DartLoader.hpp

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#ifndef DART_UTILS_URDF_DARTLOADER_HPP_
#define DART_UTILS_URDF_DARTLOADER_HPP_
 
#include <map>
#include <string>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include "dart/common/LocalResourceRetriever.hpp"
#include "dart/common/ResourceRetriever.hpp"
#include "dart/common/Uri.hpp"
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/Joint.hpp"
#include "dart/dynamics/Skeleton.hpp"
#include "dart/simulation/World.hpp"
#include "dart/utils/CompositeResourceRetriever.hpp"
#include "dart/utils/PackageResourceRetriever.hpp"
 
namespace urdf {
class ModelInterface;
class Link;
class Joint;
class Pose;
class Vector3;
} // namespace urdf
 
namespace dart {
 
namespace dynamics {
class Skeleton;
class BodyNode;
class Joint;
class Shape;
} // namespace dynamics
namespace simulation {
class World;
}
 
namespace utils {
 
class DartLoader
{
public:
  enum Flags
  {
    NONE = 0,
 
    FIXED_BASE_LINK = 1 << 1,
 
    DEFAULT = NONE,
  };
 
  enum class RootJointType
  {
    FLOATING = 0,
 
    FIXED = 1,
  };
 
  struct Options
  {
    common::ResourceRetrieverPtr mResourceRetriever;
 
    RootJointType mDefaultRootJointType;
 
    dynamics::Inertia mDefaultInertia;
 
    Options(
        common::ResourceRetrieverPtr resourceRetriever = nullptr,
        RootJointType defaultRootJointType = RootJointType::FLOATING,
        const dynamics::Inertia& defaultInertia = dynamics::Inertia());
  };
 
  explicit DartLoader(const Options& options = Options());
 
  void setOptions(const Options& options);
 
  const Options& getOptions() const;
 
  void addPackageDirectory(
      const std::string& packageName, const std::string& packageDirectory);
 
  DART_DEPRECATED(6.11)
  dynamics::SkeletonPtr parseSkeleton(
      const common::Uri& uri,
      const common::ResourceRetrieverPtr& resourceRetriever,
      unsigned int flags = DEFAULT);
 
  dynamics::SkeletonPtr parseSkeleton(const common::Uri& uri);
 
  DART_DEPRECATED(6.11)
  dynamics::SkeletonPtr parseSkeletonString(
      const std::string& urdfString,
      const common::Uri& baseUri,
      const common::ResourceRetrieverPtr& resourceRetriever,
      unsigned int flags = DEFAULT);
 
  dynamics::SkeletonPtr parseSkeletonString(
      const std::string& urdfString, const common::Uri& baseUri);
 
  DART_DEPRECATED(6.11)
  dart::simulation::WorldPtr parseWorld(
      const common::Uri& uri,
      const common::ResourceRetrieverPtr& resourceRetriever,
      unsigned int flags = DEFAULT);
 
  dart::simulation::WorldPtr parseWorld(const common::Uri& uri);
 
  DART_DEPRECATED(6.11)
  dart::simulation::WorldPtr parseWorldString(
      const std::string& urdfString,
      const common::Uri& baseUri,
      const common::ResourceRetrieverPtr& resourceRetriever,
      unsigned int flags = DEFAULT);
 
  dart::simulation::WorldPtr parseWorldString(
      const std::string& urdfString, const common::Uri& baseUri);
 
private:
  typedef std::shared_ptr<dynamics::BodyNode::Properties> BodyPropPtr;
  typedef std::shared_ptr<dynamics::Joint::Properties> JointPropPtr;
 
  static dart::dynamics::SkeletonPtr modelInterfaceToSkeleton(
      const urdf::ModelInterface* model,
      const common::Uri& baseUri,
      const common::ResourceRetrieverPtr& resourceRetriever,
      const Options& options);
 
  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);
 
  static dynamics::BodyNode* createDartJointAndNode(
      const urdf::Joint* _jt,
      const dynamics::BodyNode::Properties& _body,
      dynamics::BodyNode* _parent,
      dynamics::SkeletonPtr _skeleton,
      const Options& options);
 
  static bool createDartNodeProperties(
      const urdf::Link* _lk,
      dynamics::BodyNode::Properties& properties,
      const common::Uri& _baseUri,
      const common::ResourceRetrieverPtr& _resourceRetriever,
      const Options& options);
 
  static bool createShapeNodes(
      const urdf::ModelInterface* model,
      const urdf::Link* lk,
      dynamics::BodyNode* bodyNode,
      const common::Uri& baseUri,
      const common::ResourceRetrieverPtr& resourceRetriever);
 
  common::ResourceRetrieverPtr getResourceRetriever(
      const common::ResourceRetrieverPtr& _resourceRetriever);
 
  static Eigen::Isometry3d toEigen(const urdf::Pose& _pose);
  static Eigen::Vector3d toEigen(const urdf::Vector3& _vector);
 
  static bool readFileToString(
      const common::ResourceRetrieverPtr& _resourceRetriever,
      const common::Uri& _uri,
      std::string& _output);
 
  Options mOptions;
  common::LocalResourceRetrieverPtr mLocalRetriever;
  utils::PackageResourceRetrieverPtr mPackageRetriever;
  utils::CompositeResourceRetrieverPtr mRetriever;
};
 
} // namespace utils
} // namespace dart
 
#endif // DART_UTILS_URDF_DARTLOADER_HPP_