#include <iostream>
#include <exception>
#include "pinocchio/multibody/model.hpp"
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision.h>
#include <hpp/fcl/shape/geometric_shapes.h>
#include "pinocchio/multibody/parser/urdf.hpp"
#include "pinocchio/multibody/parser/urdf-with-geometry.hxx"
Namespaces |
namespace | se3 |
namespace | se3::urdf |
Functions |
fcl::CollisionObject | se3::urdf::retrieveCollisionGeometry (const boost::shared_ptr< ::urdf::Geometry > urdf_geometry, const std::vector< std::string > &package_dirs, std::string &mesh_path) |
| Get a fcl::CollisionObject from an urdf geometry, searching for it in specified package directories.
|
void | se3::urdf::parseTreeForGeom (::urdf::LinkConstPtr link, const Model &model, GeometryModel &model_geom, const std::vector< std::string > &package_dirs) throw (std::invalid_argument) |
| Recursive procedure for reading the URDF tree, looking for geometries This function fill the geometric model whith geometry objects retrieved from the URDF tree.
|
GeometryModel | se3::urdf::buildGeom (const Model &model, const std::string &filename, const std::vector< std::string > &package_dirs=std::vector< std::string >()) throw (std::invalid_argument) |
| Build The GeometryModel from a URDF file.
|