out] | baseJoint | the root of the joint tree is inserted as a child of baseJoint. If the pointer is NULL, the root of the joint tree is the robot root joint. |
virtual hpp::model::urdf::Parser::~Parser | ( | ) | [virtual] |
Destructor.
void hpp::model::urdf::Parser::buildRobot | ( | ) |
Build the robot from the urdf description.
void hpp::model::urdf::Parser::fillGaze | ( | ) |
Fill gaze.
void hpp::model::urdf::Parser::parse | ( | const std::string & | resourceName | ) |
Parse an URDF file and return a 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.
resourceName | resource name using the resource_retriever format. |
void hpp::model::urdf::Parser::parseFromParameter | ( | const std::string & | parameterName | ) |
Parse a ROS parameter containing a urdf robot description.
parameterName | name of the ROS parameter |
void hpp::model::urdf::Parser::prefix | ( | const std::string & | prefix | ) | [inline] |
Set the prefix of all joints.
void hpp::model::urdf::Parser::setSpecialJoints | ( | ) |
Set special joints in robot.
friend class srdf::Parser [friend] |