DART  6.10.1
dart::utils Namespace Reference

Namespaces

 MjcfParser
 
 SdfParser
 
 SkelParser
 SkelParser.
 
 urdf_parsing
 
 VskParser
 

Classes

struct  c3d_head_t
 
struct  c3d_param_t
 
struct  c3d_frameSI_t
 
struct  c3d_frame_t
 
class  CompositeResourceRetriever
 CompositeResourceRetriever allows multiple ResourceRetriever to be used interchangably by: (1) associating each ResourceRetriever with a particular URI schema and/or (2) providing a precedence order for trying multiple retrievers. More...
 
class  DartResourceRetriever
 Retrieve local resources from sample data files given file URI. More...
 
class  FileInfoC3D
 
class  FileInfoDof
 class FileInfoDof More...
 
class  FileInfoWorld
 class FileInfoWorld More...
 
class  PackageResourceRetriever
 Retrieve local resources specified by package:// URIs by: (1) resolving the package path and (2) passing the resolved URI to another ResourceRetriever. More...
 
class  DartLoader
 
class  TemplatedElementEnumerator
 TemplatedElementEnumerator is a convenience class to help visiting all the child elements of given parent element. More...
 

Typedefs

typedef struct dart::utils::c3d_head_t c3d_head
 
typedef struct dart::utils::c3d_param_t c3d_param
 
typedef struct dart::utils::c3d_frameSI_t c3d_frameSI
 
typedef struct dart::utils::c3d_frame_t c3d_frame
 
using CompositeResourceRetrieverPtr = std::shared_ptr< CompositeResourceRetriever >
 
using DartResourceRetrieverPtr = std::shared_ptr< DartResourceRetriever >
 
using PackageResourceRetrieverPtr = std::shared_ptr< PackageResourceRetriever >
 
using ModelInterfacePtr = urdf_shared_ptr< urdf::ModelInterface >
 
using ElementEnumerator = TemplatedElementEnumerator< tinyxml2::XMLElement >
 
using ConstElementEnumerator = TemplatedElementEnumerator< const tinyxml2::XMLElement >
 

Functions

float convertDecToFloat (char _bytes[4])
 
void convertFloatToDec (float _f, char *_bytes)
 
bool loadC3DFile (const char *_fileName, std::vector< std::vector< Eigen::Vector3d >> &_pointData, int *_nFrame, int *_nMarker, double *_freq)
 
bool saveC3DFile (const char *_fileName, std::vector< std::vector< Eigen::Vector3d >> &_pointData, int _nFrame, int _nMarker, double _freq)
 
dynamics::BodyNodecreateDartJointAndNodeForRoot (const dynamics::BodyNode::Properties &_body, dynamics::BodyNode *_parent, dynamics::SkeletonPtr _skeleton, unsigned int flags)
 
void setMaterial (const urdf::ModelInterface *model, dynamics::VisualAspect *visualAspect, const urdf::Visual *viz)
 
template dynamics::ShapePtr DartLoader::createShape< urdf::Visual > (const urdf::Visual *_vizOrCol, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever)
 
template dynamics::ShapePtr DartLoader::createShape< urdf::Collision > (const urdf::Collision *_vizOrCol, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever)
 
std::string toString (bool v)
 
std::string toString (int v)
 
std::string toString (unsigned int v)
 
std::string toString (float v)
 
std::string toString (double v)
 
std::string toString (char v)
 
std::string toString (const Eigen::Vector2d &v)
 
std::string toString (const Eigen::Vector3d &v)
 
std::string toString (const Eigen::Vector3i &v)
 
std::string toString (const Eigen::Vector6d &v)
 
std::string toString (const Eigen::VectorXd &v)
 
std::string toString (const Eigen::Isometry3d &v)
 
bool toBool (const std::string &str)
 
int toInt (const std::string &str)
 
unsigned int toUInt (const std::string &str)
 
float toFloat (const std::string &str)
 
double toDouble (const std::string &str)
 
char toChar (const std::string &str)
 
Eigen::Vector2d toVector2d (const std::string &str)
 
Eigen::Vector2i toVector2i (const std::string &str)
 
