#include <DartLoader.hpp>

Public Member Functions
	DartLoader ()
	Constructor with the default ResourceRetriever. More...

void	addPackageDirectory (const std::string &_packageName, const std::string &_packageDirectory)
	Specify the directory of a ROS package. More...

dynamics::SkeletonPtr	parseSkeleton (const common::Uri &_uri, const common::ResourceRetrieverPtr &_resourceRetriever=nullptr)
	Parse a file to produce a Skeleton. More...

dynamics::SkeletonPtr	parseSkeletonString (const std::string &_urdfString, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever=nullptr)
	Parse a text string to produce a Skeleton. More...

dart::simulation::WorldPtr	parseWorld (const common::Uri &_uri, const common::ResourceRetrieverPtr &_resourceRetriever=nullptr)
	Parse a file to produce a World. More...

dart::simulation::WorldPtr	parseWorldString (const std::string &_urdfString, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever=nullptr)
	Parse a text string to produce a World. More...

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)
	@function modelInterfaceToSkeleton More...

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)

template<class VisualOrCollision >
static dynamics::ShapePtr	createShape (const VisualOrCollision *_vizOrCol, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever)
	@function createShape More...

static dynamics::BodyNode *	createDartJointAndNode (const urdf::Joint _jt, const dynamics::BodyNode::Properties &_body, dynamics::BodyNode _parent, dynamics::SkeletonPtr _skeleton, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever)
	@function createDartJoint More...

static bool	createDartNodeProperties (const urdf::Link *_lk, dynamics::BodyNode::Properties &properties, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever)
	@function createDartNode More...

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 More...

static Eigen::Vector3d	toEigen (const urdf::Vector3 &_vector)

static bool	readFileToString (const common::ResourceRetrieverPtr &_resourceRetriever, const common::Uri &_uri, std::string &_output)
	@function readXml More...

Private Attributes
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

Constructor & Destructor Documentation

◆ DartLoader()

dart::utils::DartLoader::DartLoader ( )

Constructor with the default ResourceRetriever.

Member Function Documentation

◆ 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 common::Uri &	_baseUri,
		const common::ResourceRetrieverPtr &	_resourceRetriever
	)

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
	)

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
	)

staticprivate

◆ 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
	)

staticprivate

@function modelInterfaceToSkeleton

Read the ModelInterface and spits out a Skeleton object

◆ parseSkeleton()

dynamics::SkeletonPtr dart::utils::DartLoader::parseSkeleton	(	const common::Uri &	_uri,
		const common::ResourceRetrieverPtr &	_resourceRetriever = `nullptr`
	)

Parse a file to produce a Skeleton.

◆ parseSkeletonString()

dynamics::SkeletonPtr dart::utils::DartLoader::parseSkeletonString	(	const std::string &	_urdfString,
		const common::Uri &	_baseUri,
		const common::ResourceRetrieverPtr &	_resourceRetriever = `nullptr`
	)

Parse a text string to produce a Skeleton.

◆ parseWorld()

simulation::WorldPtr dart::utils::DartLoader::parseWorld	(	const common::Uri &	_uri,
		const common::ResourceRetrieverPtr &	_resourceRetriever = `nullptr`
	)

Parse a file to produce a World.

◆ parseWorldString()

simulation::WorldPtr dart::utils::DartLoader::parseWorldString	(	const std::string &	_urdfString,
		const common::Uri &	_baseUri,
		const common::ResourceRetrieverPtr &	_resourceRetriever = `nullptr`
	)

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

◆ 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

◆ mPackageRetriever

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

private

◆ mRetriever

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

private

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Member Typedef Documentation

◆ BodyPropPtr

◆ JointPropPtr

Constructor & Destructor Documentation

◆ DartLoader()

Member Function Documentation

◆ addPackageDirectory()

◆ createDartJointAndNode()

◆ createDartNodeProperties()

◆ createShape()

◆ createShapeNodes()

◆ createSkeletonRecursive()

◆ getResourceRetriever()

◆ modelInterfaceToSkeleton()

◆ parseSkeleton()

◆ parseSkeletonString()

◆ parseWorld()

◆ parseWorldString()

◆ readFileToString()

◆ toEigen() [1/2]

◆ toEigen() [2/2]

Member Data Documentation

◆ mLocalRetriever

◆ mPackageRetriever

◆ mRetriever