dynamicsJRLJapan Namespace Reference

Namespaces

namespace  Geometry

Classes

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

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.
MapJointToRankFileName,:File 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.
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 
)