Eigen::Vector3d toVector3d (const std::string &str)
 
Eigen::Vector3i toVector3i (const std::string &str)
 
Eigen::Vector4d toVector4d (const std::string &str)
 
Eigen::Vector6d toVector6d (const std::string &str)
 
Eigen::VectorXd toVectorXd (const std::string &str)
 
Eigen::Isometry3d toIsometry3d (const std::string &str)
 
Eigen::Isometry3d toIsometry3dWithExtrinsicRotation (const std::string &str)
 
std::string getValueString (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
bool getValueBool (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
int getValueInt (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
unsigned int getValueUInt (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
float getValueFloat (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
double getValueDouble (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
char getValueChar (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
Eigen::Vector2d getValueVector2d (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
Eigen::Vector3d getValueVector3d (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
Eigen::Vector3i getValueVector3i (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
Eigen::Vector6d getValueVector6d (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
Eigen::VectorXd getValueVectorXd (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
Eigen::Vector3d getValueVec3 (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
Eigen::Isometry3d getValueIsometry3d (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
Eigen::Isometry3d getValueIsometry3dWithExtrinsicRotation (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
bool hasElement (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
const tinyxml2::XMLElement * getElement (const tinyxml2::XMLElement *parentElement, const std::string &name)
 
tinyxml2::XMLElement * getElement (tinyxml2::XMLElement *parentElement, const std::string &name)
 
std::string toString (tinyxml2::XMLError errorCode)
 
void openXMLFile (tinyxml2::XMLDocument &doc, const common::Uri &uri, const common::ResourceRetrieverPtr &retrieverOrNullPtr)
 
bool readXmlFile (tinyxml2::XMLDocument &doc, const common::Uri &uri, const common::ResourceRetrieverPtr &retrieverOrNullPtr)
 
bool hasAttribute (const tinyxml2::XMLElement *element, const char *const name)
 
std::string getAttribute (tinyxml2::XMLElement *element, const char *const name)
 
void getAttribute (tinyxml2::XMLElement *element, const char *const name, double *d)
 
std::string getAttributeString (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
bool getAttributeBool (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
int getAttributeInt (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
unsigned int getAttributeUInt (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
float getAttributeFloat (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
double getAttributeDouble (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
char getAttributeChar (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
Eigen::Vector2i getAttributeVector2i (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
Eigen::Vector2d getAttributeVector2d (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
Eigen::Vector3d getAttributeVector3d (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
Eigen::Vector4d getAttributeVector4d (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
Eigen::Vector6d getAttributeVector6d (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
Eigen::VectorXd getAttributeVectorXd (const tinyxml2::XMLElement *element, const std::string &attributeName)
 
bool copyNode (tinyxml2::XMLNode *destParent, const tinyxml2::XMLNode &src)
 
bool copyChildNodes (tinyxml2::XMLNode *destParent, const tinyxml2::XMLNode &src)
 
template<std::size_t N>
Eigen::Matrix< double, N, 1 > toVectorNd (const std::string &str)
 
template<std::size_t N>
Eigen::Matrix< double, N, 1 > getAttributeVectorNd (const tinyxml2::XMLElement *element, const std::string &attributeName)
 

Typedef Documentation

◆ c3d_frame

◆ c3d_frameSI

◆ c3d_head

◆ c3d_param

◆ CompositeResourceRetrieverPtr

◆ ConstElementEnumerator

using dart::utils::ConstElementEnumerator = typedef TemplatedElementEnumerator<const tinyxml2::XMLElement>

◆ DartResourceRetrieverPtr

◆ ElementEnumerator

using dart::utils::ElementEnumerator = typedef TemplatedElementEnumerator<tinyxml2::XMLElement>

◆ ModelInterfacePtr

using dart::utils::ModelInterfacePtr = typedef urdf_shared_ptr<urdf::ModelInterface>

◆ PackageResourceRetrieverPtr

Function Documentation

◆ convertDecToFloat()

float dart::utils::convertDecToFloat ( char  _bytes[4])

◆ convertFloatToDec()

void dart::utils::convertFloatToDec ( float  _f,
char *  _bytes 
)

