dart::utils::DartLoader Class Reference

#include <DartLoader.hpp>

Classes
struct	Options
	Options to be used in parsing URDF files. More...

Public Types
enum	Flags { NONE = 0 , FIXED_BASE_LINK = 1 << 1 , DEFAULT = NONE }
enum class	RootJointType { FLOATING = 0 , FIXED = 1 }
	Root joint type to be used when the parent joint of the root link is not specified in the URDF file. More...

Public Member Functions
	DartLoader (const Options &options=Options())
	Constructor with the default ResourceRetriever.
void	setOptions (const Options &options)
	Sets options.
const Options &	getOptions () const
	Returns options.
void	addPackageDirectory (const std::string &packageName, const std::string &packageDirectory)
	Specify the directory of a ROS package.
dynamics::SkeletonPtr	parseSkeleton (const common::Uri &uri, const common::ResourceRetrieverPtr &resourceRetriever, unsigned int flags=DEFAULT)
	Parse a file to produce a Skeleton.
dynamics::SkeletonPtr	parseSkeleton (const common::Uri &uri)
	Parse a file to produce a Skeleton.
dynamics::SkeletonPtr	parseSkeletonString (const std::string &urdfString, const common::Uri &baseUri, const common::ResourceRetrieverPtr &resourceRetriever, unsigned int flags=DEFAULT)
	Parse a text string to produce a Skeleton.
dynamics::SkeletonPtr	parseSkeletonString (const std::string &urdfString, const common::Uri &baseUri)
	Parse a text string to produce a Skeleton.
dart::simulation::WorldPtr	parseWorld (const common::Uri &uri, const common::ResourceRetrieverPtr &resourceRetriever, unsigned int flags=DEFAULT)
	Parse a file to produce a World.
dart::simulation::WorldPtr	parseWorld (const common::Uri &uri)
	Parse a file to produce a World.
dart::simulation::WorldPtr	parseWorldString (const std::string &urdfString, const common::Uri &baseUri, const common::ResourceRetrieverPtr &resourceRetriever, unsigned int flags=DEFAULT)
	Parse a text string to produce a World.
dart::simulation::WorldPtr	parseWorldString (const std::string &urdfString, const common::Uri &baseUri)
	Parse a text string to produce a World.

Private Types
typedef std::shared_ptr< dynamics::BodyNode::Properties >	BodyPropPtr
typedef std::shared_ptr< dynamics::Joint::Properties >	JointPropPtr

Private Member Functions
common::ResourceRetrieverPtr	getResourceRetriever (const common::ResourceRetrieverPtr &_resourceRetriever)

Static Private Member Functions
static dart::dynamics::SkeletonPtr	modelInterfaceToSkeleton (const urdf::ModelInterface *model, const common::Uri &baseUri, const common::ResourceRetrieverPtr &resourceRetriever, const Options &options)
	Parses the ModelInterface and spits out a Skeleton object.
static bool	createSkeletonRecursive (const urdf::ModelInterface *model, dynamics::SkeletonPtr skel, const urdf::Link *lk, dynamics::BodyNode *parent, const common::Uri &baseUri, const common::ResourceRetrieverPtr &_resourceRetriever, const Options &options)
static bool	addMimicJointsRecursive (const urdf::ModelInterface *model, dynamics::SkeletonPtr _skel, const urdf::Link *_lk)
template<class VisualOrCollision >
static dynamics::ShapePtr	createShape (const VisualOrCollision *_vizOrCol, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever)
	@function createShape
static dynamics::BodyNode *	createDartJointAndNode (const urdf::Joint *_jt, const dynamics::BodyNode::Properties &_body, dynamics::BodyNode *_parent, dynamics::SkeletonPtr _skeleton, const Options &options)
	@function createDartJoint
static bool	createDartNodeProperties (const urdf::Link *_lk, dynamics::BodyNode::Properties &properties, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever, const Options &options)
	@function createDartNode
static bool	createShapeNodes (const urdf::ModelInterface *model, const urdf::Link *lk, dynamics::BodyNode *bodyNode, const common::Uri &baseUri, const common::ResourceRetrieverPtr &resourceRetriever)
static Eigen::Isometry3d	toEigen (const urdf::Pose &_pose)
	@function pose2Affine3d
static Eigen::Vector3d	toEigen (const urdf::Vector3 &_vector)
static bool	readFileToString (const common::ResourceRetrieverPtr &_resourceRetriever, const common::Uri &_uri, std::string &_output)
	@function readXml

