#include <urdf_model/model.h>
#include <urdf_parser/urdf_parser.h>
#include <iostream>
#include <sstream>
#include <iomanip>
#include <boost/foreach.hpp>
#include "pinocchio/multibody/model.hpp"
#include <exception>
#include <limits>
#include "pinocchio/multibody/parser/urdf.hxx"
Namespaces | |
namespace | urdf |
namespace | se3 |
namespace | se3::urdf |
Enumerations | |
enum | se3::urdf::AxisCartesian { se3::urdf::AXIS_X, se3::urdf::AXIS_Y, se3::urdf::AXIS_Z, se3::urdf::AXIS_UNALIGNED } |
The four possible cartesian types of an 3D axis. More... | |
Functions | |
Inertia | se3::urdf::convertFromUrdf (const ::urdf::Inertial &Y) |
Convert URDF Inertial quantity to Spatial Inertia. | |
SE3 | se3::urdf::convertFromUrdf (const ::urdf::Pose &M) |
Convert URDF Pose quantity to SE3. | |
AxisCartesian | se3::urdf::extractCartesianAxis (const ::urdf::Vector3 &axis) |
Extract the cartesian property of a particular 3D axis. | |
void | se3::urdf::parseTree (::urdf::LinkConstPtr link, Model &model, const SE3 &placementOffset=SE3::Identity(), bool verbose=false) throw (std::invalid_argument) |
Recursive procedure for reading the URDF tree. | |
template<typename D > | |
void | se3::urdf::parseTree (::urdf::LinkConstPtr link, Model &model, const SE3 &placementOffset, const JointModelBase< D > &root_joint, const bool verbose=false) throw (std::invalid_argument) |
Parse a tree with a specific root joint linking the model to the environment. | |
template<typename D > | |
Model | se3::urdf::buildModel (const std::string &filename, const JointModelBase< D > &root_joint, bool verbose=false) throw (std::invalid_argument) |
Build the model from a URDF file with a particular joint as root of the model tree. | |
Model | se3::urdf::buildModel (const std::string &filename, const bool verbose=false) throw (std::invalid_argument) |
Build the model from a URDF file with a fixed joint as root of the model tree. |