◆ copyChildNodes()

bool dart::utils::copyChildNodes ( tinyxml2::XMLNode *  destParent,
const tinyxml2::XMLNode &  src 
)

◆ copyNode()

bool dart::utils::copyNode ( tinyxml2::XMLNode *  destParent,
const tinyxml2::XMLNode &  src 
)

◆ createDartJointAndNodeForRoot()

dynamics::BodyNode* dart::utils::createDartJointAndNodeForRoot ( const dynamics::BodyNode::Properties _body,
dynamics::BodyNode _parent,
dynamics::SkeletonPtr  _skeleton,
unsigned int  flags 
)

◆ DartLoader::createShape< urdf::Collision >()

template dynamics::ShapePtr dart::utils::DartLoader::createShape< urdf::Collision > ( const urdf::Collision *  _vizOrCol,
const common::Uri _baseUri,
const common::ResourceRetrieverPtr _resourceRetriever 
)

◆ DartLoader::createShape< urdf::Visual >()

template dynamics::ShapePtr dart::utils::DartLoader::createShape< urdf::Visual > ( const urdf::Visual *  _vizOrCol,
const common::Uri _baseUri,
const common::ResourceRetrieverPtr _resourceRetriever 
)

◆ getAttribute() [1/2]

std::string dart::utils::getAttribute ( tinyxml2::XMLElement *  element,
const char *const  name 
)

◆ getAttribute() [2/2]

void dart::utils::getAttribute ( tinyxml2::XMLElement *  element,
const char *const  name,
double *  d 
)

◆ getAttributeBool()

bool dart::utils::getAttributeBool ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeChar()

char dart::utils::getAttributeChar ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeDouble()

double dart::utils::getAttributeDouble ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeFloat()

float dart::utils::getAttributeFloat ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeInt()

int dart::utils::getAttributeInt ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeString()

std::string dart::utils::getAttributeString ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeUInt()

unsigned int dart::utils::getAttributeUInt ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeVector2d()

Eigen::Vector2d dart::utils::getAttributeVector2d ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeVector2i()

Eigen::Vector2i dart::utils::getAttributeVector2i ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeVector3d()

Eigen::Vector3d dart::utils::getAttributeVector3d ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeVector4d()

Eigen::Vector4d dart::utils::getAttributeVector4d ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeVector6d()

Eigen::Vector6d dart::utils::getAttributeVector6d ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeVectorNd()

template<std::size_t N>
Eigen::Matrix<double, N, 1> dart::utils::getAttributeVectorNd ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getAttributeVectorXd()

Eigen::VectorXd dart::utils::getAttributeVectorXd ( const tinyxml2::XMLElement *  element,
const std::string &  attributeName 
)

◆ getElement() [1/2]

const tinyxml2::XMLElement * dart::utils::getElement ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getElement() [2/2]

tinyxml2::XMLElement * dart::utils::getElement ( tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueBool()

bool dart::utils::getValueBool ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueChar()

char dart::utils::getValueChar ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueDouble()

double dart::utils::getValueDouble ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueFloat()

float dart::utils::getValueFloat ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueInt()

int dart::utils::getValueInt ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueIsometry3d()

Eigen::Isometry3d dart::utils::getValueIsometry3d ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueIsometry3dWithExtrinsicRotation()

Eigen::Isometry3d dart::utils::getValueIsometry3dWithExtrinsicRotation ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueString()

std::string dart::utils::getValueString ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueUInt()

unsigned int dart::utils::getValueUInt ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueVec3()

Eigen::Vector3d dart::utils::getValueVec3 ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueVector2d()

Eigen::Vector2d dart::utils::getValueVector2d ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueVector3d()

Eigen::Vector3d dart::utils::getValueVector3d ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueVector3i()

Eigen::Vector3i dart::utils::getValueVector3i ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueVector6d()

Eigen::Vector6d dart::utils::getValueVector6d ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ getValueVectorXd()

Eigen::VectorXd dart::utils::getValueVectorXd ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ hasAttribute()

bool dart::utils::hasAttribute ( const tinyxml2::XMLElement *  element,
const char *const  name 
)

