DartLoader.hpp

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#ifndef DART_UTILS_URDF_DARTLOADER_HPP_
#define DART_UTILS_URDF_DARTLOADER_HPP_
 
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <map>
#include <string>
 
#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 simulation
{
  class World;
}
 
namespace utils {
 
class DartLoader {
  public:
    DartLoader();
 
    void addPackageDirectory(const std::string& _packageName,
                             const std::string& _packageDirectory);
 
    dynamics::SkeletonPtr parseSkeleton(
      const common::Uri& _uri,
      const common::ResourceRetrieverPtr& _resourceRetriever = nullptr);
 
    dynamics::SkeletonPtr parseSkeletonString(
      const std::string& _urdfString, const common::Uri& _baseUri,
      const common::ResourceRetrieverPtr& _resourceRetriever = nullptr);
 
    dart::simulation::WorldPtr parseWorld(const common::Uri& _uri,
      const common::ResourceRetrieverPtr& _resourceRetriever = nullptr);
 
    dart::simulation::WorldPtr parseWorldString(
      const std::string& _urdfString, const common::Uri& _baseUri,
      const common::ResourceRetrieverPtr& _resourceRetriever = nullptr);
 
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);
 
    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);
 
    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);
 
    static bool createDartNodeProperties(
      const urdf::Link* _lk,
      dynamics::BodyNode::Properties &properties,
      const common::Uri& _baseUri,
      const common::ResourceRetrieverPtr& _resourceRetriever);
 
    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);
 
    common::LocalResourceRetrieverPtr mLocalRetriever;
    utils::PackageResourceRetrieverPtr mPackageRetriever;
    utils::CompositeResourceRetrieverPtr mRetriever;
};
class DartLoader {…};
 
}
}
 
#endif // DART_UTILS_URDF_DARTLOADER_HPP_