urdf.hxx 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 dependency graph for urdf.hxx:

Namespaces

namespace  se3
namespace  se3::urdf

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.