dart::utils Namespace Reference

Namespaces
namespace	MjcfParser
namespace	SdfParser
namespace	SkelParser
	SkelParser.
namespace	urdf_parsing
namespace	VskParser

Classes
struct	c3d_frame_t
struct	c3d_frameSI_t
struct	c3d_head_t
struct	c3d_param_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	DartLoader
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	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::BodyNode *	createDartJointAndNodeForRoot (const dynamics::BodyNode::Properties &_body, dynamics::BodyNode *_parent, dynamics::SkeletonPtr _skeleton, const DartLoader::Options &options)
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

typedef struct dart::utils::c3d_frame_t dart::utils::c3d_frame

c3d_frameSI

typedef struct dart::utils::c3d_frameSI_t dart::utils::c3d_frameSI

c3d_head

typedef struct dart::utils::c3d_head_t dart::utils::c3d_head

c3d_param

typedef struct dart::utils::c3d_param_t dart::utils::c3d_param

CompositeResourceRetrieverPtr

using dart::utils::CompositeResourceRetrieverPtr = typedef std::shared_ptr<CompositeResourceRetriever>

ConstElementEnumerator

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

DartResourceRetrieverPtr

using dart::utils::DartResourceRetrieverPtr = typedef std::shared_ptr<DartResourceRetriever>

ElementEnumerator

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

ModelInterfacePtr

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

PackageResourceRetrieverPtr

using dart::utils::PackageResourceRetrieverPtr = typedef std::shared_ptr<PackageResourceRetriever>

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,
		const DartLoader::Options &	options
	)

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

)