urdf.hpp File Reference
#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"
Include dependency graph for urdf.hpp:

Namespaces

namespace  urdf
namespace  se3
namespace  se3::urdf

Typedefs

typedef boost::shared_ptr
< ModelInterface > 
urdf::ModelInterfacePtr
typedef boost::shared_ptr
< const Joint > 
urdf::JointConstPtr
typedef boost::shared_ptr
< const Link > 
urdf::LinkConstPtr
typedef boost::shared_ptr< Link > urdf::LinkPtr
typedef boost::shared_ptr
< const Inertial > 
urdf::InertialConstPtr

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.