◆ hasElement()

bool dart::utils::hasElement ( const tinyxml2::XMLElement *  parentElement,
const std::string &  name 
)

◆ loadC3DFile()

bool dart::utils::loadC3DFile ( const char *  _fileName,
std::vector< std::vector< Eigen::Vector3d >> &  _pointData,
int *  _nFrame,
int *  _nMarker,
double *  _freq 
)

◆ openXMLFile()

void dart::utils::openXMLFile ( tinyxml2::XMLDocument &  doc,
const common::Uri uri,
const common::ResourceRetrieverPtr retrieverOrNullPtr 
)

◆ readXmlFile()

bool dart::utils::readXmlFile ( tinyxml2::XMLDocument &  doc,
const common::Uri uri,
const common::ResourceRetrieverPtr retrieverOrNullPtr 
)

◆ saveC3DFile()

bool dart::utils::saveC3DFile ( const char *  _fileName,
std::vector< std::vector< Eigen::Vector3d >> &  _pointData,
int  _nFrame,
int  _nMarker,
double  _freq 
)

◆ setMaterial()

void dart::utils::setMaterial ( const urdf::ModelInterface *  model,
dynamics::VisualAspect visualAspect,
const urdf::Visual *  viz 
)

◆ toBool()

bool dart::utils::toBool ( const std::string &  str)

◆ toChar()

char dart::utils::toChar ( const std::string &  str)

◆ toDouble()

double dart::utils::toDouble ( const std::string &  str)

◆ toFloat()

float dart::utils::toFloat ( const std::string &  str)

◆ toInt()

int dart::utils::toInt ( const std::string &  str)

◆ toIsometry3d()

Eigen::Isometry3d dart::utils::toIsometry3d ( const std::string &  str)

◆ toIsometry3dWithExtrinsicRotation()

Eigen::Isometry3d dart::utils::toIsometry3dWithExtrinsicRotation ( const std::string &  str)

◆ toString() [1/13]

std::string dart::utils::toString ( bool  v)

◆ toString() [2/13]

std::string dart::utils::toString ( char  v)

◆ toString() [3/13]

std::string dart::utils::toString ( const Eigen::Isometry3d &  v)

◆ toString() [4/13]

std::string dart::utils::toString ( const Eigen::Vector2d &  v)

◆ toString() [5/13]

std::string dart::utils::toString ( const Eigen::Vector3d &  v)

◆ toString() [6/13]

std::string dart::utils::toString ( const Eigen::Vector3i &  v)

◆ toString() [7/13]

std::string dart::utils::toString ( const Eigen::Vector6d v)

◆ toString() [8/13]

std::string dart::utils::toString ( const Eigen::VectorXd &  v)

◆ toString() [9/13]

std::string dart::utils::toString ( double  v)

◆ toString() [10/13]

std::string dart::utils::toString ( float  v)

◆ toString() [11/13]

std::string dart::utils::toString ( int  v)

◆ toString() [12/13]

std::string dart::utils::toString ( tinyxml2::XMLError  errorCode)

◆ toString() [13/13]

std::string dart::utils::toString ( unsigned int  v)

◆ toUInt()

unsigned int dart::utils::toUInt ( const std::string &  str)

◆ toVector2d()

Eigen::Vector2d dart::utils::toVector2d ( const std::string &  str)

◆ toVector2i()

Eigen::Vector2i dart::utils::toVector2i ( const std::string &  str)

◆ toVector3d()

Eigen::Vector3d dart::utils::toVector3d ( const std::string &  str)

◆ toVector3i()

Eigen::Vector3i dart::utils::toVector3i ( const std::string &  str)

◆ toVector4d()

Eigen::Vector4d dart::utils::toVector4d ( const std::string &  str)

◆ toVector6d()

Eigen::Vector6d dart::utils::toVector6d ( const std::string &  str)

◆ toVectorNd()

template<std::size_t N>
Eigen::Matrix<double, N, 1> dart::utils::toVectorNd ( const std::string &  str)

◆ toVectorXd()

Eigen::VectorXd dart::utils::toVectorXd ( const std::string &  str)