Private Attributes
Options	mOptions
common::LocalResourceRetrieverPtr	mLocalRetriever
utils::PackageResourceRetrieverPtr	mPackageRetriever
utils::CompositeResourceRetrieverPtr	mRetriever

Member Typedef Documentation

BodyPropPtr

typedef std::shared_ptr<dynamics::BodyNode::Properties> dart::utils::DartLoader::BodyPropPtr

private

JointPropPtr

typedef std::shared_ptr<dynamics::Joint::Properties> dart::utils::DartLoader::JointPropPtr

private

Member Enumeration Documentation

Flags

enum dart::utils::DartLoader::Flags

Deprecated:

Deprecated in 6.11. Use RootJointType and Options instead.

Flags for specifying URDF file parsing policies.

Enumerator
NONE
FIXED_BASE_LINK	Parser the root link's joint type to be "fixed" joint when not specified.
DEFAULT	The default flgas.

RootJointType

enum class dart::utils::DartLoader::RootJointType

strong

Root joint type to be used when the parent joint of the root link is not specified in the URDF file.

Enumerator
FLOATING	Floating joint type of URDF.
FIXED	Fixed joint type of URDF.

Constructor & Destructor Documentation

DartLoader()

dart::utils::DartLoader::DartLoader ( const Options &  options = Options() )

explicit

Constructor with the default ResourceRetriever.

Member Function Documentation

addMimicJointsRecursive()

bool dart::utils::DartLoader::addMimicJointsRecursive ( const urdf::ModelInterface *  model, dynamics::SkeletonPtr  _skel, const urdf::Link *  _lk  )

staticprivate

addPackageDirectory()

void dart::utils::DartLoader::addPackageDirectory	(	const std::string &	packageName,
		const std::string &	packageDirectory
	)

Specify the directory of a ROS package.

In your URDF files, you may see strings with a package URI pattern such as:

"package://my_robot/meshes/mesh_for_my_robot.stl"
 \______/  \______/\___________________________/
     |        |                 |
  package  package   file path with respect to
  keyword   name       the package directory

For us to successfully parse a URDF, we need to be told what the path to the package directory is, using addPackageDirectory(). In this case, suppose the path to the my_robot package is /path/to/my_robot. Then you should use addPackageDirectory("my_robot", "/path/to/my_robot"). Altogether, this implies that a file named "/path/to/my_robot/meshes/mesh_for_my_robot.stl" exists. Whatever you specify as the package directory will end up replacing the 'package keyword' and 'package name' components of the URI string.

createDartJointAndNode()

dynamics::BodyNode * dart::utils::DartLoader::createDartJointAndNode ( const urdf::Joint *  _jt, const dynamics::BodyNode::Properties &  _body, dynamics::BodyNode *  _parent, dynamics::SkeletonPtr  _skeleton, const Options &  options  )

staticprivate

@function createDartJoint

createDartNodeProperties()

bool dart::utils::DartLoader::createDartNodeProperties ( const urdf::Link *  _lk, dynamics::BodyNode::Properties &  properties, const common::Uri &  _baseUri, const common::ResourceRetrieverPtr &  _resourceRetriever, const Options &  options  )

staticprivate

@function createDartNode

createShape()

template<class VisualOrCollision >

dynamics::ShapePtr dart::utils::DartLoader::createShape ( const VisualOrCollision *  _vizOrCol, const common::Uri &  _baseUri, const common::ResourceRetrieverPtr &  _resourceRetriever  )

staticprivate

@function createShape

createShapeNodes()

bool dart::utils::DartLoader::createShapeNodes ( const urdf::ModelInterface *  model, const urdf::Link *  lk, dynamics::BodyNode *  bodyNode, const common::Uri &  baseUri, const common::ResourceRetrieverPtr &  resourceRetriever  )

staticprivate

createSkeletonRecursive()

bool dart::utils::DartLoader::createSkeletonRecursive ( const urdf::ModelInterface *  model, dynamics::SkeletonPtr  skel, const urdf::Link *  lk, dynamics::BodyNode *  parent, const common::Uri &  baseUri, const common::ResourceRetrieverPtr &  _resourceRetriever, const Options &  options  )

staticprivate

getOptions()

const DartLoader::Options & dart::utils::DartLoader::getOptions

(

)

const

Returns options.

