#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>
Namespaces |
namespace | se3 |
namespace | se3::urdf |
Functions |
Inertia | se3::urdf::convertFromUrdf (const ::urdf::Inertial &Y) |
| Convert URDF Inertial quantity to Spatial Inertia.
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SE3 | se3::urdf::convertFromUrdf (const ::urdf::Pose &M) |
| Convert URDF Pose quantity to SE3.
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AxisCartesian | se3::urdf::extractCartesianAxis (const ::urdf::Vector3 &axis) |
| Extract the cartesian property of a particular 3D axis.
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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.
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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.
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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.
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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.
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