getResourceRetriever()

common::ResourceRetrieverPtr dart::utils::DartLoader::getResourceRetriever ( const common::ResourceRetrieverPtr &  _resourceRetriever )

private

modelInterfaceToSkeleton()

dynamics::SkeletonPtr dart::utils::DartLoader::modelInterfaceToSkeleton ( const urdf::ModelInterface *  model, const common::Uri &  baseUri, const common::ResourceRetrieverPtr &  resourceRetriever, const Options &  options  )

staticprivate

Parses the ModelInterface and spits out a Skeleton object.

parseSkeleton() [1/2]

dynamics::SkeletonPtr dart::utils::DartLoader::parseSkeleton

(

const common::Uri &

uri

)

Parse a file to produce a Skeleton.

parseSkeleton() [2/2]

dynamics::SkeletonPtr dart::utils::DartLoader::parseSkeleton	(	const common::Uri &	uri,
		const common::ResourceRetrieverPtr &	resourceRetriever,
		unsigned int	flags = DEFAULT
	)

Parse a file to produce a Skeleton.

parseSkeletonString() [1/2]

dynamics::SkeletonPtr dart::utils::DartLoader::parseSkeletonString	(	const std::string &	urdfString,
		const common::Uri &	baseUri
	)

Parse a text string to produce a Skeleton.

parseSkeletonString() [2/2]

dynamics::SkeletonPtr dart::utils::DartLoader::parseSkeletonString	(	const std::string &	urdfString,
		const common::Uri &	baseUri,
		const common::ResourceRetrieverPtr &	resourceRetriever,
		unsigned int	flags = DEFAULT
	)

Parse a text string to produce a Skeleton.

parseWorld() [1/2]

simulation::WorldPtr dart::utils::DartLoader::parseWorld

(

const common::Uri &

uri

)

Parse a file to produce a World.

parseWorld() [2/2]

simulation::WorldPtr dart::utils::DartLoader::parseWorld	(	const common::Uri &	uri,
		const common::ResourceRetrieverPtr &	resourceRetriever,
		unsigned int	flags = DEFAULT
	)

Parse a file to produce a World.

parseWorldString() [1/2]

simulation::WorldPtr dart::utils::DartLoader::parseWorldString	(	const std::string &	urdfString,
		const common::Uri &	baseUri
	)

Parse a text string to produce a World.

parseWorldString() [2/2]

simulation::WorldPtr dart::utils::DartLoader::parseWorldString	(	const std::string &	urdfString,
		const common::Uri &	baseUri,
		const common::ResourceRetrieverPtr &	resourceRetriever,
		unsigned int	flags = DEFAULT
	)

Parse a text string to produce a World.

readFileToString()

bool dart::utils::DartLoader::readFileToString ( const common::ResourceRetrieverPtr &  _resourceRetriever, const common::Uri &  _uri, std::string &  _output  )

staticprivate

@function readXml

setOptions()

void dart::utils::DartLoader::setOptions

(

const Options &

options

)

Sets options.

toEigen() [1/2]

Eigen::Isometry3d dart::utils::DartLoader::toEigen ( const urdf::Pose &  _pose )

staticprivate

@function pose2Affine3d

toEigen() [2/2]

Eigen::Vector3d dart::utils::DartLoader::toEigen ( const urdf::Vector3 &  _vector )

staticprivate

Member Data Documentation

mLocalRetriever

common::LocalResourceRetrieverPtr dart::utils::DartLoader::mLocalRetriever

private

mOptions

Options dart::utils::DartLoader::mOptions

private

mPackageRetriever

utils::PackageResourceRetrieverPtr dart::utils::DartLoader::mPackageRetriever

private

mRetriever

utils::CompositeResourceRetrieverPtr dart::utils::DartLoader::mRetriever

private